.claude/plans/zany-hugging-oasis.md

@@ -1,308 +0,0 @@
-# Issue #469: Terrain Classification Implementation Plan
-
-## Context
-
-SaltyBot currently has good sensor infrastructure (IMU, cameras, RealSense) and a robust velocity control system with the `VelocityRamp` class. However, it lacks terrain awareness for surface type detection and speed adaptation. This feature will enable:
-
-1. **Surface detection** via IMU vibration analysis and camera texture analysis
-2. **Automatic speed adaptation** based on terrain type and roughness
-3. **Terrain logging** for mapping and future learning
-4. **Improved robot safety** by reducing speed on rough/unstable terrain
-
-## Architecture Overview
-
-The implementation follows the existing ROS2 patterns:
-
-```
-IMU/Camera Data
-    ↓
-[terrain_classifier_node]  ← New node
-    ↓
-/saltybot/terrain_state (TerrainState.msg)
-    ↓
-[terrain_speed_adapter_node]  ← New node
-    ↓
-Adjusted /cmd_vel_terrain → existing cmd_vel_bridge
-    ↓
-Speed-adapted robot motion
-
-Parallel: [terrain_mapper_node] logs data for mapping
-```
-
-## Implementation Components
-
-### 1. **Message Definition: TerrainState.msg**
-**File to create:** `jetson/ros2_ws/src/saltybot_social_msgs/msg/TerrainState.msg`
-
-Fields:
-- `std_msgs/Header header` — timestamp/frame_id
-- `uint8 terrain_type` — enum (0=unknown, 1=pavement, 2=grass, 3=gravel, 4=sand, 5=indoor)
-- `float32 roughness` — 0.0=smooth, 1.0=very rough
-- `float32 confidence` — 0.0-1.0 classification confidence
-- `float32 recommended_speed_ratio` — 0.1-1.0 (fraction of max speed)
-- `string source` — "imu_vibration" or "camera_texture" or "fused"
-
-**Update files:**
-- `jetson/ros2_ws/src/saltybot_social_msgs/CMakeLists.txt` — add TerrainState.msg to rosidl_generate_interfaces()
-- `jetson/ros2_ws/src/saltybot_social_msgs/package.xml` — no changes needed (std_msgs already a dependency)
-
-### 2. **Terrain Classifier Node**
-**File to create:** `jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/terrain_classifier_node.py`
-
-**Purpose:** Analyze IMU and camera data to classify terrain type and estimate roughness.
-
-**Subscribes to:**
-- `/camera/imu` (sensor_msgs/Imu) — RealSense IMU at 200 Hz
-- `/camera/color/image_raw` (sensor_msgs/Image) — camera RGB at 15 Hz
-
-**Publishes:**
-- `/saltybot/terrain_state` (TerrainState.msg) — at 5 Hz
-
-**Key functions:**
-- `_analyze_imu_vibration()` — FFT analysis on accel data (window: 200 samples = 1 sec)
-  - Compute power spectral density in 0-50 Hz band
-  - Extract features: peak frequency, energy distribution, RMS acceleration
-  - Roughness = normalized RMS of high-freq components (>10 Hz)
-
-- `_analyze_camera_texture()` — CNN-based texture analysis
-  - Uses MobileNetV2 pre-trained on ImageNet as feature extractor
-  - Extracts high-level texture/surface features from camera image
-  - Lightweight model (~3.5M parameters, ~50-100ms inference on Jetson)
-  - Outputs feature vector fed to classification layer
-
-- `_classify_terrain()` — decision logic
-  - Simple rule-based classifier (can be upgraded to CNN)
-  - Input: [imu_roughness, camera_texture_variance, accel_magnitude]
-  - Decision tree or thresholds to classify into 5 types
-  - Output: terrain_type, roughness, confidence
-
-**Node Parameters:**
-- `imu_window_size` (int, default 200) — samples for FFT window
-- `publish_rate_hz` (float, default 5.0)
-- `roughness_threshold` (float, default 0.3) — FFT roughness threshold
-- `terrain_timeout_s` (float, default 5.0) — how long to keep previous estimate if no new data
-
-### 3. **Speed Adapter Node**
-**File to create:** `jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/terrain_speed_adapter_node.py`
-
-**Purpose:** Adapt cmd_vel speed based on terrain state and integration with velocity ramp.
-
-**Subscribes to:**
-- `/cmd_vel` (geometry_msgs/Twist) — raw velocity commands
-- `/saltybot/terrain_state` (TerrainState.msg) — terrain classification
-
-**Publishes:**
-- `/cmd_vel_terrain` (geometry_msgs/Twist) — terrain-adapted velocity
-
-**Logic:**
-- Extract target linear velocity from cmd_vel
-- Apply terrain speed ratio: `adapted_speed = target_speed × recommended_speed_ratio`
-- Preserve angular velocity (steering not affected by terrain)
-- Publish adapted command
-
-**Node Parameters:**
-- `enable_terrain_adaptation` (bool, default true)
-- `min_speed_ratio` (float, default 0.1) — never go below 10% of requested speed
-- `debug_logging` (bool, default false)
-
-**Note:** This is a lightweight adapter. The existing `velocity_ramp_node` handles acceleration/deceleration smoothing independently.
-
-### 4. **Terrain Mapper Node** (Logging/Mapping)
-**File to create:** `jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/terrain_mapper_node.py`
-
-**Purpose:** Log terrain detections with robot pose for future mapping.
-
-**Subscribes to:**
-- `/saltybot/terrain_state` (TerrainState.msg)
-- `/odom` (nav_msgs/Odometry) — robot pose
-
-**Publishes:**
-- `/saltybot/terrain_log` (std_msgs/String) — CSV formatted log messages (optional, mainly for logging)
-
-**Logic:**
-- Store terrain observations: (timestamp, pose_x, pose_y, terrain_type, roughness, confidence)
-- Log to file: `~/.ros/terrain_map_<timestamp>.csv`
-- Resample to 1 Hz to avoid spam
-
-**Node Parameters:**
-- `log_dir` (string, default "~/.ros/")
-- `resample_rate_hz` (float, default 1.0)
-
-### 5. **Launch Configuration**
-**File to update:** `jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py`
-
-Add terrain nodes:
-```python
-terrain_classifier_node = Node(
-    package='saltybot_bringup',
-    executable='terrain_classifier',
-    name='terrain_classifier',
-    parameters=[{
-        'imu_window_size': 200,
-        'publish_rate_hz': 5.0,
-    }],
-    remappings=[
-        ('/imu_in', '/camera/imu'),
-        ('/camera_in', '/camera/color/image_raw'),
-    ],
-)
-
-terrain_speed_adapter_node = Node(
-    package='saltybot_bringup',
-    executable='terrain_speed_adapter',
-    name='terrain_speed_adapter',
-    parameters=[{
-        'enable_terrain_adaptation': True,
-        'min_speed_ratio': 0.1,
-    }],
-    remappings=[
-        ('/cmd_vel_in', '/cmd_vel'),
-        ('/cmd_vel_out', '/cmd_vel_terrain'),
-    ],
-)
-
-terrain_mapper_node = Node(
-    package='saltybot_bringup',
-    executable='terrain_mapper',
-    name='terrain_mapper',
-)
-```
-
-**Update setup.py entry points:**
-```python
-'terrain_classifier = saltybot_bringup.terrain_classifier_node:main'
-'terrain_speed_adapter = saltybot_bringup.terrain_speed_adapter_node:main'
-'terrain_mapper = saltybot_bringup.terrain_mapper_node:main'
-```
-
-### 6. **Integration with Existing Stack**
-- The existing velocity ramp (`velocity_ramp_node.py`) processes `/cmd_vel_smooth` or `/cmd_vel`
-- Optionally, update cmd_vel_bridge to use `/cmd_vel_terrain` if available, else fall back to `/cmd_vel`
-- Terrain classification runs independently at 5 Hz (much slower than velocity ramping at 50 Hz)
-
-### 7. **Future CNN Enhancement**
-The current implementation uses rule-based classification with IMU FFT and camera edge detection. A future enhancement could add a lightweight CNN for texture classification (e.g., MobileNet) by:
-1. Creating a `terrain_classifier_cnn.py` with TensorFlow/ONNX model
-2. Replacing decision logic in `terrain_classifier_node.py` with CNN inference
-3. Maintaining same message interface
-
-## Implementation Tasks
-
-1. ✅ **Phase 1: Message Definition**
-   - Create `TerrainState.msg` in saltybot_social_msgs
-   - Update `CMakeLists.txt`
-
-2. ✅ **Phase 2: Terrain Classifier Node**
-   - Implement `terrain_classifier_node.py` with IMU FFT analysis
-   - Implement camera texture analysis
-   - Decision logic for classification
-
-3. ✅ **Phase 3: Speed Adapter Node**
-   - Implement `terrain_speed_adapter_node.py`
-   - Velocity command adaptation
-
-4. ✅ **Phase 4: Terrain Mapper Node**
-   - Implement `terrain_mapper_node.py` for logging
-
-5. ✅ **Phase 5: Integration**
-   - Update `full_stack.launch.py` with new nodes
-   - Update `setup.py` with entry points
-   - Test integration
-
-## Testing & Verification
-
-**Unit Tests:**
-- Test IMU FFT feature extraction with synthetic vibration data
-- Test terrain classification decision logic
-- Test speed ratio application
-- Test CSV logging format
-
-**Integration Tests:**
-- Run full stack with simulated IMU/camera data
-- Verify terrain messages published at 5 Hz
-- Verify cmd_vel_terrain adapts speeds correctly
-- Check terrain log file is created and properly formatted
-
-**Manual Testing:**
-- Drive robot on different surfaces
-- Verify terrain detection changes appropriately
-- Verify speed adaptation is smooth (no jerks from ramping)
-- Check terrain log CSV has correct format
-
-## Critical Files Summary
-
-**To Create:**
-- `jetson/ros2_ws/src/saltybot_social_msgs/msg/TerrainState.msg`
-- `jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/terrain_classifier_node.py`
-- `jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/terrain_speed_adapter_node.py`
-- `jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/terrain_mapper_node.py`
-
-**To Modify:**
-- `jetson/ros2_ws/src/saltybot_social_msgs/CMakeLists.txt` (add TerrainState.msg)
-- `jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py` (add nodes)
-- `jetson/ros2_ws/src/saltybot_bringup/setup.py` (add entry points)
-
-**Key Dependencies:**
-- `numpy` — FFT analysis (already available in saltybot)
-- `scipy.signal` — Butterworth filter (optional, for smoothing)
-- `cv2` (OpenCV) — image processing (already available)
-- `tensorflow` or `tf-lite` — MobileNetV2 pre-trained model for texture CNN
-- `rclpy` — ROS2 Python client
-
-**CNN Model Details:**
-- Model: MobileNetV2 pre-trained on ImageNet
-- Input: 224×224 RGB image (downsampled from camera)
-- Output: 1280-dim feature vector from last conv layer before classification
-- Strategy: Use pre-trained features directly (transfer learning) for quick MVP, no fine-tuning needed initially
-- Alternative: Pre-trained weights can be fine-tuned on terrain image dataset in future iterations
-- Inference: ~50-100ms on Jetson Xavier (acceptable at 5 Hz publish rate)
-
-## Terrain Classification Logic (IMU + CNN Fusion)
-
-**Features extracted:**
-1. `imu_roughness` = normalized RMS of high-freq (>10 Hz) accel components (0-1)
-   - Computed from FFT power spectral density in 10-50 Hz band
-   - Reflects mechanical vibration from surface contact
-
-2. `cnn_texture_features` = 1280-dim feature vector from MobileNetV2
-   - Pre-trained features capture texture, edge, and surface characteristics
-   - Reduced to 2-3 principal components via PCA or simple aggregation
-
-3. `accel_magnitude` = RMS of total acceleration (m/s²)
-   - Helps distinguish stationary (9.81 m/s²) vs. moving
-
-**Classification approach (Version 1):**
-- Simple decision tree with IMU-dominant logic + CNN support:
-  ```
-  if imu_roughness < 0.2 and accel_magnitude < 9.8:
-      terrain = PAVEMENT  (confidence boosted if CNN agrees)
-  elif imu_roughness < 0.35 and cnn_grainy_score < 0.4:
-      terrain = GRASS
-  elif imu_roughness > 0.45 and cnn_granular_score > 0.5:
-      terrain = GRAVEL
-  elif cnn_sand_texture_score > 0.6 and imu_roughness > 0.3:
-      terrain = SAND
-  else:
-      terrain = INDOOR
-  ```
-
-- Confidence: weighted combination of IMU and CNN agreement
-- Roughness metric: `0.0 = smooth, 1.0 = very rough` derived from IMU FFT energy ratio
-
-**Speed recommendations:**
-- Pavement: 1.0 (full speed)
-- Grass: 0.8 (20% slower)
-- Gravel: 0.5 (50% slower)
-- Sand: 0.4 (60% slower)
-- Indoor: 0.7 (30% slower by default)
-
-**Future improvement:** Replace decision tree with trained classifier (Random Forest, SVM, or small Dense net) on labeled terrain dataset once collected.
-
----
-
-This plan follows SaltyBot's established patterns:
-- Pure Python libraries for core logic (_terrain_analysis.py)
-- ROS2 node wrappers for integration
-- Parameter-based configuration in YAML
-- Message-based pub/sub architecture
-- Integration with existing velocity control pipeline

.gitea/workflows/ota-release.yml

@@ -1,162 +0,0 @@
-# .gitea/workflows/ota-release.yml
-# Gitea Actions — ESP32 OTA firmware build & release (bd-9kod)
-#
-# Triggers on signed release tags:
-#   esp32-balance/vX.Y.Z  →  builds esp32s3/balance/   (ESP32-S3 Balance board)
-#   esp32-io/vX.Y.Z       →  builds esp32s3-io/         (ESP32-S3 IO board)
-#
-# Uses the official espressif/idf Docker image for reproducible builds.
-# Attaches <app>_<version>.bin + <app>_<version>.sha256 to the Gitea release.
-# The ESP32 Balance OTA system fetches the .bin from the release asset URL.
-
-name: OTA release — build & attach firmware
-
-on:
-  push:
-    tags:
-      - "esp32-balance/v*"
-      - "esp32-io/v*"
-
-permissions:
-  contents: write
-
-jobs:
-  build-and-release:
-    name: Build ${{ github.ref_name }}
-    runs-on: ubuntu-latest
-    container:
-      image: espressif/idf:v5.2.2
-      options: --user root
-
-    steps:
-      # ── 1. Checkout ───────────────────────────────────────────────────────────
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      # ── 2. Resolve build target from tag ─────────────────────────────────────
-      # Tag format:  esp32-balance/v1.2.3  or  esp32-io/v1.2.3
-      - name: Resolve project from tag
-        id: proj
-        shell: bash
-        run: |
-          TAG="${GITHUB_REF_NAME}"
-          case "$TAG" in
-            esp32-balance/*)
-              DIR="esp32s3/balance"
-              APP="esp32s3_balance"
-              ;;
-            esp32-io/*)
-              DIR="esp32s3-io"
-              APP="esp32s3_io"
-              ;;
-            *)
-              echo "::error::Unrecognised tag prefix: ${TAG}"
-              exit 1
-              ;;
-          esac
-          VERSION="${TAG#*/}"
-          echo "dir=${DIR}"         >> "$GITHUB_OUTPUT"
-          echo "app=${APP}"         >> "$GITHUB_OUTPUT"
-          echo "version=${VERSION}" >> "$GITHUB_OUTPUT"
-          echo "tag=${TAG}"         >> "$GITHUB_OUTPUT"
-          echo "Build: ${APP} ${VERSION} from ${DIR}"
-
-      # ── 3. Build with ESP-IDF ─────────────────────────────────────────────────
-      - name: Build firmware (idf.py build)
-        shell: bash
-        run: |
-          . "${IDF_PATH}/export.sh"
-          cd "${{ steps.proj.outputs.dir }}"
-          idf.py build
-
-      # ── 4. Collect binary & generate checksum ────────────────────────────────
-      - name: Collect artifacts
-        id: art
-        shell: bash
-        run: |
-          APP="${{ steps.proj.outputs.app }}"
-          VER="${{ steps.proj.outputs.version }}"
-          BIN_SRC="${{ steps.proj.outputs.dir }}/build/${APP}.bin"
-          BIN_OUT="${APP}_${VER}.bin"
-          SHA_OUT="${APP}_${VER}.sha256"
-
-          cp "$BIN_SRC" "$BIN_OUT"
-          sha256sum "$BIN_OUT" > "$SHA_OUT"
-
-          echo "bin=${BIN_OUT}" >> "$GITHUB_OUTPUT"
-          echo "sha=${SHA_OUT}" >> "$GITHUB_OUTPUT"
-
-          echo "Binary:   ${BIN_OUT} ($(wc -c < "$BIN_OUT") bytes)"
-          echo "Checksum: $(cat "$SHA_OUT")"
-
-      # ── 5. Archive artifacts in CI workspace ─────────────────────────────────
-      - name: Upload build artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: firmware-${{ steps.proj.outputs.app }}-${{ steps.proj.outputs.version }}
-          path: |
-            ${{ steps.art.outputs.bin }}
-            ${{ steps.art.outputs.sha }}
-
-      # ── 6. Create Gitea release (if needed) & upload assets ──────────────────
-      # Uses GITHUB_TOKEN (auto-provided, contents:write from permissions block).
-      # URL-encodes the tag to handle the slash in esp32-balance/vX.Y.Z.
-      - name: Publish assets to Gitea release
-        shell: bash
-        env:
-          GITEA_URL: https://gitea.vayrette.com
-          TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          REPO: ${{ github.repository }}
-          TAG: ${{ steps.proj.outputs.tag }}
-          BIN: ${{ steps.art.outputs.bin }}
-          SHA: ${{ steps.art.outputs.sha }}
-        run: |
-          API="${GITEA_URL}/api/v1/repos/${REPO}"
-
-          # URL-encode the tag (slash in esp32-balance/vX.Y.Z must be escaped)
-          TAG_ENC=$(python3 -c "
-          import urllib.parse, sys
-          print(urllib.parse.quote(sys.argv[1], safe=''))
-          " "$TAG")
-
-          # Try to fetch an existing release for this tag
-          RELEASE=$(curl -sf \
-            -H "Authorization: token ${TOKEN}" \
-            "${API}/releases/tags/${TAG_ENC}") || true
-
-          # If no release yet, create it
-          if [ -z "$RELEASE" ]; then
-            echo "Creating release for tag: ${TAG}"
-            RELEASE=$(curl -sf \
-              -X POST \
-              -H "Authorization: token ${TOKEN}" \
-              -H "Content-Type: application/json" \
-              -d "$(python3 -c "
-          import json, sys
-          print(json.dumps({
-              'tag_name': sys.argv[1],
-              'name':     sys.argv[1],
-              'draft':    False,
-              'prerelease': False,
-          }))
-          " "$TAG")" \
-              "${API}/releases")
-          fi
-
-          RELEASE_ID=$(echo "$RELEASE" | python3 -c "
-          import sys, json; print(json.load(sys.stdin)['id'])
-          ")
-          echo "Release ID: ${RELEASE_ID}"
-
-          # Upload binary and checksum
-          for FILE in "$BIN" "$SHA"; do
-            FNAME=$(basename "$FILE")
-            echo "Uploading: ${FNAME}"
-            curl -sf \
-              -X POST \
-              -H "Authorization: token ${TOKEN}" \
-              -F "attachment=@${FILE}" \
-              "${API}/releases/${RELEASE_ID}/assets?name=${FNAME}"
-          done
-
-          echo "Published: ${BIN} + ${SHA} → release ${TAG}"

.gitea/workflows/social-tests-ci.yml

@@ -1,239 +0,0 @@
-# .gitea/workflows/social-tests-ci.yml
-# Gitea Actions CI pipeline for social-bot integration tests (Issue #108)
-#
-# Triggers: push or PR to main, and any branch matching sl-jetson/*
-#
-# Jobs:
-#   1. lint       — flake8 + pep257 on saltybot_social_tests
-#   2. core-tests — launch + topic + services + GPU-budget + shutdown (no GPU)
-#   3. latency    — end-to-end latency profiling (GPU runner, optional)
-
-name: social-bot integration tests
-
-on:
-  push:
-    branches:
-      - main
-      - "sl-jetson/**"
-    paths:
-      - "jetson/ros2_ws/src/saltybot_social/**"
-      - "jetson/ros2_ws/src/saltybot_social_tests/**"
-      - "jetson/ros2_ws/src/saltybot_social_msgs/**"
-      - "jetson/ros2_ws/src/saltybot_social_nav/**"
-      - "jetson/ros2_ws/src/saltybot_social_face/**"
-      - "jetson/ros2_ws/src/saltybot_social_tracking/**"
-      - ".gitea/workflows/social-tests-ci.yml"
-  pull_request:
-    branches:
-      - main
-    paths:
-      - "jetson/ros2_ws/src/saltybot_social*/**"
-      - ".gitea/workflows/social-tests-ci.yml"
-
-env:
-  ROS_DOMAIN_ID: "108"
-  SOCIAL_TEST_FULL: "0"
-  SOCIAL_STACK_RUNNING: "1"
-
-jobs:
-  # ── 1. Lint ──────────────────────────────────────────────────────────────────
-  lint:
-    name: Lint (flake8 + pep257)
-    runs-on: ubuntu-latest
-    container:
-      image: ros:humble-ros-base-jammy
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install lint tools
-        run: |
-          pip3 install --no-cache-dir flake8 pydocstyle
-
-      - name: flake8 — saltybot_social_tests
-        run: |
-          flake8 \
-            jetson/ros2_ws/src/saltybot_social_tests/saltybot_social_tests/ \
-            jetson/ros2_ws/src/saltybot_social_tests/test/ \
-            --max-line-length=100 \
-            --ignore=E501,W503 \
-            --exclude=__pycache__
-
-      - name: pep257 — saltybot_social_tests
-        run: |
-          pydocstyle \
-            jetson/ros2_ws/src/saltybot_social_tests/saltybot_social_tests/ \
-            jetson/ros2_ws/src/saltybot_social_tests/test/ \
-            --add-ignore=D100,D104,D205,D400 \
-            --match='(?!test_helpers|mock_sensors).*\.py' || true
-
-  # ── 2. Core integration tests (no GPU) ───────────────────────────────────────
-  core-tests:
-    name: Core integration tests (mock sensors, no GPU)
-    needs: lint
-    runs-on: ubuntu-latest
-    container:
-      image: ros:humble-ros-base-jammy
-    env:
-      ROS_DOMAIN_ID: "108"
-      SOCIAL_TEST_FULL: "0"
-      SOCIAL_STACK_RUNNING: "1"
-      PYTHONUNBUFFERED: "1"
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install dependencies
-        run: |
-          apt-get update -q && apt-get install -y --no-install-recommends \
-            ros-humble-launch-testing \
-            ros-humble-launch-testing-ros \
-            ros-humble-vision-msgs \
-            ros-humble-tf2-ros \
-            ros-humble-tf2-geometry-msgs \
-            ros-humble-cv-bridge \
-            ros-humble-nav-msgs \
-            ros-humble-std-srvs \
-            procps \
-            && rm -rf /var/lib/apt/lists/*
-          pip3 install --no-cache-dir "pytest>=7.0" "pytest-timeout>=2.1"
-
-      - name: Build workspace
-        run: |
-          . /opt/ros/humble/setup.bash
-          cd /
-          # Symlink source into a temp workspace to avoid long paths
-          mkdir -p /ros2_ws/src
-          for pkg in saltybot_social_msgs saltybot_social saltybot_social_face \
-                     saltybot_social_nav saltybot_social_enrollment \
-                     saltybot_social_tracking saltybot_social_personality \
-                     saltybot_social_tests; do
-            ln -sfn \
-              "$GITHUB_WORKSPACE/jetson/ros2_ws/src/$pkg" \
-              "/ros2_ws/src/$pkg"
-          done
-          cd /ros2_ws
-          colcon build \
-            --packages-select \
-              saltybot_social_msgs \
-              saltybot_social \
-              saltybot_social_face \
-              saltybot_social_nav \
-              saltybot_social_enrollment \
-              saltybot_social_tracking \
-              saltybot_social_personality \
-              saltybot_social_tests \
-            --symlink-install \
-            --event-handlers console_cohesion+
-
-      - name: Launch test stack (background)
-        run: |
-          . /opt/ros/humble/setup.bash
-          . /ros2_ws/install/setup.bash
-          ros2 daemon start || true
-          ros2 launch saltybot_social_tests social_test.launch.py \
-            enable_speech:=false enable_llm:=false enable_tts:=false \
-            &
-          echo "LAUNCH_PID=$!" >> "$GITHUB_ENV"
-          # Wait for stack to come up
-          sleep 15
-
-      - name: Run core tests
-        run: |
-          . /opt/ros/humble/setup.bash
-          . /ros2_ws/install/setup.bash
-          pytest \
-            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/" \
-            -v \
-            --timeout=120 \
-            --tb=short \
-            -m "not gpu_required and not full_stack and not slow" \
-            --junit-xml=test-results-core.xml \
-            -k "not test_latency_sla and not test_shutdown"
-
-      - name: Shutdown test stack
-        if: always()
-        run: |
-          [ -n "${LAUNCH_PID:-}" ] && kill -SIGTERM "$LAUNCH_PID" 2>/dev/null || true
-          sleep 3
-
-      - name: Run shutdown tests
-        run: |
-          . /opt/ros/humble/setup.bash
-          . /ros2_ws/install/setup.bash
-          pytest \
-            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/test_shutdown.py" \
-            -v --timeout=60 --tb=short \
-            --junit-xml=test-results-shutdown.xml
-
-      - name: Upload test results
-        if: always()
-        uses: actions/upload-artifact@v4
-        with:
-          name: test-results-core
-          path: test-results-*.xml
-
-  # ── 3. GPU latency tests (Orin runner, optional) ──────────────────────────────
-  latency-gpu:
-    name: Latency profiling (GPU, Orin)
-    needs: core-tests
-    runs-on: [self-hosted, orin, gpu]
-    if: github.ref == 'refs/heads/main' || contains(github.event.pull_request.labels.*.name, 'run-gpu-tests')
-    env:
-      ROS_DOMAIN_ID: "108"
-      SOCIAL_TEST_FULL: "1"
-      SOCIAL_TEST_SPEECH: "0"
-      SOCIAL_STACK_RUNNING: "1"
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Build workspace (Orin)
-        run: |
-          . /opt/ros/humble/setup.bash
-          cd /ros2_ws
-          colcon build \
-            --packages-select saltybot_social_tests saltybot_social \
-            --symlink-install
-
-      - name: Launch full stack (with LLM, no speech/TTS)
-        run: |
-          . /opt/ros/humble/setup.bash
-          . /ros2_ws/install/setup.bash
-          SOCIAL_TEST_FULL=1 \
-          ros2 launch saltybot_social_tests social_test.launch.py \
-            enable_speech:=false enable_tts:=false \
-            &
-          echo "LAUNCH_PID=$!" >> "$GITHUB_ENV"
-          sleep 20
-
-      - name: GPU memory check
-        run: |
-          . /opt/ros/humble/setup.bash
-          . /ros2_ws/install/setup.bash
-          SOCIAL_STACK_RUNNING=1 \
-          GPU_BASELINE_MB=$(nvidia-smi --query-gpu=memory.used --format=csv,noheader,nounits) \
-          pytest \
-            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/test_gpu_memory.py" \
-            -v --timeout=120 --tb=short \
-            --junit-xml=test-results-gpu.xml
-
-      - name: Latency profiling
-        run: |
-          . /opt/ros/humble/setup.bash
-          . /ros2_ws/install/setup.bash
-          SOCIAL_TEST_FULL=1 SOCIAL_STACK_RUNNING=1 \
-          pytest \
-            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/test_latency.py" \
-            -v --timeout=300 --tb=short \
-            --junit-xml=test-results-latency.xml
-
-      - name: Shutdown
-        if: always()
-        run: |
-          [ -n "${LAUNCH_PID:-}" ] && kill -SIGTERM "$LAUNCH_PID" 2>/dev/null || true
-          sleep 5
-
-      - name: Upload GPU results
-        if: always()
-        uses: actions/upload-artifact@v4
-        with:
-          name: test-results-gpu
-          path: test-results-*.xml

.pio/build/project.checksum

@@ -1 +1 @@
-ffc01fb580c81760bdda9a672fe1212be4578e3e
+ee8efb31f6b185f16e4d385971f1a0e3291fe5fd

AUTONOMOUS_ARMING.md

@@ -1,148 +0,0 @@
-# Autonomous Arming (Issue #512)
-
-## Overview
-The robot can now be armed and operated autonomously from the Jetson without requiring an RC transmitter. The RC receiver (ELRS) is now optional and serves as an override/kill-switch rather than a requirement.
-
-## Arming Sources
-
-### Jetson Autonomous Arming
-- Command: `A\n` (single byte 'A' followed by newline)
-<<<<<<< HEAD
-- Sent via USB CDC to the ESP32 BALANCE firmware
-=======
-- Sent via USB Serial (CH343) to the ESP32-S3 firmware
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
-- Works even when RC is not connected or not armed
-
-### RC Arming (Optional Override)
-- Command: CH5 switch on ELRS transmitter
-- When RC is connected and armed, robot can be armed via RC
-- RC and Jetson can both request arming independently
-
-## Safety Features
-
-### Maintained from Original Design
-1. **Arming Hold Timer** — 500ms hold before motors enable (prevents accidental arming)
-2. **Tilt Safety** — Robot must be within ±10° level to arm
-3. **IMU Calibration** — Gyro must be calibrated before arming
-4. **Remote E-Stop Override** — `safety_remote_estop_active()` blocks all arming
-
-### New for Autonomous Operation
-1. **RC Kill Switch** (CH5 OFF when RC connected)
-   - Triggers emergency stop (motor cutoff) instead of disarm
-   - Allows Jetson-armed robots to remain armed when RC disconnects
-   - Maintains safety of kill switch for emergency situations
-
-2. **RC Failsafe**
-   - If RC signal is lost after being established, robot disarms (500ms timeout)
-   - Prevents runaway if RC connection drops during flight
-   - USB-only mode (no RC ever connected) is unaffected
-
-3. **Jetson Timeout** (200ms heartbeat)
-   - Jetson must send heartbeat (H command) every 500ms
-   - Prevents autonomous runaway if Jetson crashes/loses connection
-   - Handled by `jetson_cmd_is_active()` checks
-
-## Command Protocol
-
-<<<<<<< HEAD
-### From Jetson to ESP32 BALANCE (USB CDC)
-=======
-### From Jetson to ESP32-S3 (USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-```
-A           — Request arm (triggers safety hold, then motors enable)
-D           — Request disarm (immediate motor stop)
-E           — Emergency stop (immediate motor cutoff, latched)
-Z           — Clear emergency stop latch
-H           — Heartbeat (refresh timeout timer, every 500ms)
-C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
-```
-
-<<<<<<< HEAD
-### From ESP32 BALANCE to Jetson (USB CDC)
-=======
-### From ESP32-S3 to Jetson (USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-Motor commands are gated by `bal.state == BALANCE_ARMED`:
-- When ARMED: Motor commands sent every 20ms (50 Hz)
-- When DISARMED: Zero sent every 20ms (prevents ESC timeout)
-
-## Arming State Machine
-
-```
-DISARMED
-  ↓
-  +-- Jetson sends 'A' OR RC CH5 rises (with conditions met)
-      ↓
-      safety_arm_start() called
-      (arm hold timer starts)
-      ↓
-      Wait ARMING_HOLD_MS
-      ↓
-      safety_arm_ready() returns true
-      ↓
-      balance_arm() called
-      ARMED ← (motors now respond to commands)
-
-ARMED
-  ↓
-  +-- Jetson sends 'D' → balance_disarm()
-  +-- RC CH5 falls AND RC still alive → balance_disarm()
-  +-- RC signal lost (failsafe) → balance_disarm()
-  +-- Tilt fault detected → immediate motor stop
-  +-- RC kill switch (CH5 OFF) → emergency stop (not disarm)
-```
-
-## RC Override Priority
-
-When RC is connected and active:
-- **Steer channel**: Blended with Jetson via `mode_manager` (per active mode)
-- **Kill switch**: RC CH5 OFF triggers emergency stop (overrides everything)
-- **Failsafe**: RC signal loss triggers disarm (prevents runaway)
-
-When RC is disconnected:
-- Robot operates under Jetson commands alone
-- Emergency stop remains available via 'E' command from Jetson
-- No automatic mode change; mission continues autonomously
-
-## Testing Checklist
-
-- [ ] Jetson can arm robot without RC (send 'A' command)
-- [ ] Robot motors respond to Jetson drive commands when armed
-- [ ] Robot disarms on Jetson 'D' command
-- [ ] RC kill switch (CH5 OFF) triggers emergency stop without disarming
-- [ ] Robot can be re-armed after RC kill switch via Jetson 'A' command
-- [ ] RC failsafe still works (500ms signal loss = disarm)
-- [ ] Jetson heartbeat timeout works (500ms without H/C = motors zero)
-- [ ] Tilt fault still triggers immediate stop
-- [ ] IMU calibration required before arm
-- [ ] Arming hold timer (500ms) enforced
-
-## Migration from RC-Only
-
-### Old Workflow (ELRS-Required)
-1. Power on robot
-2. Arm via RC CH5
-3. Send speed/steer commands via RC
-4. Disarm via RC CH5
-
-### New Workflow (Autonomous)
-1. Power on robot
-2. Send heartbeat 'H' every 500ms from Jetson
-3. When ready to move, send 'A' command (wait 500ms)
-4. Send drive commands 'C<spd>,<str>' every ≤200ms
-5. When done, send 'D' command to disarm
-
-### New Workflow (RC + Autonomous Mixed)
-1. Power on robot, bring up RC
-2. Jetson sends heartbeat 'H'
-3. Arm via RC CH5 OR Jetson 'A' (both valid)
-4. Control via RC sticks OR Jetson drive commands (blended)
-5. Emergency kill: RC CH5 OFF (emergency stop) OR Jetson 'E'
-6. Disarm: RC CH5 OFF then ON, OR Jetson 'D'
-
-## References
-- Issue #512: Remove ELRS arm requirement
-- Files: `/src/main.c` (arming logic), `/lib/USB_CDC/src/usbd_cdc_if.c` (CDC commands)

CLAUDE.md

@@ -1,36 +1,17 @@
 # SaltyLab Firmware — Agent Playbook
 
 ## Project
-<<<<<<< HEAD
-**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
-Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
-
-| Board | Role |
-|-------|------|
-| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
-| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
-| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
-
-> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
-=======
-Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+Self-balancing two-wheeled robot: STM32F722 flight controller, hoverboard hub motors, Jetson Nano for AI/SLAM.
 
 ## Team
 | Agent | Role | Focus |
 |-------|------|-------|
-<<<<<<< HEAD
-| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
-| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
-| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
-=======
-| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader |
+| **sl-firmware** | Embedded Firmware Lead | STM32 HAL, USB CDC debugging, SPI/UART, PlatformIO, DFU bootloader |
 | **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
-| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+| **sl-perception** | Perception / SLAM Engineer | Jetson Nano, RealSense D435i, RPLIDAR, ROS2, Nav2 |
 
 ## Status
-USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
+USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
 
 ## Repo Structure
 - `projects/saltybot/SALTYLAB.md` — Design doc
@@ -48,11 +29,11 @@ USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region +
 | `saltyrover-dev` | Integration — rover variant |
 | `saltytank` | Stable — tracked tank variant |
 | `saltytank-dev` | Integration — tank variant |
-| `main` | Shared code only (IMU drivers, USB Serial (CH343), balance core, safety) |
+| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) |
 
 ### Rules
 - Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
-- Shared/infrastructure code (IMU drivers, USB Serial (CH343), balance core, safety) goes in `main`
+- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main`
 - Variant-specific code (motor topology, kinematics, config) goes in variant branches
 - Stable branches get promoted from `-dev` after review and hardware testing
 - **Current SaltyLab team** works against `saltylab-dev`

TEAM.md

@@ -1,22 +1,12 @@
 # SaltyLab — Ideal Team
 
 ## Project
-<<<<<<< HEAD
-**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
-Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
-
-## Current Status
-- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
-- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
-- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
-=======
-Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM.
+Self-balancing two-wheeled robot using a drone flight controller (STM32F722), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM.
 
 ## Current Status
 - **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
-- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug
-- **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see `legacy/stm32/USB_CDC_BUG.md` for historical context
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug
+- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md`
 
 ---
 
@@ -24,30 +14,18 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 
 ### 1. Embedded Firmware Engineer (Lead)
 **Must-have:**
-<<<<<<< HEAD
-- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
+- Deep STM32 HAL experience (F7 series specifically)
 - USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
-- SPI + UART + USB coexistence on ESP32
-- PlatformIO or bare-metal ESP32 toolchain
+- SPI + UART + USB coexistence on STM32
+- PlatformIO or bare-metal STM32 toolchain
 - DFU bootloader implementation
-=======
-- Deep ESP-IDF experience (ESP32-S3 specifically)
-- USB Serial (CH343) / UART debugging on ESP32-S3
-- SPI + UART + USB coexistence on ESP32-S3
-- ESP-IDF / Arduino-ESP32 toolchain
-- OTA firmware update implementation
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 **Nice-to-have:**
-- ESP32-S3 peripheral coexistence (SPI + UART + USB)
+- Betaflight/iNav/ArduPilot codebase familiarity
 - PID control loop tuning for balance robots
 - FOC motor control (hoverboard ESC protocol)
 
-<<<<<<< HEAD
-**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.
-=======
-**Why:** The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
 
 ### 2. Control Systems / Robotics Engineer
 **Must-have:**
@@ -65,7 +43,7 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 
 ### 3. Perception / SLAM Engineer (Phase 2)
 **Must-have:**
-- Jetson Orin Nano Super / NVIDIA Jetson platform
+- Jetson Nano / NVIDIA Jetson platform
 - Intel RealSense D435i depth camera
 - RPLIDAR integration
 - SLAM (ORB-SLAM3, RTAB-Map, or similar)
@@ -76,23 +54,19 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 - Obstacle avoidance
 - Nav2 stack
 
-**Why:** Phase 2 goal is autonomous navigation. Jetson Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.
+**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
 
 ---
 
 ## Hardware Reference
 | Component | Details |
 |-----------|---------|
-<<<<<<< HEAD
-| FC | ESP32 BALANCE (ESP32RET6, MPU6000) |
-=======
-| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+| FC | MAMBA F722S (STM32F722RET6, MPU6000) |
 | Motors | 2x 8" pneumatic hoverboard hub motors |
 | ESC | Hoverboard ESC (EFeru FOC firmware) |
 | Battery | 36V pack |
 | RC | BetaFPV ELRS 2.4GHz TX + RX |
-| AI Brain | Jetson Orin Nano Super + Noctua fan |
+| AI Brain | Jetson Nano + Noctua fan |
 | Depth | Intel RealSense D435i |
 | LIDAR | RPLIDAR A1M8 |
 | Spare IMUs | BNO055, MPU6050 |
@@ -100,4 +74,4 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 ## Repo
 - Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
 - Design doc: `projects/saltybot/SALTYLAB.md`
-- Bug doc: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era)
+- Bug doc: `USB_CDC_BUG.md`

USB_CDC_BUG.md

@@ -0,0 +1,44 @@
+# USB CDC TX Bug — 2026-02-28
+
+## Problem
+Balance firmware produces no USB CDC output. Minimal "hello" test firmware works fine.
+
+## What Works
+- **Test firmware** (just sends `{"hello":N}` at 10Hz after 3s delay): **DATA FLOWS**
+- USB enumeration works in both cases (port appears as `/dev/cu.usbmodemSALTY0011`)
+- DFU reboot via RTC backup register works (Betaflight-proven pattern)
+
+## What Doesn't Work
+- **Balance firmware**: port opens, no data ever arrives
+- Tried: removing init transmit, 3s boot delay, TxState recovery, DTR detection, streaming flags
+- None of it helps
+
+## Key Difference Between Working & Broken
+- **Working test**: main.c only includes USB CDC headers, HAL, string, stdio
+- **Balance firmware**: includes icm42688.h, bmp280.h, balance.h, hoverboard.h, config.h, status.h
+- Balance firmware inits SPI1 (IMU), USART2 (hoverboard), GPIO (LEDs, buzzer)
+- Likely culprit: **peripheral init (SPI/UART/GPIO) is interfering with USB OTG FS**
+
+## Suspected Root Cause
+One of the additional peripheral inits (SPI1 for IMU, USART2 for hoverboard ESC, or GPIO for status LEDs) is likely conflicting with the USB OTG FS peripheral — either a clock conflict, GPIO pin conflict, or interrupt priority issue.
+
+## Hardware
+- MAMBA F722S FC (STM32F722RET6)
+- Betaflight target: DIAT-MAMBAF722_2022B
+- IMU: MPU6000 on SPI1 (PA4/PA5/PA6/PA7)
+- USB: OTG FS (PA11/PA12)
+- Hoverboard ESC: USART2 (PA2/PA3)
+- LEDs: PC14, PC15
+- Buzzer: PB2
+
+## Files
+- PlatformIO project: `~/Projects/saltylab-firmware/` on mbpm4 (192.168.87.40)
+- Working test: was in src/main.c (replaced with balance code)
+- Balance main.c backup: src/main.c.bak
+- CDC implementation: lib/USB_CDC/src/usbd_cdc_if.c
+
+## To Debug
+1. Add peripherals one at a time to the test firmware to find which one breaks CDC TX
+2. Check for GPIO pin conflicts with USB OTG FS (PA11/PA12)
+3. Check interrupt priorities — USB OTG FS IRQ might be getting starved
+4. Check if DCache (disabled via SCB_DisableDCache) is needed for USB DMA

android/build.gradle

@@ -1,46 +0,0 @@
-plugins {
-    id 'com.android.application'
-    id 'kotlin-android'
-}
-
-android {
-    compileSdk 34
-    namespace 'com.saltylab.uwbtag'
-
-    defaultConfig {
-        applicationId "com.saltylab.uwbtag"
-        minSdk 26
-        targetSdk 34
-        versionCode 1
-        versionName "1.0"
-    }
-
-    buildTypes {
-        release {
-            minifyEnabled false
-        }
-    }
-
-    buildFeatures {
-        viewBinding true
-    }
-
-    compileOptions {
-        sourceCompatibility JavaVersion.VERSION_17
-        targetCompatibility JavaVersion.VERSION_17
-    }
-
-    kotlinOptions {
-        jvmTarget = '17'
-    }
-}
-
-dependencies {
-    implementation 'androidx.core:core-ktx:1.12.0'
-    implementation 'androidx.appcompat:appcompat:1.6.1'
-    implementation 'com.google.android.material:material:1.11.0'
-    implementation 'androidx.recyclerview:recyclerview:1.3.2'
-    implementation 'androidx.lifecycle:lifecycle-runtime-ktx:2.7.0'
-    implementation 'org.jetbrains.kotlinx:kotlinx-coroutines-android:1.7.3'
-    implementation 'com.google.code.gson:gson:2.10.1'
-}

android/src/main/AndroidManifest.xml

@@ -1,37 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android">
-
-    <!-- BLE permissions (API 31+) -->
-    <uses-permission android:name="android.permission.BLUETOOTH_SCAN"
-        android:usesPermissionFlags="neverForLocation" />
-    <uses-permission android:name="android.permission.BLUETOOTH_CONNECT" />
-    <uses-permission android:name="android.permission.BLUETOOTH_ADVERTISE" />
-
-    <!-- Legacy BLE (API < 31) -->
-    <uses-permission android:name="android.permission.BLUETOOTH"
-        android:maxSdkVersion="30" />
-    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN"
-        android:maxSdkVersion="30" />
-    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"
-        android:maxSdkVersion="30" />
-
-    <uses-feature android:name="android.hardware.bluetooth_le" android:required="true" />
-
-    <application
-        android:allowBackup="true"
-        android:label="UWB Tag Config"
-        android:theme="@style/Theme.MaterialComponents.DayNight.DarkActionBar">
-
-        <activity
-            android:name=".UwbTagBleActivity"
-            android:exported="true"
-            android:launchMode="singleTop">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN" />
-                <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
-        </activity>
-
-    </application>
-
-</manifest>

android/src/main/kotlin/com/saltylab/uwbtag/UwbTagBleActivity.kt

@@ -1,444 +0,0 @@
-package com.saltylab.uwbtag
-
-import android.Manifest
-import android.annotation.SuppressLint
-import android.bluetooth.*
-import android.bluetooth.le.*
-import android.content.Context
-import android.content.pm.PackageManager
-import android.os.Build
-import android.os.Bundle
-import android.os.Handler
-import android.os.Looper
-import android.view.LayoutInflater
-import android.view.View
-import android.view.ViewGroup
-import android.widget.Button
-import android.widget.TextView
-import android.widget.Toast
-import androidx.appcompat.app.AppCompatActivity
-import androidx.core.app.ActivityCompat
-import androidx.core.content.ContextCompat
-import androidx.recyclerview.widget.LinearLayoutManager
-import androidx.recyclerview.widget.RecyclerView
-import com.google.android.material.card.MaterialCardView
-import com.google.android.material.switchmaterial.SwitchMaterial
-import com.google.android.material.textfield.TextInputEditText
-import com.google.gson.Gson
-import com.saltylab.uwbtag.databinding.ActivityUwbTagBleBinding
-import java.util.UUID
-
-// ---------------------------------------------------------------------------
-// GATT service / characteristic UUIDs
-// ---------------------------------------------------------------------------
-private val SERVICE_UUID     = UUID.fromString("12345678-1234-5678-1234-56789abcdef0")
-private val CHAR_CONFIG_UUID = UUID.fromString("12345678-1234-5678-1234-56789abcdef1") // read/write JSON config
-private val CHAR_STATUS_UUID = UUID.fromString("12345678-1234-5678-1234-56789abcdef2") // notify: tag status string
-private val CHAR_BATT_UUID   = UUID.fromString("12345678-1234-5678-1234-56789abcdef3") // notify: battery %
-private val CCCD_UUID        = UUID.fromString("00002902-0000-1000-8000-00805f9b34fb")
-
-// BLE scan timeout
-private const val SCAN_TIMEOUT_MS = 15_000L
-
-// Permissions request code
-private const val REQ_PERMISSIONS = 1001
-
-// ---------------------------------------------------------------------------
-// Data model
-// ---------------------------------------------------------------------------
-data class TagConfig(
-    val tag_name: String = "UWB_TAG_0001",
-    val sleep_timeout_s: Int = 300,
-    val display_brightness: Int = 50,
-    val uwb_channel: Int = 9,
-    val ranging_interval_ms: Int = 100,
-    val battery_report: Boolean = true
-)
-
-data class ScannedDevice(
-    val name: String,
-    val address: String,
-    var rssi: Int,
-    val device: BluetoothDevice
-)
-
-// ---------------------------------------------------------------------------
-// RecyclerView adapter for scanned devices
-// ---------------------------------------------------------------------------
-class DeviceAdapter(
-    private val onConnect: (ScannedDevice) -> Unit
-) : RecyclerView.Adapter<DeviceAdapter.VH>() {
-
-    private val items = mutableListOf<ScannedDevice>()
-
-    fun update(device: ScannedDevice) {
-        val idx = items.indexOfFirst { it.address == device.address }
-        if (idx >= 0) {
-            items[idx] = device
-            notifyItemChanged(idx)
-        } else {
-            items.add(device)
-            notifyItemInserted(items.size - 1)
-        }
-    }
-
-    fun clear() {
-        items.clear()
-        notifyDataSetChanged()
-    }
-
-    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): VH {
-        val view = LayoutInflater.from(parent.context)
-            .inflate(R.layout.item_ble_device, parent, false)
-        return VH(view)
-    }
-
-    override fun onBindViewHolder(holder: VH, position: Int) = holder.bind(items[position])
-    override fun getItemCount() = items.size
-
-    inner class VH(view: View) : RecyclerView.ViewHolder(view) {
-        private val tvName    = view.findViewById<TextView>(R.id.tvDeviceName)
-        private val tvAddress = view.findViewById<TextView>(R.id.tvDeviceAddress)
-        private val tvRssi    = view.findViewById<TextView>(R.id.tvRssi)
-        private val btnConn   = view.findViewById<Button>(R.id.btnConnect)
-
-        fun bind(item: ScannedDevice) {
-            tvName.text    = item.name
-            tvAddress.text = item.address
-            tvRssi.text    = "${item.rssi} dBm"
-            btnConn.setOnClickListener { onConnect(item) }
-        }
-    }
-}
-
-// ---------------------------------------------------------------------------
-// Activity
-// ---------------------------------------------------------------------------
-@SuppressLint("MissingPermission") // permissions checked at runtime before any BLE call
-class UwbTagBleActivity : AppCompatActivity() {
-
-    private lateinit var binding: ActivityUwbTagBleBinding
-    private val gson = Gson()
-    private val mainHandler = Handler(Looper.getMainLooper())
-
-    // BLE
-    private val btManager by lazy { getSystemService(Context.BLUETOOTH_SERVICE) as BluetoothManager }
-    private val btAdapter by lazy { btManager.adapter }
-    private var bleScanner: BluetoothLeScanner? = null
-    private var gatt: BluetoothGatt? = null
-    private var configChar: BluetoothGattCharacteristic? = null
-    private var statusChar: BluetoothGattCharacteristic? = null
-    private var battChar: BluetoothGattCharacteristic? = null
-    private var isScanning = false
-
-    private val deviceAdapter = DeviceAdapter(onConnect = ::connectToDevice)
-
-    // ---------------------------------------------------------------------------
-    // Lifecycle
-    // ---------------------------------------------------------------------------
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        binding = ActivityUwbTagBleBinding.inflate(layoutInflater)
-        setContentView(binding.root)
-        setSupportActionBar(binding.toolbar)
-
-        binding.rvDevices.layoutManager = LinearLayoutManager(this)
-        binding.rvDevices.adapter = deviceAdapter
-
-        binding.btnScan.setOnClickListener {
-            if (isScanning) stopScan() else startScanIfPermitted()
-        }
-        binding.btnDisconnect.setOnClickListener { disconnectGatt() }
-        binding.btnReadConfig.setOnClickListener { readConfig() }
-        binding.btnWriteConfig.setOnClickListener { writeConfig() }
-
-        requestBlePermissions()
-    }
-
-    override fun onDestroy() {
-        super.onDestroy()
-        stopScan()
-        disconnectGatt()
-    }
-
-    // ---------------------------------------------------------------------------
-    // Permissions
-    // ---------------------------------------------------------------------------
-    private fun requestBlePermissions() {
-        val needed = mutableListOf<String>()
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.S) {
-            if (!hasPermission(Manifest.permission.BLUETOOTH_SCAN))
-                needed += Manifest.permission.BLUETOOTH_SCAN
-            if (!hasPermission(Manifest.permission.BLUETOOTH_CONNECT))
-                needed += Manifest.permission.BLUETOOTH_CONNECT
-        } else {
-            if (!hasPermission(Manifest.permission.ACCESS_FINE_LOCATION))
-                needed += Manifest.permission.ACCESS_FINE_LOCATION
-        }
-        if (needed.isNotEmpty()) {
-            ActivityCompat.requestPermissions(this, needed.toTypedArray(), REQ_PERMISSIONS)
-        }
-    }
-
-    private fun hasPermission(perm: String) =
-        ContextCompat.checkSelfPermission(this, perm) == PackageManager.PERMISSION_GRANTED
-
-    override fun onRequestPermissionsResult(
-        requestCode: Int, permissions: Array<out String>, grantResults: IntArray
-    ) {
-        super.onRequestPermissionsResult(requestCode, permissions, grantResults)
-        if (requestCode == REQ_PERMISSIONS &&
-            grantResults.any { it != PackageManager.PERMISSION_GRANTED }) {
-            toast("BLE permissions required")
-        }
-    }
-
-    // ---------------------------------------------------------------------------
-    // BLE Scan
-    // ---------------------------------------------------------------------------
-    private fun startScanIfPermitted() {
-        if (btAdapter?.isEnabled != true) { toast("Bluetooth is off"); return }
-        bleScanner = btAdapter.bluetoothLeScanner
-        val filter = ScanFilter.Builder()
-            .setDeviceNamePattern("UWB_TAG_.*".toRegex().toPattern())
-            .build()
-        val settings = ScanSettings.Builder()
-            .setScanMode(ScanSettings.SCAN_MODE_LOW_LATENCY)
-            .build()
-        deviceAdapter.clear()
-        bleScanner?.startScan(listOf(filter), settings, scanCallback)
-        isScanning = true
-        binding.btnScan.text = "Stop"
-        binding.tvScanStatus.text = "Scanning…"
-        mainHandler.postDelayed({ stopScan() }, SCAN_TIMEOUT_MS)
-    }
-
-    private fun stopScan() {
-        bleScanner?.stopScan(scanCallback)
-        isScanning = false
-        binding.btnScan.text = "Scan"
-        binding.tvScanStatus.text = "Scan stopped"
-    }
-
-    private val scanCallback = object : ScanCallback() {
-        override fun onScanResult(callbackType: Int, result: ScanResult) {
-            val name = result.device.name ?: return
-            if (!name.startsWith("UWB_TAG_")) return
-            val dev = ScannedDevice(
-                name    = name,
-                address = result.device.address,
-                rssi    = result.rssi,
-                device  = result.device
-            )
-            mainHandler.post { deviceAdapter.update(dev) }
-        }
-
-        override fun onScanFailed(errorCode: Int) {
-            mainHandler.post {
-                binding.tvScanStatus.text = "Scan failed (code $errorCode)"
-                isScanning = false
-                binding.btnScan.text = "Scan"
-            }
-        }
-    }
-
-    // ---------------------------------------------------------------------------
-    // GATT Connection
-    // ---------------------------------------------------------------------------
-    private fun connectToDevice(scanned: ScannedDevice) {
-        stopScan()
-        binding.tvScanStatus.text = "Connecting to ${scanned.name}…"
-        gatt = scanned.device.connectGatt(this, false, gattCallback, BluetoothDevice.TRANSPORT_LE)
-    }
-
-    private fun disconnectGatt() {
-        gatt?.disconnect()
-        gatt?.close()
-        gatt = null
-        configChar = null
-        statusChar = null
-        battChar = null
-        mainHandler.post {
-            binding.cardConfig.visibility = View.GONE
-            binding.tvScanStatus.text = "Disconnected"
-        }
-    }
-
-    private val gattCallback = object : BluetoothGattCallback() {
-
-        override fun onConnectionStateChange(g: BluetoothGatt, status: Int, newState: Int) {
-            when (newState) {
-                BluetoothProfile.STATE_CONNECTED -> {
-                    mainHandler.post { binding.tvScanStatus.text = "Connected — discovering services…" }
-                    g.discoverServices()
-                }
-                BluetoothProfile.STATE_DISCONNECTED -> {
-                    mainHandler.post {
-                        binding.cardConfig.visibility = View.GONE
-                        binding.tvScanStatus.text = "Disconnected"
-                        toast("Tag disconnected")
-                    }
-                    gatt?.close()
-                    gatt = null
-                }
-            }
-        }
-
-        override fun onServicesDiscovered(g: BluetoothGatt, status: Int) {
-            if (status != BluetoothGatt.GATT_SUCCESS) {
-                mainHandler.post { toast("Service discovery failed") }
-                return
-            }
-            val service = g.getService(SERVICE_UUID)
-            if (service == null) {
-                mainHandler.post { toast("UWB config service not found on tag") }
-                return
-            }
-            configChar = service.getCharacteristic(CHAR_CONFIG_UUID)
-            statusChar = service.getCharacteristic(CHAR_STATUS_UUID)
-            battChar   = service.getCharacteristic(CHAR_BATT_UUID)
-
-            // Subscribe to status notifications
-            statusChar?.let { enableNotifications(g, it) }
-            battChar?.let   { enableNotifications(g, it) }
-
-            // Initial config read
-            configChar?.let { g.readCharacteristic(it) }
-
-            mainHandler.post {
-                val devName = g.device.name ?: g.device.address
-                binding.tvConnectedName.text = "Connected: $devName"
-                binding.cardConfig.visibility = View.VISIBLE
-                binding.tvScanStatus.text = "Connected to $devName"
-            }
-        }
-
-        override fun onCharacteristicRead(
-            g: BluetoothGatt,
-            characteristic: BluetoothGattCharacteristic,
-            status: Int
-        ) {
-            if (status != BluetoothGatt.GATT_SUCCESS) return
-            if (characteristic.uuid == CHAR_CONFIG_UUID) {
-                val json = characteristic.value?.toString(Charsets.UTF_8) ?: return
-                val cfg = runCatching { gson.fromJson(json, TagConfig::class.java) }.getOrNull() ?: return
-                mainHandler.post { populateFields(cfg) }
-            }
-        }
-
-        // API 33+ callback
-        override fun onCharacteristicRead(
-            g: BluetoothGatt,
-            characteristic: BluetoothGattCharacteristic,
-            value: ByteArray,
-            status: Int
-        ) {
-            if (status != BluetoothGatt.GATT_SUCCESS) return
-            if (characteristic.uuid == CHAR_CONFIG_UUID) {
-                val json = value.toString(Charsets.UTF_8)
-                val cfg = runCatching { gson.fromJson(json, TagConfig::class.java) }.getOrNull() ?: return
-                mainHandler.post { populateFields(cfg) }
-            }
-        }
-
-        override fun onCharacteristicWrite(
-            g: BluetoothGatt,
-            characteristic: BluetoothGattCharacteristic,
-            status: Int
-        ) {
-            val msg = if (status == BluetoothGatt.GATT_SUCCESS) "Config written" else "Write failed ($status)"
-            mainHandler.post { toast(msg) }
-        }
-
-        override fun onCharacteristicChanged(
-            g: BluetoothGatt,
-            characteristic: BluetoothGattCharacteristic
-        ) {
-            val value = characteristic.value ?: return
-            handleNotification(characteristic.uuid, value)
-        }
-
-        // API 33+ callback
-        override fun onCharacteristicChanged(
-            g: BluetoothGatt,
-            characteristic: BluetoothGattCharacteristic,
-            value: ByteArray
-        ) {
-            handleNotification(characteristic.uuid, value)
-        }
-    }
-
-    // ---------------------------------------------------------------------------
-    // Notification helpers
-    // ---------------------------------------------------------------------------
-    private fun enableNotifications(g: BluetoothGatt, char: BluetoothGattCharacteristic) {
-        g.setCharacteristicNotification(char, true)
-        val descriptor = char.getDescriptor(CCCD_UUID) ?: return
-        descriptor.value = BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE
-        g.writeDescriptor(descriptor)
-    }
-
-    private fun handleNotification(uuid: UUID, value: ByteArray) {
-        val text = value.toString(Charsets.UTF_8)
-        mainHandler.post {
-            when (uuid) {
-                CHAR_STATUS_UUID -> binding.tvTagStatus.text = "Status: $text"
-                CHAR_BATT_UUID   -> {
-                    val pct = text.toIntOrNull() ?: return@post
-                    binding.tvTagStatus.text = binding.tvTagStatus.text.toString()
-                        .replace(Regex("\\| Batt:.*"), "")
-                        .trimEnd() + " | Batt: $pct%"
-                }
-            }
-        }
-    }
-
-    // ---------------------------------------------------------------------------
-    // Config read / write
-    // ---------------------------------------------------------------------------
-    private fun readConfig() {
-        val g = gatt ?: run { toast("Not connected"); return }
-        val c = configChar ?: run { toast("Config char not found"); return }
-        g.readCharacteristic(c)
-    }
-
-    private fun writeConfig() {
-        val g = gatt ?: run { toast("Not connected"); return }
-        val c = configChar ?: run { toast("Config char not found"); return }
-        val cfg = buildConfigFromFields()
-        val json = gson.toJson(cfg)
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.TIRAMISU) {
-            g.writeCharacteristic(c, json.toByteArray(Charsets.UTF_8),
-                BluetoothGattCharacteristic.WRITE_TYPE_DEFAULT)
-        } else {
-            @Suppress("DEPRECATION")
-            c.value = json.toByteArray(Charsets.UTF_8)
-            @Suppress("DEPRECATION")
-            g.writeCharacteristic(c)
-        }
-    }
-
-    // ---------------------------------------------------------------------------
-    // UI helpers
-    // ---------------------------------------------------------------------------
-    private fun populateFields(cfg: TagConfig) {
-        binding.etTagName.setText(cfg.tag_name)
-        binding.etSleepTimeout.setText(cfg.sleep_timeout_s.toString())
-        binding.etBrightness.setText(cfg.display_brightness.toString())
-        binding.etUwbChannel.setText(cfg.uwb_channel.toString())
-        binding.etRangingInterval.setText(cfg.ranging_interval_ms.toString())
-        binding.switchBatteryReport.isChecked = cfg.battery_report
-    }
-
-    private fun buildConfigFromFields() = TagConfig(
-        tag_name           = binding.etTagName.text?.toString() ?: "UWB_TAG_0001",
-        sleep_timeout_s    = binding.etSleepTimeout.text?.toString()?.toIntOrNull() ?: 300,
-        display_brightness = binding.etBrightness.text?.toString()?.toIntOrNull() ?: 50,
-        uwb_channel        = binding.etUwbChannel.text?.toString()?.toIntOrNull() ?: 9,
-        ranging_interval_ms = binding.etRangingInterval.text?.toString()?.toIntOrNull() ?: 100,
-        battery_report     = binding.switchBatteryReport.isChecked
-    )
-
-    private fun toast(msg: String) =
-        Toast.makeText(this, msg, Toast.LENGTH_SHORT).show()
-}

android/src/main/res/layout/activity_uwb_tag_ble.xml

@@ -1,238 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    android:orientation="vertical">
-
-    <androidx.appcompat.widget.Toolbar
-        android:id="@+id/toolbar"
-        android:layout_width="match_parent"
-        android:layout_height="?attr/actionBarSize"
-        android:background="?attr/colorPrimary"
-        android:elevation="4dp"
-        android:theme="@style/ThemeOverlay.AppCompat.Dark.ActionBar"
-        app:title="UWB Tag BLE Config" />
-
-    <!-- Scan controls -->
-    <LinearLayout
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:orientation="horizontal"
-        android:padding="12dp"
-        android:gravity="center_vertical">
-
-        <Button
-            android:id="@+id/btnScan"
-            style="@style/Widget.MaterialComponents.Button"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Scan" />
-
-        <TextView
-            android:id="@+id/tvScanStatus"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_weight="1"
-            android:layout_marginStart="12dp"
-            android:text="Tap Scan to find UWB tags"
-            android:textAppearance="@style/TextAppearance.MaterialComponents.Body2" />
-
-    </LinearLayout>
-
-    <!-- Scan results list -->
-    <TextView
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:paddingHorizontal="12dp"
-        android:text="Nearby Tags"
-        android:textAppearance="@style/TextAppearance.MaterialComponents.Subtitle1"
-        android:textStyle="bold" />
-
-    <androidx.recyclerview.widget.RecyclerView
-        android:id="@+id/rvDevices"
-        android:layout_width="match_parent"
-        android:layout_height="0dp"
-        android:layout_weight="1"
-        android:padding="8dp"
-        android:clipToPadding="false" />
-
-    <!-- Connected device config panel -->
-    <com.google.android.material.card.MaterialCardView
-        android:id="@+id/cardConfig"
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:layout_margin="8dp"
-        android:visibility="gone"
-        app:cardElevation="4dp">
-
-        <LinearLayout
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:orientation="vertical"
-            android:padding="12dp">
-
-            <LinearLayout
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:orientation="horizontal"
-                android:gravity="center_vertical">
-
-                <TextView
-                    android:id="@+id/tvConnectedName"
-                    android:layout_width="0dp"
-                    android:layout_height="wrap_content"
-                    android:layout_weight="1"
-                    android:text="Connected: —"
-                    android:textAppearance="@style/TextAppearance.MaterialComponents.Subtitle1"
-                    android:textStyle="bold" />
-
-                <Button
-                    android:id="@+id/btnDisconnect"
-                    style="@style/Widget.MaterialComponents.Button.OutlinedButton"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:text="Disconnect" />
-
-            </LinearLayout>
-
-            <!-- tag_name -->
-            <com.google.android.material.textfield.TextInputLayout
-                style="@style/Widget.MaterialComponents.TextInputLayout.OutlinedBox.Dense"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_marginTop="8dp"
-                android:hint="Tag Name">
-                <com.google.android.material.textfield.TextInputEditText
-                    android:id="@+id/etTagName"
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content"
-                    android:inputType="text" />
-            </com.google.android.material.textfield.TextInputLayout>
-
-            <!-- sleep_timeout_s and uwb_channel (row) -->
-            <LinearLayout
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:orientation="horizontal"
-                android:layout_marginTop="4dp">
-
-                <com.google.android.material.textfield.TextInputLayout
-                    style="@style/Widget.MaterialComponents.TextInputLayout.OutlinedBox.Dense"
-                    android:layout_width="0dp"
-                    android:layout_height="wrap_content"
-                    android:layout_weight="1"
-                    android:layout_marginEnd="4dp"
-                    android:hint="Sleep Timeout (s)">
-                    <com.google.android.material.textfield.TextInputEditText
-                        android:id="@+id/etSleepTimeout"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:inputType="number" />
-                </com.google.android.material.textfield.TextInputLayout>
-
-                <com.google.android.material.textfield.TextInputLayout
-                    style="@style/Widget.MaterialComponents.TextInputLayout.OutlinedBox.Dense"
-                    android:layout_width="0dp"
-                    android:layout_height="wrap_content"
-                    android:layout_weight="1"
-                    android:layout_marginStart="4dp"
-                    android:hint="UWB Channel">
-                    <com.google.android.material.textfield.TextInputEditText
-                        android:id="@+id/etUwbChannel"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:inputType="number" />
-                </com.google.android.material.textfield.TextInputLayout>
-
-            </LinearLayout>
-
-            <!-- display_brightness and ranging_interval_ms (row) -->
-            <LinearLayout
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:orientation="horizontal"
-                android:layout_marginTop="4dp">
-
-                <com.google.android.material.textfield.TextInputLayout
-                    style="@style/Widget.MaterialComponents.TextInputLayout.OutlinedBox.Dense"
-                    android:layout_width="0dp"
-                    android:layout_height="wrap_content"
-                    android:layout_weight="1"
-                    android:layout_marginEnd="4dp"
-                    android:hint="Brightness (0-100)">
-                    <com.google.android.material.textfield.TextInputEditText
-                        android:id="@+id/etBrightness"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:inputType="number" />
-                </com.google.android.material.textfield.TextInputLayout>
-
-                <com.google.android.material.textfield.TextInputLayout
-                    style="@style/Widget.MaterialComponents.TextInputLayout.OutlinedBox.Dense"
-                    android:layout_width="0dp"
-                    android:layout_height="wrap_content"
-                    android:layout_weight="1"
-                    android:layout_marginStart="4dp"
-                    android:hint="Ranging Interval (ms)">
-                    <com.google.android.material.textfield.TextInputEditText
-                        android:id="@+id/etRangingInterval"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:inputType="number" />
-                </com.google.android.material.textfield.TextInputLayout>
-
-            </LinearLayout>
-
-            <!-- battery_report toggle -->
-            <com.google.android.material.switchmaterial.SwitchMaterial
-                android:id="@+id/switchBatteryReport"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_marginTop="8dp"
-                android:text="Battery Reporting" />
-
-            <!-- Action buttons -->
-            <LinearLayout
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:orientation="horizontal"
-                android:layout_marginTop="8dp">
-
-                <Button
-                    android:id="@+id/btnReadConfig"
-                    style="@style/Widget.MaterialComponents.Button.OutlinedButton"
-                    android:layout_width="0dp"
-                    android:layout_height="wrap_content"
-                    android:layout_weight="1"
-                    android:layout_marginEnd="4dp"
-                    android:text="Read" />
-
-                <Button
-                    android:id="@+id/btnWriteConfig"
-                    style="@style/Widget.MaterialComponents.Button"
-                    android:layout_width="0dp"
-                    android:layout_height="wrap_content"
-                    android:layout_weight="1"
-                    android:layout_marginStart="4dp"
-                    android:text="Write" />
-
-            </LinearLayout>
-
-            <!-- Status notifications from tag -->
-            <TextView
-                android:id="@+id/tvTagStatus"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_marginTop="8dp"
-                android:background="#1A000000"
-                android:fontFamily="monospace"
-                android:padding="8dp"
-                android:text="Tag status: —"
-                android:textAppearance="@style/TextAppearance.MaterialComponents.Caption" />
-
-        </LinearLayout>
-
-    </com.google.android.material.card.MaterialCardView>
-
-</LinearLayout>

android/src/main/res/layout/item_ble_device.xml

@@ -1,60 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<com.google.android.material.card.MaterialCardView
-    xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="match_parent"
-    android:layout_height="wrap_content"
-    android:layout_margin="4dp"
-    app:cardElevation="2dp"
-    android:clickable="true"
-    android:focusable="true">
-
-    <LinearLayout
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:orientation="horizontal"
-        android:padding="12dp"
-        android:gravity="center_vertical">
-
-        <LinearLayout
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_weight="1"
-            android:orientation="vertical">
-
-            <TextView
-                android:id="@+id/tvDeviceName"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:text="UWB_TAG_XXXX"
-                android:textAppearance="@style/TextAppearance.MaterialComponents.Subtitle2"
-                android:textStyle="bold" />
-
-            <TextView
-                android:id="@+id/tvDeviceAddress"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:text="XX:XX:XX:XX:XX:XX"
-                android:textAppearance="@style/TextAppearance.MaterialComponents.Caption" />
-
-        </LinearLayout>
-
-        <TextView
-            android:id="@+id/tvRssi"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="-70 dBm"
-            android:textAppearance="@style/TextAppearance.MaterialComponents.Caption"
-            android:textColor="?attr/colorSecondary" />
-
-        <Button
-            android:id="@+id/btnConnect"
-            style="@style/Widget.MaterialComponents.Button.OutlinedButton"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="8dp"
-            android:text="Connect" />
-
-    </LinearLayout>
-
-</com.google.android.material.card.MaterialCardView>

cad/assembly.scad

@@ -1,118 +0,0 @@
-// ============================================
-// SaltyLab — Full Assembly Visualization
-// Shows all parts in position on 2020 spine
-// ============================================
-include <dimensions.scad>
-
-// Spine height
-spine_h = 500;
-
-// Component heights (center of each mount on spine)
-h_motor = 0;
-h_battery = 50;
-h_esc = 100;
-h_fc = 170;
-h_jetson = 250;
-h_realsense = 350;
-h_lidar = 430;
-
-// Colors for visualization
-module spine() {
-    color("silver")
-        translate([-extrusion_w/2, -extrusion_w/2, 0])
-            cube([extrusion_w, extrusion_w, spine_h]);
-}
-
-module wheel(side) {
-    color("DimGray")
-        translate([side * 140, 0, 0])
-            rotate([0, 90, 0])
-                cylinder(d=200, h=50, center=true, $fn=60);
-}
-
-// --- Assembly ---
-
-// Spine
-spine();
-
-// Wheels
-wheel(-1);
-wheel(1);
-
-// Motor mount plate (at base)
-color("DodgerBlue", 0.7)
-    translate([0, 0, h_motor])
-        import("motor_mount_plate.stl");
-
-// Battery shelf
-color("OrangeRed", 0.7)
-    translate([0, 0, h_battery])
-        rotate([0, 0, 0])
-            cube([180, 80, 40], center=true);
-
-// ESC
-color("Green", 0.7)
-    translate([0, 0, h_esc])
-        cube([80, 50, 15], center=true);
-
-// FC (tiny!)
-color("Purple", 0.9)
-    translate([0, 0, h_fc])
-        cube([36, 36, 5], center=true);
-
-// Jetson Orin Nano Super
-color("LimeGreen", 0.7)
-    translate([0, 0, h_jetson])
-        cube([100, 80, 29], center=true);
-
-// RealSense D435i
-color("Gray", 0.8)
-    translate([0, -40, h_realsense])
-        cube([90, 25, 25], center=true);
-
-// RPLIDAR A1
-color("Cyan", 0.7)
-    translate([0, 0, h_lidar])
-        cylinder(d=70, h=41, center=true, $fn=40);
-
-// Kill switch (accessible on front)
-color("Red")
-    translate([0, -60, h_esc + 30])
-        cylinder(d=22, h=10, $fn=30);
-
-// LED ring
-color("White", 0.3)
-    translate([0, 0, h_jetson - 20])
-        difference() {
-            cylinder(d=120, h=15, $fn=60);
-            translate([0, 0, -1])
-                cylinder(d=110, h=17, $fn=60);
-        }
-
-// Bumpers
-color("Orange", 0.5) {
-    translate([0, -75, 25])
-        cube([350, 30, 50], center=true);
-    translate([0, 75, 25])
-        cube([350, 30, 50], center=true);
-}
-
-// Handle (top)
-color("Yellow", 0.7)
-    translate([0, 0, spine_h + 10])
-        cube([100, 20, 25], center=true);
-
-// Tether point
-color("Red", 0.8)
-    translate([0, 0, spine_h - 20]) {
-        difference() {
-            cylinder(d=30, h=8, $fn=30);
-            translate([0, 0, -1])
-                cylinder(d=15, h=10, $fn=30);
-        }
-    }
-
-echo("=== SaltyLab Assembly ===");
-echo(str("Total height: ", spine_h + 30, "mm"));
-echo(str("Width (axle-axle): ", 280 + 50*2, "mm"));
-echo(str("Depth: ~", 150, "mm"));

cad/battery_shelf.scad

@@ -1,77 +0,0 @@
-// ============================================
-// SaltyLab — Battery Shelf
-// 200×100×40mm PETG
-// Holds 36V battery pack low on the frame
-// Mounts to 2020 extrusion spine
-// ============================================
-include <dimensions.scad>
-
-shelf_w = 200;
-shelf_d = 100;
-shelf_h = 40;
-floor_h = 3;     // Bottom plate
-
-// Battery pocket (with tolerance)
-pocket_w = batt_w + tol*2;
-pocket_d = batt_d + tol*2;
-pocket_h = batt_h + 5;  // Slightly taller than battery
-
-// Velcro strap slots
-strap_w = 25;
-strap_h = 3;
-
-module battery_shelf() {
-    difference() {
-        union() {
-            // Floor
-            translate([-shelf_w/2, -shelf_d/2, 0])
-                cube([shelf_w, shelf_d, floor_h]);
-            
-            // Walls (3 sides — front open for wires)
-            // Left wall
-            translate([-shelf_w/2, -shelf_d/2, 0])
-                cube([wall, shelf_d, shelf_h]);
-            // Right wall
-            translate([shelf_w/2 - wall, -shelf_d/2, 0])
-                cube([wall, shelf_d, shelf_h]);
-            // Back wall
-            translate([-shelf_w/2, shelf_d/2 - wall, 0])
-                cube([shelf_w, wall, shelf_h]);
-            
-            // Front lip (low, keeps battery from sliding out)
-            translate([-shelf_w/2, -shelf_d/2, 0])
-                cube([shelf_w, wall, 10]);
-            
-            // 2020 extrusion mount tabs (top of back wall)
-            for (x = [-30, 30]) {
-                translate([x - 10, shelf_d/2 - wall, shelf_h - 15])
-                    cube([20, wall + 10, 15]);
-            }
-        }
-        
-        // Extrusion bolt holes (M5) through back mount tabs
-        for (x = [-30, 30]) {
-            translate([x, shelf_d/2 + 5, shelf_h - 7.5])
-                rotate([90, 0, 0])
-                    cylinder(d=m5_clear, h=wall + 15, $fn=30);
-        }
-        
-        // Velcro strap slots (2x through floor for securing battery)
-        for (x = [-50, 50]) {
-            translate([x - strap_w/2, -20, -1])
-                cube([strap_w, strap_h, floor_h + 2]);
-        }
-        
-        // Weight reduction holes in floor
-        for (x = [-30, 30]) {
-            translate([x, 0, -1])
-                cylinder(d=20, h=floor_h + 2, $fn=30);
-        }
-        
-        // Wire routing slot (front wall, centered)
-        translate([-20, -shelf_d/2 - 1, floor_h])
-            cube([40, wall + 2, 15]);
-    }
-}
-
-battery_shelf();

cad/bumper.scad

@@ -1,75 +0,0 @@
-// ============================================
-// SaltyLab — Bumper (Front/Rear)
-// 350×50×30mm TPU
-// Absorbs falls, protects frame and floor
-// ============================================
-include <dimensions.scad>
-
-bumper_w = 350;
-bumper_h = 50;
-bumper_d = 30;
-bumper_wall = 2.5;
-
-// Honeycomb crush structure for energy absorption
-hex_size = 8;
-hex_wall = 1.2;
-
-module honeycomb_cell(size, height) {
-    difference() {
-        cylinder(d=size, h=height, $fn=6);
-        translate([0, 0, -1])
-            cylinder(d=size - hex_wall*2, h=height + 2, $fn=6);
-    }
-}
-
-module bumper() {
-    difference() {
-        union() {
-            // Outer shell (curved front face)
-            hull() {
-                translate([-bumper_w/2, 0, 0])
-                    cube([bumper_w, 1, bumper_h]);
-                translate([-bumper_w/2 + 10, bumper_d - 5, 5])
-                    cube([bumper_w - 20, 1, bumper_h - 10]);
-            }
-        }
-        
-        // Hollow interior (leave outer shell)
-        hull() {
-            translate([-bumper_w/2 + bumper_wall, bumper_wall, bumper_wall])
-                cube([bumper_w - bumper_wall*2, 1, bumper_h - bumper_wall*2]);
-            translate([-bumper_w/2 + 10 + bumper_wall, bumper_d - 5 - bumper_wall, 5 + bumper_wall])
-                cube([bumper_w - 20 - bumper_wall*2, 1, bumper_h - 10 - bumper_wall*2]);
-        }
-        
-        // Mounting bolt holes (M5, through back face, 4 points)
-        for (x = [-120, -40, 40, 120]) {
-            translate([x, -1, bumper_h/2])
-                rotate([-90, 0, 0])
-                    cylinder(d=m5_clear, h=10, $fn=25);
-        }
-    }
-    
-    // Internal honeycomb ribs for crush absorption
-    intersection() {
-        // Bound to bumper volume
-        hull() {
-            translate([-bumper_w/2 + bumper_wall, bumper_wall, bumper_wall])
-                cube([bumper_w - bumper_wall*2, 1, bumper_h - bumper_wall*2]);
-            translate([-bumper_w/2 + 15, bumper_d - 8, 8])
-                cube([bumper_w - 30, 1, bumper_h - 16]);
-        }
-        
-        // Honeycomb grid
-        for (x = [-170:hex_size*1.5:170]) {
-            for (z = [0:hex_size*1.3:60]) {
-                offset_x = (floor(z / (hex_size*1.3)) % 2) * hex_size * 0.75;
-                translate([x + offset_x, 0, z])
-                    rotate([-90, 0, 0])
-                        honeycomb_cell(hex_size, bumper_d);
-            }
-        }
-    }
-}
-
-bumper();

cad/dimensions.scad

@@ -1,73 +0,0 @@
-// ============================================
-// SaltyLab — Common Dimensions & Constants
-// ============================================
-
-// --- 2020 Aluminum Extrusion ---
-extrusion_w = 20;
-extrusion_slot = 6;     // T-slot width
-extrusion_bore = 5;     // Center bore M5
-
-// --- Hub Motors (8" hoverboard) ---
-motor_axle_dia = 12;
-motor_axle_len = 45;
-motor_axle_flat = 10;   // Flat-to-flat if D-shaft
-motor_body_dia = 200;   // ~8 inches
-motor_bolt_circle = 0;  // Axle-only mount (clamp style)
-
-// --- Drone FC (30.5mm standard) ---
-fc_hole_spacing = 25.5;  // GEP-F722 AIO v2 (not standard 30.5!)
-fc_hole_dia = 3.2;      // M3 clearance
-fc_board_size = 36;      // Typical FC PCB
-fc_standoff_h = 5;       // Rubber standoff height
-
-// --- Jetson Orin Nano Super ---
-jetson_w = 100;
-jetson_d = 80;
-jetson_h = 29;           // With heatsink
-jetson_hole_x = 86;      // Mounting hole spacing X
-jetson_hole_y = 58;      // Mounting hole spacing Y
-jetson_hole_dia = 2.7;   // M2.5 clearance
-
-// --- RealSense D435i ---
-rs_w = 90;
-rs_d = 25;
-rs_h = 25;
-rs_tripod_offset = 0;    // 1/4-20 centered bottom
-rs_mount_dia = 6.5;      // 1/4-20 clearance
-
-// --- RPLIDAR A1 ---
-lidar_dia = 70;
-lidar_h = 41;
-lidar_mount_circle = 67; // Bolt circle diameter
-lidar_hole_count = 4;
-lidar_hole_dia = 2.7;    // M2.5
-
-// --- Kill Switch (22mm panel mount) ---
-kill_sw_dia = 22;
-kill_sw_depth = 35;      // Behind-panel depth
-
-// --- Battery (typical 36V hoverboard pack) ---
-batt_w = 180;
-batt_d = 80;
-batt_h = 40;
-
-// --- Hoverboard ESC ---
-esc_w = 80;
-esc_d = 50;
-esc_h = 15;
-
-// --- ESP32-C3 (typical dev board) ---
-esp_w = 25;
-esp_d = 18;
-esp_h = 5;
-
-// --- WS2812B strip ---
-led_strip_w = 10;        // 10mm wide strip
-
-// --- General ---
-wall = 3;                // Default wall thickness
-m3_clear = 3.2;
-m3_insert = 4.2;         // Heat-set insert hole
-m25_clear = 2.7;
-m5_clear = 5.3;
-tol = 0.2;               // Print tolerance per side

cad/esc_mount.scad

@@ -1,70 +0,0 @@
-// ============================================
-// SaltyLab — ESC Mount
-// 150×100×15mm PETG
-// Hoverboard ESC, mounts to 2020 extrusion
-// ============================================
-include <dimensions.scad>
-
-mount_w = 150;
-mount_d = 100;
-mount_h = 15;
-base_h = 3;
-
-module esc_mount() {
-    difference() {
-        union() {
-            // Base plate
-            translate([-mount_w/2, -mount_d/2, 0])
-                cube([mount_w, mount_d, base_h]);
-            
-            // ESC retaining walls (low lip on 3 sides)
-            // Left
-            translate([-mount_w/2, -mount_d/2, 0])
-                cube([wall, mount_d, mount_h]);
-            // Right
-            translate([mount_w/2 - wall, -mount_d/2, 0])
-                cube([wall, mount_d, mount_h]);
-            // Back
-            translate([-mount_w/2, mount_d/2 - wall, 0])
-                cube([mount_w, wall, mount_h]);
-            
-            // Front clips (snap-fit tabs to hold ESC)
-            for (x = [-30, 30]) {
-                translate([x - 5, -mount_d/2, 0])
-                    cube([10, wall, mount_h]);
-                // Clip overhang
-                translate([x - 5, -mount_d/2, mount_h - 2])
-                    cube([10, wall + 3, 2]);
-            }
-            
-            // 2020 mount tabs (back)
-            for (x = [-25, 25]) {
-                translate([x - 10, mount_d/2 - wall, 0])
-                    cube([20, wall + 8, base_h + 8]);
-            }
-        }
-        
-        // Extrusion bolt holes (M5)
-        for (x = [-25, 25]) {
-            translate([x, mount_d/2 + 3, base_h + 4])
-                rotate([90, 0, 0])
-                    cylinder(d=m5_clear, h=wall + 12, $fn=30);
-        }
-        
-        // Ventilation holes in base
-        for (x = [-40, -20, 0, 20, 40]) {
-            for (y = [-25, 0, 25]) {
-                translate([x, y, -1])
-                    cylinder(d=8, h=base_h + 2, $fn=20);
-            }
-        }
-        
-        // Wire routing slots (front and back)
-        translate([-15, -mount_d/2 - 1, base_h])
-            cube([30, wall + 2, 10]);
-        translate([-15, mount_d/2 - wall - 1, base_h])
-            cube([30, wall + 2, 10]);
-    }
-}
-
-esc_mount();