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feat: face display bridge (Issue #394) #399

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sl-jetson merged 2 commits from sl-controls/issue-394-face-bridge into main 2026-03-04 13:11:02 -05:00
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sl-jetson commented 2026-03-04 12:44:40 -05:00
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Bridge orchestrator state to face display WebSocket API

Bridge orchestrator state to face display WebSocket API
sl-jetson added 2 commits 2026-03-04 12:44:40 -05:00 
Implement ROS2 node bridging orchestrator state to face display expressions.
Maps /social/orchestrator/state and /saltybot/wake_word_detected to HTTP API.

Features:
- Subscribes to /social/orchestrator/state (JSON: IDLE, LISTENING, THINKING, SPEAKING, THROTTLED)
- Subscribes to /saltybot/wake_word_detected for immediate Alert response
- HTTP GET requests to face display server (configurable localhost:3000/face/{id})
- State to expression mapping:
  * IDLE → 0 (Tracking)
  * LISTENING → 1 (Alert)
  * THINKING → 3 (Searching)
  * SPEAKING → 4 (Social)
  * Wake word → 1 (Alert, immediate override)
- Publishes /face/state with JSON: {face_id, orchestrator_state, timestamp}
- Configurable face_server_url parameter
- Fallback to urllib if requests library unavailable

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
feat: hey salty wake word template (Issue #393)
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39258f465b 
Creates log-mel spectrogram template for 'hey salty' wake word detection
using synthetic speech generation. Template generated from 5 synthetic
audio samples with varying pitch to improve robustness.

- generate_wake_word_template.py: Script to synthesize and generate template
- hey_salty.npy: 40-band log-mel template (40, 61) shape
- wake_word_params.yaml: Updated template_path
- README.md: Documentation for template usage and retraining procedures

The template is used by wake_word_node.py via cosine similarity matching
against incoming audio. Configurable sensitivity via match_threshold.

Future work: Collect real training recordings to improve accuracy.
sl-jetson merged commit 65ec1151f8 into main 2026-03-04 13:11:02 -05:00
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Reference: seb/saltylab-firmware#399
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