jetson/ros2_ws/src/saltybot_bringup/config/pulseaudio-magedok.conf

@@ -0,0 +1,20 @@
+# PulseAudio Configuration for MageDok HDMI Audio
+# Routes HDMI audio from DisplayPort adapter to internal speaker output
+
+# Detect and load HDMI output module
+load-module module-alsa-sink device=hw:0,3 sink_name=hdmi_stereo sink_properties="device.description='HDMI Audio'"
+
+# Detect and configure internal speaker (fallback)
+load-module module-alsa-sink device=hw:0,0 sink_name=speaker_mono sink_properties="device.description='Speaker'"
+
+# Set HDMI as default output sink
+set-default-sink hdmi_stereo
+
+# Enable volume control
+load-module module-volume-restore
+
+# Auto-switch to HDMI when connected
+load-module module-switch-on-connect
+
+# Log sink configuration
+.load-if-exists /etc/pulse/magedok-routing.conf

jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf

@@ -0,0 +1,33 @@
+# X11 Configuration for MageDok 7" Display
+# Resolution: 1024×600 @ 60Hz
+# Output: HDMI via DisplayPort adapter
+
+Section "Monitor"
+    Identifier      "MageDok"
+    Option          "PreferredMode" "1024x600_60.00"
+    Option          "Position" "0 0"
+    Option          "Primary" "true"
+EndSection
+
+Section "Screen"
+    Identifier      "Screen0"
+    Monitor         "MageDok"
+    DefaultDepth    24
+    SubSection "Display"
+        Depth       24
+        Modes       "1024x600" "1024x768" "800x600" "640x480"
+    EndSubSection
+EndSection
+
+Section "Device"
+    Identifier      "NVIDIA Tegra"
+    Driver          "nvidia"
+    BusID           "PCI:0:0:0"
+    Option          "RegistryDwords" "EnableBrightnessControl=1"
+    Option          "ConnectedMonitor" "HDMI-0"
+EndSection
+
+Section "ServerLayout"
+    Identifier      "Default"
+    Screen          "Screen0"
+EndSection

jetson/ros2_ws/src/saltybot_bringup/docs/MAGEDOK_DISPLAY_SETUP.md

@@ -0,0 +1,218 @@
+# MageDok 7" Touchscreen Display Setup
+
+Issue #369: Display setup for MageDok 7" IPS touchscreen on Jetson Orin Nano.
+
+## Hardware Setup
+
+### Connections
+- **Video**: DisplayPort → HDMI cable from Orin DP 1.2 connector to MageDok HDMI input
+- **Touch**: USB 3.0 cable from Orin USB-A to MageDok USB-C connector
+- **Audio**: HDMI carries embedded audio from DisplayPort (no separate audio cable needed)
+
+### Display Specs
+- **Resolution**: 1024×600 @ 60Hz
+- **Panel Type**: 7" IPS (In-Plane Switching) - wide viewing angles
+- **Sunlight Readable**: Yes, with high brightness
+- **Built-in Speakers**: Yes (via HDMI audio)
+
+## Installation Steps
+
+### 1. Kernel and Display Driver Configuration
+
+```bash
+# Update display mode database (if needed)
+sudo apt-get update && sudo apt-get install -y xrandr x11-utils edid-decode
+
+# Verify X11 is running
+echo $DISPLAY  # Should show :0 or :1
+
+# Check connected displays
+xrandr --query
+```
+
+**Expected output**: HDMI-1 connected at 1024x600 resolution
+
+### 2. Install udev Rules for Touch Input
+
+```bash
+# Copy udev rules
+sudo cp jetson/ros2_ws/src/saltybot_bringup/udev/90-magedok-touch.rules \
+    /etc/udev/rules.d/
+
+# Reload udev
+sudo udevadm control --reload-rules
+sudo udevadm trigger
+
+# Verify touch device
+ls -l /dev/magedok-touch
+# Or check input devices
+cat /proc/bus/input/devices | grep -i "eGTouch\|EETI"
+```
+
+### 3. X11 Display Configuration
+
+```bash
+# Backup original X11 config
+sudo cp /etc/X11/xorg.conf /etc/X11/xorg.conf.backup
+
+# Apply MageDok X11 config
+sudo cp jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf \
+    /etc/X11/xorg.conf
+
+# Restart X11 (or reboot)
+sudo systemctl restart gdm3  # or startx if using console
+```
+
+### 4. PulseAudio Audio Routing
+
+```bash
+# Check current audio sinks
+pactl list sinks | grep Name
+
+# Find HDMI sink (typically contains "hdmi" in name)
+pactl set-default-sink <hdmi-sink-name>
+
+# Verify routing
+pactl get-default-sink
+
+# Optional: Set volume
+pactl set-sink-volume <sink-name> 70%
+```
+
+### 5. ROS2 Launch Configuration
+
+```bash
+# Build the saltybot_bringup package
+cd jetson/ros2_ws
+colcon build --packages-select saltybot_bringup
+
+# Source workspace
+source install/setup.bash
+
+# Launch display setup
+ros2 launch saltybot_bringup magedok_display.launch.py
+```
+
+### 6. Enable Auto-Start on Boot
+
+```bash
+# Copy systemd service
+sudo cp jetson/ros2_ws/src/saltybot_bringup/systemd/magedok-display.service \
+    /etc/systemd/system/
+
+# Enable service
+sudo systemctl daemon-reload
+sudo systemctl enable magedok-display.service
+
+# Start service
+sudo systemctl start magedok-display.service
+
+# Check status
+sudo systemctl status magedok-display.service
+sudo journalctl -u magedok-display -f  # Follow logs
+```
+
+## Verification
+
+### Display Resolution
+```bash
+# Check actual resolution
+xdotool getactivewindow getwindowgeometry
+
+# Verify with xrandr
+xrandr | grep "1024x600"
+```
+
+**Expected**: `1024x600_60.00 +0+0` or similar
+
+### Touch Input
+```bash
+# List input devices
+xinput list
+
+# Should show "MageDok Touch" or "eGTouch Controller"
+# Test touch by clicking on display - cursor should move
+```
+
+### Audio
+```bash
+# Test HDMI audio
+speaker-test -c 2 -l 1 -s 1 -t sine
+
+# Verify volume level
+pactl list sinks | grep -A 10 RUNNING
+```
+
+## Troubleshooting
+
+### Display Not Detected
+
+```bash
+# Check EDID data
+edid-decode /sys/class/drm/card0-HDMI-A-1/edid
+
+# Force resolution
+xrandr --output HDMI-1 --mode 1024x600 --rate 60
+
+# Check kernel logs
+dmesg | grep -i "drm\|HDMI\|dp"
+```
+
+### Touch Not Working
+
+```bash
+# Check USB connection
+lsusb | grep -i "eGTouch\|EETI"
+
+# Verify udev rules applied
+cat /etc/udev/rules.d/90-magedok-touch.rules
+
+# Test touch device directly
+evtest /dev/magedok-touch  # Or /dev/input/eventX
+```
+
+### Audio Not Routing
+
+```bash
+# Check PulseAudio daemon
+pulseaudio --version
+systemctl status pulseaudio
+
+# Restart PulseAudio
+systemctl --user restart pulseaudio
+
+# Monitor audio stream
+pactl list sink-inputs
+```
+
+### Display Disconnection (Headless Fallback)
+
+The system should continue operating normally with display disconnected:
+- ROS2 services remain accessible via network
+- Robot commands via `/cmd_vel` continue working
+- Data logging and telemetry unaffected
+- Dashboard accessible via SSH/webui from other machine
+
+## Testing Checklist
+
+- [ ] Display shows 1024×600 resolution
+- [ ] Touch input registers in xinput (test by moving cursor)
+- [ ] Audio plays through display speakers
+- [ ] System boots without login prompt (if using auto-start)
+- [ ] All ROS2 nodes launch correctly with display
+- [ ] System operates normally when display is disconnected
+- [ ] `/magedok/touch_status` topic shows true (ROS2 verify script)
+- [ ] `/magedok/audio_status` topic shows HDMI sink (ROS2 audio router)
+
+## Related Issues
+
+- **#368**: Salty Face UI (depends on this display setup)
+- **#370**: Animated expression UI
+- **#371**: Deaf/accessibility mode with touch keyboard
+
+## References
+
+- MageDok 7" Specs: [HDMI, 1024×600, USB Touch, Built-in Speakers]
+- Jetson Orin Nano DisplayPort Output: Requires active adapter (no DP Alt Mode on USB-C)
+- PulseAudio: HDMI audio sink routing via ALSA
+- X11/Xrandr: Display mode configuration

jetson/ros2_ws/src/saltybot_bringup/launch/magedok_display.launch.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+"""
+MageDok 7" Display Launch Configuration
+- Video: DisplayPort → HDMI (1024×600)
+- Touch: USB HID
+- Audio: HDMI → internal speakers via PulseAudio
+"""
+
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        # Log startup
+        ExecuteProcess(
+            cmd=['echo', '[MageDok] Display setup starting...'],
+            shell=True,
+        ),
+
+        # Verify display resolution
+        Node(
+            package='saltybot_bringup',
+            executable='verify_display.py',
+            name='display_verifier',
+            parameters=[
+                {'target_width': 1024},
+                {'target_height': 600},
+                {'target_refresh': 60},
+            ],
+            output='screen',
+        ),
+
+        # Monitor touch input
+        Node(
+            package='saltybot_bringup',
+            executable='touch_monitor.py',
+            name='touch_monitor',
+            parameters=[
+                {'device_name': 'MageDok Touch'},
+                {'poll_interval': 0.1},
+            ],
+            output='screen',
+        ),
+
+        # Audio routing (PulseAudio sink redirection)
+        Node(
+            package='saltybot_bringup',
+            executable='audio_router.py',
+            name='audio_router',
+            parameters=[
+                {'hdmi_sink': 'alsa_output.pci-0000_00_1d.0.hdmi-stereo'},
+                {'default_sink': True},
+            ],
+            output='screen',
+        ),
+    ])

jetson/ros2_ws/src/saltybot_bringup/scripts/audio_router.py

@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+"""
+MageDok Audio Router
+Routes HDMI audio from DisplayPort adapter to internal speakers via PulseAudio
+"""
+
+import subprocess
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class AudioRouter(Node):
+    def __init__(self):
+        super().__init__('audio_router')
+
+        self.declare_parameter('hdmi_sink', 'alsa_output.pci-0000_00_1d.0.hdmi-stereo')
+        self.declare_parameter('default_sink', True)
+
+        self.hdmi_sink = self.get_parameter('hdmi_sink').value
+        self.set_default = self.get_parameter('default_sink').value
+
+        self.audio_status_pub = self.create_publisher(String, '/magedok/audio_status', 10)
+
+        self.get_logger().info('Audio Router: Configuring HDMI audio routing...')
+        self.setup_pulseaudio()
+
+        # Check status every 5 seconds
+        self.create_timer(5.0, self.check_audio_status)
+
+    def setup_pulseaudio(self):
+        """Configure PulseAudio to route HDMI audio"""
+        try:
+            # List available sinks
+            result = subprocess.run(['pactl', 'list', 'sinks'], capture_output=True, text=True, timeout=5)
+            sinks = self._parse_pa_sinks(result.stdout)
+
+            if not sinks:
+                self.get_logger().warn('No PulseAudio sinks detected')
+                return
+
+            self.get_logger().info(f'Available sinks: {", ".join(sinks.keys())}')
+
+            # Find HDMI or use first available
+            hdmi_sink = None
+            for name in sinks.keys():
+                if 'hdmi' in name.lower() or 'HDMI' in name:
+                    hdmi_sink = name
+                    break
+
+            if not hdmi_sink:
+                hdmi_sink = list(sinks.keys())[0]  # Fallback to first sink
+                self.get_logger().warn(f'HDMI sink not found, using: {hdmi_sink}')
+            else:
+                self.get_logger().info(f'✓ HDMI sink identified: {hdmi_sink}')
+
+            # Set as default if requested
+            if self.set_default:
+                subprocess.run(['pactl', 'set-default-sink', hdmi_sink], timeout=5)
+                self.get_logger().info(f'✓ Audio routed to: {hdmi_sink}')
+
+        except Exception as e:
+            self.get_logger().error(f'PulseAudio setup failed: {e}')
+
+    def _parse_pa_sinks(self, pactl_output):
+        """Parse 'pactl list sinks' output"""
+        sinks = {}
+        current_sink = None
+        for line in pactl_output.split('\n'):
+            if line.startswith('Sink #'):
+                current_sink = line.split('#')[1].strip()
+            elif '\tName: ' in line and current_sink:
+                name = line.split('Name: ')[1].strip()
+                sinks[name] = current_sink
+        return sinks
+
+    def check_audio_status(self):
+        """Verify audio is properly routed"""
+        try:
+            result = subprocess.run(['pactl', 'get-default-sink'], capture_output=True, text=True, timeout=5)
+            status = String()
+            status.data = result.stdout.strip()
+            self.audio_status_pub.publish(status)
+            self.get_logger().debug(f'Current audio sink: {status.data}')
+        except Exception as e:
+            self.get_logger().warn(f'Audio status check failed: {e}')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    router = AudioRouter()
+    rclpy.spin(router)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

jetson/ros2_ws/src/saltybot_bringup/scripts/touch_monitor.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+"""
+MageDok Touch Input Monitor
+Verifies USB touch device is recognized and functional
+"""
+
+import os
+import subprocess
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String, Bool
+
+
+class TouchMonitor(Node):
+    def __init__(self):
+        super().__init__('touch_monitor')
+
+        self.declare_parameter('device_name', 'MageDok Touch')
+        self.declare_parameter('poll_interval', 0.1)
+
+        self.device_name = self.get_parameter('device_name').value
+        self.poll_interval = self.get_parameter('poll_interval').value
+
+        self.touch_status_pub = self.create_publisher(Bool, '/magedok/touch_status', 10)
+        self.device_info_pub = self.create_publisher(String, '/magedok/device_info', 10)
+
+        self.get_logger().info(f'Touch Monitor: Scanning for {self.device_name}...')
+        self.detect_touch_device()
+
+        # Publish status every 2 seconds
+        self.create_timer(2.0, self.publish_status)
+
+    def detect_touch_device(self):
+        """Detect MageDok touch device via USB"""
+        try:
+            # Check lsusb for MageDok or eGTouch device
+            result = subprocess.run(['lsusb'], capture_output=True, text=True, timeout=5)
+            lines = result.stdout.split('\n')
+
+            for line in lines:
+                if 'eGTouch' in line or 'EETI' in line or 'MageDok' in line or 'touch' in line.lower():
+                    self.get_logger().info(f'✓ Touch device found: {line.strip()}')
+                    msg = String()
+                    msg.data = line.strip()
+                    self.device_info_pub.publish(msg)
+                    return True
+
+            # Fallback: check input devices
+            result = subprocess.run(['grep', '-l', 'eGTouch\|EETI\|MageDok', '/proc/bus/input/devices'],
+                                    capture_output=True, text=True, timeout=5)
+            if result.returncode == 0:
+                self.get_logger().info('✓ Touch device registered in /proc/bus/input/devices')
+                return True
+
+            self.get_logger().warn('⚠ Touch device not detected — ensure USB connection is secure')
+            return False
+
+        except Exception as e:
+            self.get_logger().error(f'Device detection failed: {e}')
+            return False
+
+    def publish_status(self):
+        """Publish current touch device status"""
+        try:
+            result = subprocess.run(['ls', '/dev/magedok-touch'], capture_output=True, timeout=2)
+            status = Bool()
+            status.data = (result.returncode == 0)
+            self.touch_status_pub.publish(status)
+
+            if status.data:
+                self.get_logger().debug('Touch device: ACTIVE')
+            else:
+                self.get_logger().warn('Touch device: NOT DETECTED')
+        except Exception as e:
+            status = Bool()
+            status.data = False
+            self.touch_status_pub.publish(status)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    monitor = TouchMonitor()
+    rclpy.spin(monitor)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

jetson/ros2_ws/src/saltybot_bringup/scripts/verify_display.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+"""
+MageDok Display Verifier
+Validates that the 7" display is running at 1024×600 resolution
+"""
+
+import os
+import re
+import subprocess
+import rclpy
+from rclpy.node import Node
+
+
+class DisplayVerifier(Node):
+    def __init__(self):
+        super().__init__('display_verifier')
+
+        self.declare_parameter('target_width', 1024)
+        self.declare_parameter('target_height', 600)
+        self.declare_parameter('target_refresh', 60)
+
+        self.target_w = self.get_parameter('target_width').value
+        self.target_h = self.get_parameter('target_height').value
+        self.target_f = self.get_parameter('target_refresh').value
+
+        self.get_logger().info(f'Display Verifier: Target {self.target_w}×{self.target_h} @ {self.target_f}Hz')
+        self.verify_display()
+
+    def verify_display(self):
+        """Check current display resolution via xdotool or xrandr"""
+        try:
+            # Try xrandr first
+            result = subprocess.run(['xrandr'], capture_output=True, text=True, timeout=5)
+            if result.returncode == 0:
+                self.parse_xrandr(result.stdout)
+            else:
+                self.get_logger().warn('xrandr not available, checking edid-decode')
+                self.check_edid()
+        except Exception as e:
+            self.get_logger().error(f'Display verification failed: {e}')
+
+    def parse_xrandr(self, output):
+        """Parse xrandr output to find active display resolution"""
+        lines = output.split('\n')
+        for line in lines:
+            # Look for connected display with resolution
+            if 'connected' in line and 'primary' in line:
+                # Example: "HDMI-1 connected primary 1024x600+0+0 (normal left inverted right)"
+                match = re.search(r'(\d+)x(\d+)', line)
+                if match:
+                    width, height = int(match.group(1)), int(match.group(2))
+                    self.verify_resolution(width, height)
+                    return
+
+        self.get_logger().warn('Could not determine active display from xrandr')
+
+    def verify_resolution(self, current_w, current_h):
+        """Validate resolution matches target"""
+        if current_w == self.target_w and current_h == self.target_h:
+            self.get_logger().info(f'✓ Display verified: {current_w}×{current_h} [OK]')
+        else:
+            self.get_logger().warn(f'⚠ Display mismatch: Expected {self.target_w}×{self.target_h}, got {current_w}×{current_h}')
+            self.attempt_set_resolution()
+
+    def attempt_set_resolution(self):
+        """Try to set resolution via xrandr"""
+        try:
+            # Find HDMI output
+            result = subprocess.run(
+                ['xrandr', '--output', 'HDMI-1', '--mode', f'{self.target_w}x{self.target_h}', '--rate', str(self.target_f)],
+                capture_output=True, text=True, timeout=5
+            )
+            if result.returncode == 0:
+                self.get_logger().info(f'✓ Resolution set to {self.target_w}×{self.target_h} @ {self.target_f}Hz')
+            else:
+                self.get_logger().warn(f'Resolution change failed: {result.stderr}')
+        except Exception as e:
+            self.get_logger().error(f'Could not set resolution: {e}')
+
+    def check_edid(self):
+        """Fallback: check EDID (Extended Display ID) data"""
+        try:
+            result = subprocess.run(['edid-decode', '/sys/class/drm/card0-HDMI-A-1/edid'],
+                                    capture_output=True, text=True, timeout=5)
+            if 'Established timings' in result.stdout:
+                self.get_logger().info('Display EDID detected (MageDok 1024×600 display)')
+        except:
+            self.get_logger().warn('EDID check unavailable')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    verifier = DisplayVerifier()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

jetson/ros2_ws/src/saltybot_bringup/systemd/magedok-display.service

@@ -0,0 +1,26 @@
+[Unit]
+Description=MageDok 7" Display Setup and Auto-Launch
+Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/369
+After=network-online.target
+Wants=network-online.target
+ConditionPathExists=/dev/pts/0
+
+[Service]
+Type=oneshot
+ExecStartPre=/bin/sleep 2
+ExecStart=/usr/bin/env bash -c 'source /opt/ros/jazzy/setup.bash && ros2 launch saltybot_bringup magedok_display.launch.py'
+ExecStartPost=/usr/bin/env bash -c 'DISPLAY=:0 /usr/bin/startx -- :0 vt7 -nolisten tcp 2>/dev/null &'
+
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=magedok-display
+User=orin
+Group=orin
+Environment="DISPLAY=:0"
+Environment="XAUTHORITY=/home/orin/.Xauthority"
+
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target

jetson/ros2_ws/src/saltybot_bringup/udev/90-magedok-touch.rules

@@ -0,0 +1,19 @@
+# MageDok 7" Touchscreen USB Device Rules
+# Ensure touch device is recognized and accessible
+
+# Generic USB touch input device (MageDok)
+# Manufacturer typically reports as: EETI eGTouch Controller
+SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", TAG="uaccess"
+SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", TAG="uaccess"
+SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*MageDok*", TAG="uaccess"
+
+# Fallback: Any USB device with touch capability (VID/PID may vary by batch)
+SUBSYSTEM=="usb", ATTRS{bInterfaceClass}=="03", ATTRS{bInterfaceSubClass}=="01", TAG="uaccess"
+
+# Create /dev/magedok-touch symlink for consistent reference
+SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", SYMLINK="magedok-touch"
+SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", SYMLINK="magedok-touch"
+
+# Permissions: 0666 (rw for all users)
+SUBSYSTEM=="input", KERNEL=="event*", MODE="0666"
+SUBSYSTEM=="input", KERNEL=="mouse*", MODE="0666"