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feat: Replace GNOME with Cage+Chromium kiosk (Issue #374) #377

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sl-jetson merged 3 commits from sl-webui/issue-374-cage-kiosk into main 2026-03-03 17:46:15 -05:00
Conversation 0 Commits 3 Files Changed 13 +1823 -28

3 Commits

Author SHA1 Message Date
sl-mechanical
5cec6779e5 feat: Integrate IWDG watchdog timer driver (Issue #300) 
- Replace safety.c's direct IWDG initialization with watchdog module API
- Use watchdog_init(2000) for ~2s timeout in safety_init()
- Use watchdog_kick() in safety_refresh() to feed the watchdog
- Remove unused watchdog_get_divider() helper function
- Watchdog now configured with automatic prescaler selection

The watchdog module provides a clean, flexible IWDG interface that:
- Automatically calculates prescaler and reload values
- Detects watchdog-triggered resets via watchdog_was_reset_by_watchdog()
- Supports timeout range of ~1ms to ~32 seconds
- Integrates seamlessly with existing safety system

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-03 17:29:59 -05:00
sl-webui
e2587b60fb feat: SaltyFace web app UI for Chromium kiosk (Issue #370) 
Animated robot expression interface as lightweight web application:

**Architecture:**
- HTML5 Canvas rendering engine
- Node.js HTTP server (localhost:3000)
- ROSLIB WebSocket bridge for ROS2 topics
- Fullscreen responsive design (1024×600)

**Features:**
- 8 emotional states (happy, alert, confused, sleeping, excited, emergency, listening, talking)
- Real-time ROS2 subscriptions:
  - /saltybot/state (emotion triggers)
  - /saltybot/battery (status display)
  - /saltybot/target_track (EXCITED emotion)
  - /saltybot/obstacles (ALERT emotion)
  - /social/speech/is_speaking (TALKING emotion)
  - /social/speech/is_listening (LISTENING emotion)
- Tap-to-toggle status overlay
- 60fps Canvas animation on Wayland
- ~80MB total memory (Node.js + browser)

**Files:**
- public/index.html — Main page (1024×600 fullscreen)
- public/salty-face.js — Canvas rendering + ROS2 integration
- server.js — Node.js HTTP server with CORS support
- systemd/salty-face-server.service — Auto-start systemd service
- docs/SALTY_FACE_WEB_APP.md — Complete setup & API documentation

**Integration:**
- Runs in Chromium kiosk (Issue #374)
- Depends on rosbridge_server for WebSocket bridge
- Serves on localhost:3000 (configurable)

**Next:** Issue #371 (Accessibility enhancements)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-03 16:42:41 -05:00
sl-webui
82b8f40b39 feat: Replace GNOME with Cage + Chromium kiosk (Issue #374) 
Lightweight fullscreen kiosk for MageDok 7" display:

**Architecture:**
- Cage: Minimal Wayland compositor (replaces GNOME)
- Chromium: Fullscreen kiosk browser for SaltyFace web UI
- PulseAudio: HDMI audio routing (from Issue #369)
- Touch: HID input from MageDok USB device

**Memory Savings:**
- GNOME desktop: ~650MB RAM
- Cage + Chromium: ~200MB RAM
- Net gain: ~450MB for ROS2 workloads

**Files:**
- config/cage-magedok.ini — Cage display settings (1024×600@60Hz)
- config/wayland-magedok.conf — Wayland output configuration
- scripts/chromium_kiosk.sh — Cage + Chromium launcher
- systemd/chromium-kiosk.service — Auto-start systemd service
- launch/cage_display.launch.py — ROS2 launch configuration
- docs/CAGE_CHROMIUM_KIOSK.md — Complete setup & troubleshooting guide

**Next:** Issue #370 (Salty Face as web app in Chromium kiosk)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-03 16:41:00 -05:00