sl-webui
45d456049a
Add complete display integration for MageDok 7" IPS touchscreen: Configuration Files: - X11 display config (xorg-magedok.conf) — 1024×600 @ 60Hz - PulseAudio routing (pulseaudio-magedok.conf) — HDMI audio to speakers - Udev rules (90-magedok-touch.rules) — USB touch device permissions - Systemd service (magedok-display.service) — auto-start on boot ROS2 Launch: - magedok_display.launch.py — coordinate display/touch/audio setup Helper Scripts: - verify_display.py — validate 1024×600 resolution via xrandr - touch_monitor.py — detect MageDok USB touch, publish status - audio_router.py — configure PulseAudio HDMI sink routing Documentation: - MAGEDOK_DISPLAY_SETUP.md — complete installation and troubleshooting guide Features: ✓ DisplayPort → HDMI video from Orin DP connector ✓ USB touch input as HID device (driver-free) ✓ HDMI audio routing to built-in speakers ✓ 1024×600 native resolution verification ✓ Systemd auto-launch on boot (no login prompt) ✓ Headless fallback when display disconnected ✓ ROS2 status monitoring (touch/audio/resolution) Supports Salty Face UI (Issue #370) and accessibility features (Issue #371) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
99 lines
3.8 KiB
Python
99 lines
3.8 KiB
Python
#!/usr/bin/env python3
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"""
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MageDok Display Verifier
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Validates that the 7" display is running at 1024×600 resolution
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"""
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import os
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import re
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import subprocess
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import rclpy
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from rclpy.node import Node
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class DisplayVerifier(Node):
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def __init__(self):
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super().__init__('display_verifier')
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self.declare_parameter('target_width', 1024)
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self.declare_parameter('target_height', 600)
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self.declare_parameter('target_refresh', 60)
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self.target_w = self.get_parameter('target_width').value
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self.target_h = self.get_parameter('target_height').value
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self.target_f = self.get_parameter('target_refresh').value
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self.get_logger().info(f'Display Verifier: Target {self.target_w}×{self.target_h} @ {self.target_f}Hz')
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self.verify_display()
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def verify_display(self):
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"""Check current display resolution via xdotool or xrandr"""
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try:
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# Try xrandr first
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result = subprocess.run(['xrandr'], capture_output=True, text=True, timeout=5)
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if result.returncode == 0:
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self.parse_xrandr(result.stdout)
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else:
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self.get_logger().warn('xrandr not available, checking edid-decode')
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self.check_edid()
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except Exception as e:
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self.get_logger().error(f'Display verification failed: {e}')
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def parse_xrandr(self, output):
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"""Parse xrandr output to find active display resolution"""
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lines = output.split('\n')
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for line in lines:
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# Look for connected display with resolution
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if 'connected' in line and 'primary' in line:
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# Example: "HDMI-1 connected primary 1024x600+0+0 (normal left inverted right)"
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match = re.search(r'(\d+)x(\d+)', line)
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if match:
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width, height = int(match.group(1)), int(match.group(2))
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self.verify_resolution(width, height)
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return
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self.get_logger().warn('Could not determine active display from xrandr')
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def verify_resolution(self, current_w, current_h):
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"""Validate resolution matches target"""
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if current_w == self.target_w and current_h == self.target_h:
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self.get_logger().info(f'✓ Display verified: {current_w}×{current_h} [OK]')
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else:
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self.get_logger().warn(f'⚠ Display mismatch: Expected {self.target_w}×{self.target_h}, got {current_w}×{current_h}')
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self.attempt_set_resolution()
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def attempt_set_resolution(self):
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"""Try to set resolution via xrandr"""
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try:
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# Find HDMI output
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result = subprocess.run(
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['xrandr', '--output', 'HDMI-1', '--mode', f'{self.target_w}x{self.target_h}', '--rate', str(self.target_f)],
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capture_output=True, text=True, timeout=5
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)
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if result.returncode == 0:
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self.get_logger().info(f'✓ Resolution set to {self.target_w}×{self.target_h} @ {self.target_f}Hz')
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else:
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self.get_logger().warn(f'Resolution change failed: {result.stderr}')
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except Exception as e:
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self.get_logger().error(f'Could not set resolution: {e}')
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def check_edid(self):
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"""Fallback: check EDID (Extended Display ID) data"""
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try:
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result = subprocess.run(['edid-decode', '/sys/class/drm/card0-HDMI-A-1/edid'],
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capture_output=True, text=True, timeout=5)
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if 'Established timings' in result.stdout:
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self.get_logger().info('Display EDID detected (MageDok 1024×600 display)')
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except:
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self.get_logger().warn('EDID check unavailable')
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def main(args=None):
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rclpy.init(args=args)
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verifier = DisplayVerifier()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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