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