saltylab-firmware

History

sl-webui 8aa4072a63 feat(webui): Salty Face animated expression UI — contextual emotions (Issue #370 )

Add animated facial expression interface for MageDok 7" display:

Core Features:
✓ 8 emotional states:
  - Happy (default idle)
  - Alert (obstacles detected)
  - Confused (searching, target lost)
  - Sleeping (prolonged inactivity)
  - Excited (target reacquired)
  - Emergency (e-stop triggered)
  - Listening (microphone active)
  - Talking (TTS output)

Visual Design:
✓ Minimalist Cozmo/Vector-inspired eyes + optional mouth
✓ Canvas-based GPU-accelerated rendering
✓ 30fps target on Jetson Orin Nano
✓ Emotion-specific eye characteristics:
  - Scale changes (alert widened eyes)
  - Color coding per emotion
  - Pupil position tracking
  - Blinking rates vary by state
  - Eye wandering (confused searching)
  - Bouncing animation (excited)
  - Flash effect (emergency)

Mouth Animation:
✓ Synchronized with text-to-speech output
✓ Shape frames: closed, smile, oh, ah, ee sounds
✓ ~10fps lip sync animation

ROS2 Integration:
✓ Subscribe to /saltybot/state (emotion triggers)
✓ Subscribe to /saltybot/target_track (tracking state)
✓ Subscribe to /saltybot/obstacles (alert state)
✓ Subscribe to /social/speech/is_speaking (talking mode)
✓ Subscribe to /social/speech/is_listening (listening mode)
✓ Subscribe to /saltybot/battery (status tracking)
✓ Subscribe to /saltybot/audio_level (audio feedback)

HUD Overlay:
✓ Tap-to-toggle status display
✓ Battery percentage indicator
✓ Robot state label
✓ Distance to target (meters)
✓ Movement speed (m/s)
✓ System health percentage
✓ Color-coded health indicator (green/yellow/red)

Integration:
✓ New DISPLAY tab group (rose color)
✓ Full-screen rendering on 1024×600 MageDok display
✓ Responsive to robot state machine
✓ Supports kiosk mode deployment

Build Status: ✅ PASSING
- 126 modules (+1 for SaltyFace)
- 281.57 KB main bundle (+11 KB)
- 0 errors

Depends on: Issue #369 (MageDok display setup)
Foundation for: Issue #371 (Accessibility mode)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-03 18:14:49 -05:00

AudioMeter.jsx

feat(webui): audio level meter with speech activity (Issue #234 )

2026-03-02 12:11:12 -05:00

BandwidthMonitor.jsx

feat(webui): ROS topic bandwidth monitor (Issue #287 )

2026-03-02 20:45:41 -05:00

BatteryChart.jsx

feat(webui): battery voltage and percentage history chart (Issue #280 )

2026-03-02 17:36:18 -05:00

BatteryPanel.jsx

feat(ui): telemetry dashboard panels (issue #126 )