Run the whole robot from one launch file and one boot-time unit

hermes_bringup starts the face, camera, face detector and audio levels from one launch file with their parameters in robot.yaml, each node its own respawned process, the face first and the others after start_delay. robot.service runs it at boot, so everything is ROS and the face is up whenever the robot is powered. Reboot-tested: all services and nodes return by themselves, the face draws at about 28 s on the boot clock, the mic gain survives, nothing throttles. Cut the CPU: the camera runs at 15 fps (20% of a core, vs 40% at 30), and the detector went from 131% to 40% by pinning OpenCV to one thread (its DNN burns 3-4x its elapsed time across cores), decoding the JPEG at half size, and re-identifying a tracked face at most once a second. The audio scope is published only while someone is speaking or listening. A standalone face unit that skipped `ros2 launch` saved only 3.7 s and was dropped: the owner prefers everything in ROS and is fine with up to a minute. trim-boot.sh disables the unused snapd and ModemManager. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
2026-10-05 00:10:09 -07:00
parent 5d1ad1eff7
commit d8db0a48f5
18 changed files with 332 additions and 48 deletions
@@ -25,11 +25,29 @@ printed enclosure, speakers. Work until those arrive is limited to what the Pi,
  visible) with `adafruit-circuitpython-rgb-display` and Blinka. Workspace: `~/ros_ws`, source synced
  from `ros/` with `rsync -a --delete --exclude __pycache__ ros/ hermes@<ip>:~/ros_ws/src/`, then
  `colcon build --symlink-install`.
- CPU governor is held at `performance` by `robot-cpu-performance.service` (the face costs about
-  half as much CPU at full clock). The face starts at boot: `robot-face.service` runs
-  `ros2 run hermes_face face_node` as `hermes` and restarts it on failure (it needs a writable
-  working directory, `RuntimeDirectory=robot-face`, because lgpio drops a pipe in its cwd). It comes
-  up in the `sleeping` pose. Install with `pi/install-face-service.sh`.
+- **One unit runs the whole robot:** `robot.service` runs `ros2 launch hermes_bringup robot.launch.py`
+  as `hermes` (face, camera, face detection, audio levels), so everything is ROS and the face is up
+  whenever the robot is powered; each node is its own process, respawned by the launch file. Install
+  with `pi/install-robot-service.sh`. `RuntimeDirectory=robot` gives lgpio a writable working
+  directory (it drops a pipe in its cwd; systemd's default `/` is not writable). The face starts
+  first and the camera, vision and audio nodes follow `start_delay` (6 s) later, so the Python
+  processes do not fight over the CPU. Parameters are in `ros/hermes_bringup/config/robot.yaml`.
+  `robot-cpu-performance.service` holds the governor at `performance` (the face costs about half the
+  CPU at full clock). `pi/trim-boot.sh` disables snapd and ModemManager (unused; ~9 s of boot CPU).
+- **Boot timing** (reboot-tested, everything returns by itself): the face draws at about 28 s on the
+  boot clock (kernel 6.9 s, `robot.service` at ~10 s into userspace, then `ros2 launch` takes ~10 s
+  to start on a cold Pi, then the face ~3 s); camera, audio and vision are up by ~37 s. The owner is
+  fine with up to a minute, and prefers everything in ROS to a faster non-ROS face; a split
+  `robot-face.service` that skipped the launch framework only saved 3.7 s and was dropped.
+- **Steady-state CPU** with everything running (4 cores): face ~76%, camera ~57% (15 fps, from 30
+  at ~40% alone), detector ~40% (was 131%), audio ~12%; about half the machine idle, 62 C, no
+  throttling, no fan fitted. Camera `FrameDurationLimits` is the lever (15 fps ~20% alone, 10 fps
+  ~14%); JPEG quality barely matters. OpenCV's DNN spins every core and burns 3-4x its elapsed
+  time in CPU, so the detector node pins it to one thread (YuNet 86 ms, SFace 161 ms of CPU), decodes
+  the JPEG at half size (`IMREAD_REDUCED_COLOR_2`, boxes scaled back to full-size pixels) and
+  re-identifies a tracked face at most once a second (`IdentityCache`).
+- `ros2 node list` with its default short discovery window often shows only some of the nodes; use
+  `ros2 node list --no-daemon --spin-time 6` (all four appear), or check topics.
 - **ROS never leaves the Pi** (owner's decision): `ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST` (set in
  `pi/robot-env.sh`, which `source`s everything) and the firewall drops domain 42's DDS ports
  (17900-18149) on every interface but loopback. `hermes_mcp` is the only bridge to the outside; a
@@ -205,10 +223,13 @@ unrelated photo scored 0.16. **Nobody is enrolled yet**; the owner enrols themse
   `host/nixos/`. A new Omarchy host with a GPU (runs the local
   model "ornith") arrives this week: it needs only `host/omarchy/robot-usb-link.sh` and its SSH key
   added to the Pi.
-2. Audio: the `hermes_audio_state` node (levels, speaking/listening, a trigger-locked scope for the
-   literal voice trace), echo cancel and `robot_mic` naming once speakers arrive. Then a launch file
-   that brings up camera, vision, face and audio together, and CPU tuning (camera ~140% of a core).
-3. Second-person detection test; enrol the owner live; the rest of `HANDOFF.md`.
+2. `hermes_mcp`: the MCP server as an `rclpy` node (stable tool names; `look()` returns the latest
+   camera image, `turn_head()` calls the head action), the only bridge to the outside; it must
+   republish `/hermes/state` about once a second as the agent heartbeat. Then `hermes_head` and
+   the servos when they arrive, echo cancel and the `robot_mic` naming once speakers arrive, the
+   Wi-Fi-off boot test, and the rest of `HANDOFF.md`.
+3. Confirm the retuned listening detector live (the flicker fix is unit-tested only); a second person
+   in frame for the recognition test (not possible on 2026-10-04).

 ## Repository

@@ -1,12 +0,0 @@
-#!/bin/bash
-# Make the face start whenever the robot is powered. Run as root from this directory. Re-runnable.
-set -euo pipefail
-cd "$(dirname "$0")"
-install -m 644 robot-cpu-performance.service /etc/systemd/system/
-install -m 644 robot-face.service /etc/systemd/system/
-systemctl daemon-reload
-systemctl enable --now robot-cpu-performance.service
-systemctl enable robot-face.service
-systemctl restart robot-face.service
-sleep 8
-systemctl --no-pager --lines=4 status robot-face.service
@@ -0,0 +1,15 @@
+#!/bin/bash
+# One unit runs the whole robot (face, camera, vision, audio) via the hermes_bringup launch file, so
+# the face is up whenever the robot is powered, and everything is ROS. Each node is its own process
+# and is respawned by the launch file, so one crash cannot take the others down.
+# Replaces the earlier standalone robot-face.service. Run as root from this directory. Re-runnable.
+set -euo pipefail
+cd "$(dirname "$0")"
+install -m 644 robot-cpu-performance.service robot.service /etc/systemd/system/
+systemctl disable --now robot-face.service 2>/dev/null || true
+rm -f /etc/systemd/system/robot-face.service
+systemctl daemon-reload
+systemctl enable --now robot-cpu-performance.service
+systemctl enable robot.service
+systemctl restart robot.service
+echo "robot.service enabled and started"
@@ -1,16 +0,0 @@
-[Unit]
-Description=Robot face (hermes_face): the display is always on while the robot is powered
-After=local-fs.target robot-cpu-performance.service
-
-[Service]
-User=hermes
-# lgpio (the GPIO backend for the display) drops a notification pipe, .lgd-nfy*, in its working
-# directory, which must be writable: systemd's default, /, is not.
-RuntimeDirectory=robot-face
-WorkingDirectory=/run/robot-face
-ExecStart=/bin/bash -c 'source /home/hermes/robot-env.sh && exec ros2 run hermes_face face_node'
-Restart=always
-RestartSec=2
-
-[Install]
-WantedBy=multi-user.target
@@ -0,0 +1,20 @@
+[Unit]
+Description=Robot (hermes_bringup): face, camera, face detection, audio levels
+# Nothing here needs the user session: audio_state retries until the user's PipeWire is up.
+After=local-fs.target robot-cpu-performance.service robot-firewall.service
+
+[Service]
+User=hermes
+# lgpio (the display's GPIO backend) drops a notification pipe in its working directory, which must
+# be writable: systemd's default, /, is not.
+RuntimeDirectory=robot
+WorkingDirectory=/run/robot
+# audio_state reaches the user's PipeWire through this
+Environment=XDG_RUNTIME_DIR=/run/user/1000
+ExecStart=/bin/bash -c 'source /home/hermes/robot-env.sh && exec ros2 launch hermes_bringup robot.launch.py'
+Restart=always
+RestartSec=3
+TimeoutStopSec=20
+
+[Install]
+WantedBy=multi-user.target
@@ -0,0 +1,10 @@
+#!/bin/bash
+# Switch off boot-time services a headless robot does not use. They cost ~9 s of CPU and a few
+# seconds of wall time at every boot, competing with the face for the CPU and the SD card.
+# snapd: no snaps are installed. ModemManager: no modems. Run as root. Re-runnable; undo with
+# `systemctl unmask ... && systemctl enable ...`.
+set -euo pipefail
+systemctl disable --now snapd.service snapd.socket snapd.seeded.service snapd.apparmor.service 2>/dev/null || true
+systemctl mask snapd.service snapd.socket 2>/dev/null || true
+systemctl disable --now ModemManager.service 2>/dev/null || true
+echo "trimmed: snapd, ModemManager"
@@ -47,8 +47,10 @@ class AudioStateNode(Node):
        if state != self._last_state or now - self._last_pub > 0.5:
            self.activity_pub.publish(String(data=state))
            self._last_state, self._last_pub = state, now
-        for name, tap, db in (('mic', self.mic, mic_db), ('speaker', self.spk, spk_db)):
-            if db > self.scope_floor_db:
+        # only while it is on the face: 30 idle messages a second would cost the face node CPU for nothing
+        for name, tap, db, wanted in (('mic', self.mic, mic_db, state == 'listening'),
+                                      ('speaker', self.spk, spk_db, state == 'speaking')):
+            if wanted and db > self.scope_floor_db:
                w = trigger_window(tap.latest(self.n_scope + 512), self.n_scope, 512)
                self.scope_pub[name].publish(Float32MultiArray(data=w.tolist()))

@@ -0,0 +1,32 @@
+# Parameters for the robot's nodes, keyed by node name. The MCP token and other secrets do not
+# belong here: they stay in an env file readable only by the service user.
+camera:
+  ros__parameters:
+    width: 1296                        # the OV5647's full-field binned mode: whole field of view
+    height: 972
+    format: RGB888
+    FrameDurationLimits: [66666, 66666]   # 15 fps: ~20% of a core, vs ~40% at 30; plenty for 4 Hz faces
+    jpeg_quality: 80
+
+hermes_face:
+  ros__parameters:
+    rotation: 270                      # mounted pose, microSD end up (the panel is portrait)
+    x_offset: 0
+    y_offset: 80                       # the 240x240 glass sits 80 rows into the controller's RAM
+    fps: 30.0
+    phosphor: P7
+    style: phosphor
+    initial_state: sleeping            # no agent connected until hermes_mcp's heartbeat says so
+    agent_timeout_s: 10.0
+    gaze_follow: true
+    audio_drive: true
+
+hermes_face_detector:
+  ros__parameters:
+    rate_hz: 4.0
+    recognize: true                    # only recognises people enrolled with hermes_vision.people
+    publish_debug: false
+
+hermes_audio_state:
+  ros__parameters:
+    rate_hz: 30.0
@@ -0,0 +1,45 @@
+"""Bring up the robot: camera, face, face detection, audio levels.
+
+  ros2 launch hermes_bringup robot.launch.py [camera:=false] [face:=false] [vision:=false] [audio:=false]
+                                              [start_delay:=6.0]
+
+Every node is its own process and is respawned if it exits, so one crash cannot take the others
+down: the face keeps running when the camera does not. Parameters are in config/robot.yaml.
+
+The face starts at once; the camera, vision and audio nodes wait start_delay seconds, so the four
+Python processes do not fight over the CPU while the face imports and draws its first frame.
+"""
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, TimerAction
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+# (launch argument, package, executable, node name in robot.yaml)
+NODES = [
+    ('camera', 'camera_ros', 'camera_node', 'camera'),
+    ('face', 'hermes_face', 'face_node', 'hermes_face'),
+    ('vision', 'hermes_vision', 'face_detector', 'hermes_face_detector'),
+    ('audio', 'hermes_audio', 'audio_state', 'hermes_audio_state'),
+]
+
+
+DELAYED = {'camera', 'vision', 'audio'}
+
+
+def generate_launch_description():
+    params = os.path.join(get_package_share_directory('hermes_bringup'), 'config', 'robot.yaml')
+    actions = [DeclareLaunchArgument(arg, default_value='true', description=f'run the {name} node')
+               for arg, _, _, name in NODES]
+    actions.append(DeclareLaunchArgument('start_delay', default_value='6.0',
+                                         description='seconds the camera, vision and audio wait for the face'))
+    for arg, package, executable, name in NODES:
+        node = Node(package=package, executable=executable, name=name, output='screen',
+                    parameters=[params], respawn=True, respawn_delay=2.0,
+                    condition=IfCondition(LaunchConfiguration(arg)))
+        actions.append(TimerAction(period=LaunchConfiguration('start_delay'), actions=[node])
+                       if arg in DELAYED else node)
+    return LaunchDescription(actions)
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hermes_bringup</name>
+  <version>0.1.0</version>
+  <description>Launch file and parameters that bring up the Hermes robot.</description>
+  <maintainer email="noreply@example.com">K. Isom</maintainer>
+  <license>UNLICENSED</license>
+
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>camera_ros</exec_depend>
+  <exec_depend>hermes_face</exec_depend>
+  <exec_depend>hermes_vision</exec_depend>
+  <exec_depend>hermes_audio</exec_depend>
+
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/hermes_bringup
+[install]
+install_scripts=$base/lib/hermes_bringup
@@ -0,0 +1,24 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'hermes_bringup'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='K. Isom',
+    maintainer_email='noreply@example.com',
+    description='Launch file and parameters for the Hermes robot.',
+    license='UNLICENSED',
+)
@@ -0,0 +1,34 @@
+import os
+
+import pytest
+import yaml
+
+pytest.importorskip('launch_ros')
+
+HERE = os.path.dirname(__file__)
+ROOT = os.path.dirname(HERE)
+
+
+def test_launch_description_has_one_respawning_process_per_node():
+    import importlib.util
+    spec = importlib.util.spec_from_file_location('robot_launch', os.path.join(ROOT, 'launch', 'robot.launch.py'))
+    mod = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(mod)
+    from launch.actions import TimerAction
+    from launch_ros.actions import Node
+    ld = mod.generate_launch_description()
+    nodes = [e for e in ld.entities if isinstance(e, Node)]
+    delayed = [n for t in ld.entities if isinstance(t, TimerAction) for n in t.actions if isinstance(n, Node)]
+    assert len(nodes) + len(delayed) == len(mod.NODES) == 4
+    assert len(nodes) == 1 and 'face' in mod.NODES[1] and len(delayed) == 3   # the face starts at once
+    # respawn lives on a private attribute that differs between ROS releases, so check the source
+    src = open(os.path.join(ROOT, 'launch', 'robot.launch.py')).read()
+    assert 'respawn=True' in src and 'respawn_delay' in src
+
+
+def test_every_node_in_the_launch_file_has_parameters_and_the_face_is_mounted_portrait():
+    cfg = yaml.safe_load(open(os.path.join(ROOT, 'config', 'robot.yaml')))
+    for name in ('camera', 'hermes_face', 'hermes_face_detector', 'hermes_audio_state'):
+        assert 'ros__parameters' in cfg[name], name
+    assert cfg['hermes_face']['ros__parameters']['rotation'] == 270
+    assert cfg['camera']['ros__parameters']['FrameDurationLimits'] == [66666, 66666]
@@ -18,8 +18,8 @@ from rclpy.node import Node
 from sensor_msgs.msg import CompressedImage
 from vision_msgs.msg import Detection2D, Detection2DArray, ObjectHypothesisWithPose

-from .detect import FaceDetector
-from .recognize import COSINE_THRESHOLD, DEFAULT_DB, DEFAULT_MODEL, FaceRecognizer
+from .detect import Face, FaceDetector
+from .recognize import COSINE_THRESHOLD, DEFAULT_DB, DEFAULT_MODEL, FaceRecognizer, IdentityCache


 class FaceDetectorNode(Node):
@@ -29,8 +29,14 @@ class FaceDetectorNode(Node):
        topic = param('image_topic', '/camera/image_raw/compressed')
        self.period = 1.0 / min(30.0, max(0.5, float(param('rate_hz', 4.0))))
        self.debug = bool(param('publish_debug', False))
+        # OpenCV's DNN spins every core and burns 3-4x its elapsed time in CPU; one thread is the most
+        # efficient (measured on a Pi 4: YuNet 86 ms CPU on one thread, 406 ms on four).
+        cv2.setNumThreads(max(1, int(param('opencv_threads', 1))))
+        self.scale = 2 if bool(param('decode_half', True)) else 1     # JPEG decodes at half size ~2.5x faster
+        self._flag = cv2.IMREAD_REDUCED_COLOR_2 if self.scale == 2 else cv2.IMREAD_COLOR
        self.detector = FaceDetector(param('model_path', ''), float(param('score_threshold', 0.6)),
-                                     int(param('min_size', 40)))
+                                     int(param('min_size', 40)) // self.scale, int(param('detect_max_side', 480)))
+        self.ids = IdentityCache(float(param('recognition_period_s', 1.0)))
        recognition_model = os.path.expanduser(param('recognition_model', DEFAULT_MODEL))   # declare once
        faces_db = param('faces_db', DEFAULT_DB)
        threshold = float(param('recognition_threshold', COSINE_THRESHOLD))
@@ -52,16 +58,19 @@ class FaceDetectorNode(Node):
        if now < self._next:
            return
        self._next = now + self.period
-        img = cv2.imdecode(np.frombuffer(msg.data, np.uint8), cv2.IMREAD_COLOR)
+        img = cv2.imdecode(np.frombuffer(msg.data, np.uint8), self._flag)
        if img is None:
            self.get_logger().warn('could not decode image', throttle_duration_sec=10.0)
            return
-        faces = self.detector.detect(img)
+        faces = self.detector.detect(img)                 # in the (possibly half-size) decoded image
+        names = (self.ids.update(faces, now, lambda f: self.recognizer.identify(img, f)[0])
+                 if self.recognizer else [''] * len(faces))
+        k = self.scale                                    # published boxes are in full-size camera pixels
        out = Detection2DArray(header=msg.header)
-        for f in faces:
+        for f, name in zip(faces, names):
+            f = Face(f.x * k, f.y * k, f.w * k, f.h * k, f.score)
            d = Detection2D(header=msg.header)
-            if self.recognizer:
-                d.id = self.recognizer.identify(img, f)[0]
+            d.id = name
            d.bbox.center.position.x = f.x + f.w / 2.0
            d.bbox.center.position.y = f.y + f.h / 2.0
            d.bbox.size_x, d.bbox.size_y = float(f.w), float(f.h)
@@ -72,7 +81,7 @@ class FaceDetectorNode(Node):
        self.pub.publish(out)
        if self.debug_pub:
            for f in faces:
-                cv2.rectangle(img, (f.x, f.y), (f.x + f.w, f.y + f.h), (0, 255, 0), 2)
+                cv2.rectangle(img, (f.x, f.y), (f.x + f.w, f.y + f.h), (0, 255, 0), 2)   # decoded-image pixels
            ok, jpg = cv2.imencode('.jpg', img, [cv2.IMWRITE_JPEG_QUALITY, 80])
            if ok:
                self.debug_pub.publish(CompressedImage(header=msg.header, format='jpeg', data=jpg.tobytes()))
@@ -98,3 +98,36 @@ class FaceRecognizer:
            return '', 0.0
        emb = self.embed(bgr, face)
        return ('', 0.0) if emb is None else best_match(emb, self._db, self.threshold)
+
+
+def iou(a: Face, b: Face) -> float:
+    iw = min(a.x + a.w, b.x + b.w) - max(a.x, b.x)
+    ih = min(a.y + a.h, b.y + b.h) - max(a.y, b.y)
+    if iw <= 0 or ih <= 0:
+        return 0.0
+    inter = iw * ih
+    return inter / (a.w * a.h + b.w * b.h - inter)
+
+
+class IdentityCache:
+    """Recognition is the expensive step, and a face that has barely moved is the same person: reuse
+    a tracked face's name for period_s before re-identifying it. Faces match by box overlap."""
+
+    def __init__(self, period_s: float = 1.0, iou_min: float = 0.4):
+        self.period_s, self.iou_min = period_s, iou_min
+        self._entries: list[tuple[Face, str, float]] = []
+
+    def update(self, faces, now: float, identify) -> list[str]:
+        """Names for faces (same order). identify(face) -> name is called only for new or stale faces."""
+        names, nxt = [], []
+        for f in faces:
+            hit = max(((iou(f, pf), (pf, n, t)) for pf, n, t in self._entries), key=lambda x: x[0], default=None)
+            if hit and hit[0] >= self.iou_min and now - hit[1][2] < self.period_s:
+                _, name, t = hit[1]
+                nxt.append((f, name, t))               # keep the old stamp so it ages and gets rechecked
+            else:
+                name = identify(f)
+                nxt.append((f, name, now))
+            names.append(name)
+        self._entries = nxt
+        return names
@@ -0,0 +1,40 @@
+from hermes_vision.detect import Face
+from hermes_vision.recognize import IdentityCache, iou
+
+
+def test_iou():
+    a = Face(0, 0, 100, 100)
+    assert iou(a, a) == 1.0
+    assert iou(a, Face(200, 200, 50, 50)) == 0.0
+    assert 0.3 < iou(a, Face(50, 0, 100, 100)) < 0.4
+
+
+def test_a_tracked_face_is_identified_once_per_period():
+    calls = []
+    cache = IdentityCache(period_s=1.0)
+    ident = lambda f: (calls.append(f), 'kyle')[1]
+    assert cache.update([Face(100, 100, 80, 80)], 0.0, ident) == ['kyle']
+    for i in range(1, 8):                                  # the face drifts a little, 4 times a second
+        assert cache.update([Face(100 + i, 100, 80, 80)], i * 0.125, ident) == ['kyle']
+    assert len(calls) == 1
+    cache.update([Face(108, 100, 80, 80)], 1.1, ident)     # stale: rechecked
+    assert len(calls) == 2
+
+
+def test_a_new_face_is_identified_immediately_and_unknown_is_cached_too():
+    calls = []
+    cache = IdentityCache()
+    ident = lambda f: (calls.append(f), '' if f.x > 400 else 'kyle')[1]
+    names = cache.update([Face(100, 100, 80, 80), Face(500, 100, 80, 80)], 0.0, ident)
+    assert names == ['kyle', ''] and len(calls) == 2
+    assert cache.update([Face(101, 100, 80, 80), Face(501, 100, 80, 80)], 0.3, ident) == ['kyle', '']
+    assert len(calls) == 2                                  # the stranger is not re-embedded every frame
+
+
+def test_a_face_that_jumps_is_a_different_face():
+    calls = []
+    cache = IdentityCache()
+    ident = lambda f: (calls.append(f), 'kyle')[1]
+    cache.update([Face(100, 100, 80, 80)], 0.0, ident)
+    cache.update([Face(600, 300, 80, 80)], 0.1, ident)
+    assert len(calls) == 2