The face now treats /hermes/state as the agent's heartbeat: when nothing has been
heard for agent_timeout_s (10 s) it logs "agent gone" and sleeps, so "sleeping"
really means "no agent connected". It also logs every state change, which is how
a missed wake message was found: a one-off publish before discovery matches is
lost under volatile QoS.
The live log showed the face flickering between listening and idle about twice a
second, because the detector let go after 0.4 s. Hold is now 1.2 s so pauses
between words do not drop it, and the margin 7 dB over the adaptive floor (quiet
room noise peaks sit about 3 dB over it), with tests for both.
Confirmed by the owner on the real display: gaze directions, and a mouth that
follows their live voice proportionally.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
audio_state taps the microphone and the speaker monitor with parec and publishes
levels, a speaking/listening/quiet activity, and trigger-locked waveform windows;
audio itself stays out of ROS. The activity detector calibrates its noise floor
at start-up and absorbs steady noise, so a room at -43 dBFS does not read as
"listening" forever, and it ignores the mic while the robot speaks.
The face arbitrates the state it shows: sleeping (agent side only, so room sound
never wakes a face that means "no agent connected") > speaking > listening >
thinking > idle, and draws the mouth from the real samples while fresh scope data
exists, auto-scaled so a quiet voice is still visible.
Checked: a tone played to the sink shows as `speaking` with the mic ignored. The
microphone-to-mouth path with a live voice is not yet confirmed.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
kyleandClaude Sonnet 5.5