kyleandClaude Sonnet 5.5
ce7063f647
hermes_thermal reads the CPU temperature and throttle flags, publishes /health/*, and at 72 / 77 / 82 C scales the camera, face and detector rates down through their live parameters, restoring them as it cools one level at a time with a margin and a dwell so it does not flap. The face and detector gained live parameter callbacks for this, the bridge's robot://status carries a health block (temperature, level, throttle flags now and since boot), and a bringup test asserts the guard's normal rates equal the real ones. Live testing on the robot (forcing 73 / 78 / 85 C and back) caught a bug the unit tests missed: one logging line whose severity changed between warn and info raised in rclpy and killed the guard on its first cooling step, and the respawn hid it. Fixed with separate call sites; the tick now survives any error; a full heat-then-cool test drives the real node, and a mutation check confirmed it fails on the original bug. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
53 lines
2.0 KiB
YAML
53 lines
2.0 KiB
YAML
# Parameters for the robot's nodes, keyed by node name. The MCP token and other secrets do not
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# belong here: they stay in an env file readable only by the service user.
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camera:
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ros__parameters:
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width: 1296 # the OV5647's full-field binned mode: whole field of view
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height: 972
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format: RGB888
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FrameDurationLimits: [66666, 66666] # 15 fps: ~20% of a core, vs ~40% at 30; plenty for 4 Hz faces
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jpeg_quality: 80
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hermes_face:
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ros__parameters:
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rotation: 270 # mounted pose, microSD end up (the panel is portrait)
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x_offset: 0
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y_offset: 80 # the 240x240 glass sits 80 rows into the controller's RAM
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fps: 30.0
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phosphor: P7
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style: phosphor
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initial_state: sleeping # no agent connected until hermes_mcp's heartbeat says so
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agent_timeout_s: 10.0
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gaze_follow: true
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audio_drive: true
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hermes_face_detector:
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ros__parameters:
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rate_hz: 4.0
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recognize: true # only recognises people enrolled with hermes_vision.people
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publish_debug: false
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hermes_audio_state:
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ros__parameters:
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rate_hz: 30.0
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hermes_mcp:
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ros__parameters:
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bind: 10.55.0.2 # the USB link; the firewall accepts 8765 only from 10.55.0.1 on usb0
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port: 8765
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head: false # no servos fitted yet: turn_head and head_position stay unregistered
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speakers: false # no speakers fitted yet: reported honestly in robot://status
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connected_grace_s: 30.0 # an authenticated client heard within this long keeps the heartbeat going
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look_timeout_s: 3.0
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hermes_thermal:
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ros__parameters:
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# Sheds load before the Pi throttles (it starts at about 80 C). These "normal" rates MUST equal the
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# ones above (camera 66666 us = 15 fps, face fps, detector rate_hz): a test checks it.
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camera_fps: 15.0
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face_fps: 30.0
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detector_hz: 4.0
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warm_c: 72.0
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hot_c: 77.0
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critical_c: 82.0
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