Implemented simple reachy quips

reachy_phone_home/main.py

@@ -20,11 +20,13 @@ from .web_ui import WEB_UI
 
 try:
     from .movements import MovementScheduler, SituationMovements
+    from .voice_quips import VoiceQuips
 except ImportError:  # allow running as a script
     import sys
 
     sys.path.append(str(Path(__file__).resolve().parents[1]))
     from reachy_phone_home.movements import MovementScheduler, SituationMovements
+    from reachy_phone_home.voice_quips import VoiceQuips
 
 
 PHONE_CLASS_ID = 67  # COCO "cell phone"
@@ -177,6 +179,9 @@ class TrackerConfig:
     antenna_happy_amp: float = 0.2
     antenna_happy_duration: float = 0.5
     good_job_heartbeats: int = 3
+    ambient_interval_sec: float = 30.0
+    curious_interval_sec: float = 5.0
+    quips_enabled: bool = True
     phone_use_bad_sec: float = 10.0
     movement_restore_sec: float = 0.6
     no_display: bool = True
@@ -211,8 +216,10 @@ def run_tracker(
         head_duration=config.head_duration,
     )
     movements = SituationMovements(reachy)
+    quips = VoiceQuips(reachy)
     scheduler = MovementScheduler(
         movements,
+        quips=quips if config.quips_enabled else None,
         good_job_heartbeats=config.good_job_heartbeats,
         phone_use_bad_sec=config.phone_use_bad_sec,
         phone_use_clear_sec=config.phone_use_clear_sec,
@@ -244,8 +251,14 @@ def run_tracker(
     last_oscillate_update = 0.0
     look_down_cycles = 0
     last_prompt = 0.0
+    last_curious = 0.0
+    heartbeat_count = 0
     mode = "tracking_phone"
     mode_start = time.time()
+    quips_enabled = config.quips_enabled
+    last_quips_enabled = quips_enabled
+    ambient_interval_sec = config.ambient_interval_sec
+    curious_interval_sec = config.curious_interval_sec
 
     while True:
         if stop_event is not None and getattr(stop_event, "is_set", lambda: False)():
@@ -438,6 +451,14 @@ def run_tracker(
             phone_home_start = None
             phone_home_stop = None
 
+        quips_enabled = WEB_UI.get_quips_enabled(config.quips_enabled)
+        if quips_enabled != last_quips_enabled:
+            state = "enabled" if quips_enabled else "disabled"
+            logger.info("[settings] Reachy Audio %s", state)
+            WEB_UI.append_log(f"[settings] Reachy Audio {state}")
+            last_quips_enabled = quips_enabled
+        scheduler.quips = quips if quips_enabled else None
+
         if time.time() - last_heartbeat >= 10.0:
             msg = f"[heartbeat] phone_detected={'yes' if phone_seen else 'no'}"
             logger.info(msg)
@@ -450,13 +471,34 @@ def run_tracker(
             ):
                 oscillate_start = time.time()
             last_heartbeat = time.time()
+            heartbeat_count += 1
             scheduler.good_job_heartbeats = WEB_UI.get_good_job_heartbeats(
                 config.good_job_heartbeats
             )
+            ambient_interval_sec = WEB_UI.get_ambient_interval_sec(config.ambient_interval_sec)
+            curious_interval_sec = WEB_UI.get_curious_interval_sec(config.curious_interval_sec)
             scheduler.on_heartbeat(
                 phone_tracked=(last_track_state == "tracking_phone"),
                 phone_use=last_phone_use_state,
             )
+            if (
+                quips_enabled
+                and quips is not None
+                and phone_seen
+                and ambient_interval_sec >= 10.0
+                and heartbeat_count % max(1, int(round(ambient_interval_sec / 10.0))) == 0
+            ):
+                quips.ambient()
+
+        if phone_seen:
+            last_curious = time.time()
+        elif (
+            quips_enabled
+            and quips is not None
+            and time.time() - last_curious >= curious_interval_sec
+        ):
+            quips.curious()
+            last_curious = time.time()
 
         if not config.no_antenna:
             if last_phone_use_state:
@@ -631,6 +673,8 @@ def main() -> None:
     parser.add_argument("--weights", type=str, default="yolo26l")
     parser.add_argument("--conf", type=float, default=0.15)
     parser.add_argument("--good-job-heartbeats", type=int, default=3)
+    parser.add_argument("--ambient-interval-sec", type=float, default=30.0)
+    parser.add_argument("--curious-interval-sec", type=float, default=5.0)
     parser.add_argument("--display", action="store_true", help="Show the OpenCV window")
     parser.add_argument("--no-web-ui", action="store_true", help="Disable the web UI server")
     parser.set_defaults(no_display=True)
@@ -647,6 +691,8 @@ def main() -> None:
         weights=args.weights,
         conf=args.conf,
         good_job_heartbeats=args.good_job_heartbeats,
+        ambient_interval_sec=args.ambient_interval_sec,
+        curious_interval_sec=args.curious_interval_sec,
         no_display=no_display,
     )
 

reachy_phone_home/movements.py

@@ -7,6 +7,8 @@ import random
 import time
 from typing import Callable, Dict, List, Optional
 
+from .voice_quips import VoiceQuips
+
 from reachy_mini import ReachyMini
 from reachy_mini.motion.recorded_move import RecordedMove, RecordedMoves
 
@@ -142,12 +144,14 @@ class MovementScheduler:
     def __init__(
         self,
         movements: SituationMovements,
+        quips: Optional[VoiceQuips] = None,
         good_job_heartbeats: int = 3,
         phone_use_bad_sec: float = 10.0,
         phone_use_clear_sec: float = 3.0,
         restore_head_duration: float = 0.6,
     ) -> None:
         self.movements = movements
+        self.quips = quips
         self.good_job_heartbeats = int(good_job_heartbeats)
         self.phone_use_bad_sec = float(phone_use_bad_sec)
         self.phone_use_clear_sec = float(phone_use_clear_sec)
@@ -176,6 +180,8 @@ class MovementScheduler:
         if phone_tracked and not phone_use:
             self._good_job_streak += 1
             if self._good_job_streak >= self.good_job_heartbeats:
+                if self.quips is not None:
+                    self.quips.happy()
                 self._pick_and_run(self._good_job_moves)
                 self._good_job_streak = 0
         else:
@@ -186,6 +192,8 @@ class MovementScheduler:
             if self._phone_use_start is None:
                 self._phone_use_start = now
             elif now - self._phone_use_start >= self.phone_use_bad_sec:
+                if self.quips is not None:
+                    self.quips.angry()
                 self._pick_and_run(self._bad_moves)
                 self._phone_use_start = now
         else:

reachy_phone_home/static/index.html

@@ -311,6 +311,11 @@
       .log-line {
         margin-bottom: 6px;
       }
+      .status-actions {
+        display: flex;
+        justify-content: center;
+        margin: 8px 0 16px;
+      }
     </style>
   </head>
   <body>
@@ -325,6 +330,9 @@
       <button class="tab-btn" id="tabSettings">Settings</button>
     </div>
     <div class="panel" id="panelStatus">
+    <div class="status-actions">
+      <button id="quipsToggleBtn" class="tab-btn" type="button">Reachy Audio: On</button>
+    </div>
     <div class="cards">
       <div class="card" id="cardPhoneHome">
         <div class="card-header">
@@ -400,12 +408,28 @@
               <option value="600">10 min</option>
             </select>
           </div>
-          <div class="settings-actions">
-            <button id="saveSettingsBtn" class="tab-btn" type="button">Save</button>
-            <span class="muted" id="settingsStatus"></span>
+        </div>
+        <div class="settings-card">
+          <h4>Reachy Audio</h4>
+          <div class="settings-row">
+            <label for="ambientSelect">Ambient interval</label>
+            <select id="ambientSelect">
+              <option value="10">10s</option>
+              <option value="30" selected>30s</option>
+              <option value="60">1 min</option>
+              <option value="600">10 min</option>
+            </select>
+          </div>
+          <div class="settings-row">
+            <label for="curiousInput">Curious interval (sec)</label>
+            <input id="curiousInput" type="number" min="1" max="30" step="1" value="5" />
           </div>
         </div>
       </div>
+      <div class="settings-actions">
+        <button id="saveSettingsBtn" class="tab-btn" type="button">Save</button>
+        <span class="muted" id="settingsStatus"></span>
+      </div>
     </div>
     </div>
     <script>
@@ -422,6 +446,8 @@
       const downloadWeightsBtn = document.getElementById("downloadWeightsBtn");
       const confInput = document.getElementById("confInput");
       const goodJobSelect = document.getElementById("goodJobSelect");
+      const ambientSelect = document.getElementById("ambientSelect");
+      const curiousInput = document.getElementById("curiousInput");
       const saveSettingsBtn = document.getElementById("saveSettingsBtn");
       const settingsStatus = document.getElementById("settingsStatus");
       let videoEnabled = false;
@@ -440,6 +466,8 @@
       const statusReachy = document.getElementById("statusReachy");
       const subReachy = document.getElementById("subReachy");
       const statusPhoneHome = document.getElementById("statusPhoneHome");
+      const quipsToggleBtn = document.getElementById("quipsToggleBtn");
+      let quipsEnabled = true;
       let aspectTimer = null;
       let snapshotTimer = null;
 
@@ -540,6 +568,16 @@
             const seconds = data.good_job_heartbeats * 10;
             goodJobSelect.value = String(seconds);
           }
+          if (data.quips_enabled !== null && data.quips_enabled !== undefined) {
+            quipsEnabled = Boolean(data.quips_enabled);
+            quipsToggleBtn.textContent = quipsEnabled ? "Reachy Audio: On" : "Reachy Audio: Off";
+          }
+          if (data.ambient_interval_sec !== null && data.ambient_interval_sec !== undefined) {
+            ambientSelect.value = String(data.ambient_interval_sec);
+          }
+          if (data.curious_interval_sec !== null && data.curious_interval_sec !== undefined) {
+            curiousInput.value = String(data.curious_interval_sec);
+          }
         } catch (err) {
           settingsStatus.textContent = "Failed to load settings";
         }
@@ -554,7 +592,28 @@
           await fetch("/settings", {
             method: "POST",
             headers: { "Content-Type": "application/json" },
-            body: JSON.stringify({ conf: confVal, good_job_heartbeats: beats }),
+            body: JSON.stringify({
+              conf: confVal,
+              good_job_heartbeats: beats,
+              ambient_interval_sec: parseFloat(ambientSelect.value),
+              curious_interval_sec: parseFloat(curiousInput.value),
+            }),
+          });
+          settingsStatus.textContent = "Saved";
+        } catch (err) {
+          settingsStatus.textContent = "Save failed";
+        }
+      });
+
+      quipsToggleBtn.addEventListener("click", async () => {
+        quipsEnabled = !quipsEnabled;
+        quipsToggleBtn.textContent = quipsEnabled ? "Reachy Audio: On" : "Reachy Audio: Off";
+        settingsStatus.textContent = "Saving...";
+        try {
+          await fetch("/settings", {
+            method: "POST",
+            headers: { "Content-Type": "application/json" },
+            body: JSON.stringify({ quips_enabled: quipsEnabled }),
           });
           settingsStatus.textContent = "Saved";
         } catch (err) {

reachy_phone_home/voice_quips.py

@@ -0,0 +1,55 @@
+"""Audio quips library for Reachy Phone Home."""
+
+from __future__ import annotations
+
+import random
+from pathlib import Path
+from typing import Dict, List, Optional
+
+from reachy_mini import ReachyMini
+
+
+class VoiceQuips:
+    """Play short audio quips grouped by mood."""
+
+    _MOODS = ("happy", "ambient", "sad", "angry", "curious")
+
+    def __init__(self, reachy: ReachyMini, assets_dir: Optional[Path] = None) -> None:
+        self.reachy = reachy
+        self.assets_dir = assets_dir or Path(__file__).resolve().parent / "assets"
+        self._quips: Dict[str, List[Path]] = {mood: [] for mood in self._MOODS}
+        self._index_quips()
+
+    def _index_quips(self) -> None:
+        if not self.assets_dir.exists():
+            return
+        for path in self.assets_dir.glob("*.mp3"):
+            name = path.name.lower()
+            for mood in self._MOODS:
+                if name.startswith(f"{mood}_"):
+                    self._quips[mood].append(path)
+                    break
+
+    def _play_random(self, mood: str) -> Optional[Path]:
+        pool = self._quips.get(mood, [])
+        if not pool:
+            return None
+        choice = random.choice(pool)
+        self.reachy.media.play_sound(str(choice))
+        return choice
+
+    def happy(self) -> Optional[Path]:
+        return self._play_random("happy")
+
+    def ambient(self) -> Optional[Path]:
+        return self._play_random("ambient")
+
+    def sad(self) -> Optional[Path]:
+        return self._play_random("sad")
+
+    def angry(self) -> Optional[Path]:
+        return self._play_random("angry")
+
+    def curious(self) -> Optional[Path]:
+        return self._play_random("curious")
+

reachy_phone_home/web_ui.py

@@ -28,6 +28,9 @@ class WebUIState:
         self._max_log_lines = 300
         self._conf_override: Optional[float] = None
         self._good_job_heartbeats: Optional[int] = None
+        self._ambient_interval_sec: Optional[float] = None
+        self._curious_interval_sec: Optional[float] = None
+        self._quips_enabled: Optional[bool] = None
         self._download_callback: Optional[Callable[[str], None]] = None
 
     def append_log(self, line: str) -> None:
@@ -77,6 +80,39 @@ class WebUIState:
             return int(default)
         return int(self._good_job_heartbeats)
 
+    def set_ambient_interval_sec(self, seconds: Optional[float]) -> None:
+        if seconds is None:
+            self._ambient_interval_sec = None
+        else:
+            self._ambient_interval_sec = max(10.0, float(seconds))
+
+    def get_ambient_interval_sec(self, default: float) -> float:
+        if self._ambient_interval_sec is None:
+            return float(default)
+        return float(self._ambient_interval_sec)
+
+    def set_curious_interval_sec(self, seconds: Optional[float]) -> None:
+        if seconds is None:
+            self._curious_interval_sec = None
+        else:
+            self._curious_interval_sec = max(0.5, float(seconds))
+
+    def get_curious_interval_sec(self, default: float) -> float:
+        if self._curious_interval_sec is None:
+            return float(default)
+        return float(self._curious_interval_sec)
+
+    def set_quips_enabled(self, enabled: Optional[bool]) -> None:
+        if enabled is None:
+            self._quips_enabled = None
+        else:
+            self._quips_enabled = bool(enabled)
+
+    def get_quips_enabled(self, default: bool) -> bool:
+        if self._quips_enabled is None:
+            return bool(default)
+        return bool(self._quips_enabled)
+
     def set_download_callback(self, callback: Callable[[str], None]) -> None:
         self._download_callback = callback
 
@@ -164,6 +200,9 @@ class WebUIState:
                 {
                     "conf": self._conf_override,
                     "good_job_heartbeats": self._good_job_heartbeats,
+                    "ambient_interval_sec": self._ambient_interval_sec,
+                    "curious_interval_sec": self._curious_interval_sec,
+                    "quips_enabled": self._quips_enabled,
                 }
             )
 
@@ -177,12 +216,24 @@ class WebUIState:
                     data = {}
             conf = data.get("conf")
             beats = data.get("good_job_heartbeats")
+            ambient = data.get("ambient_interval_sec")
+            curious = data.get("curious_interval_sec")
+            quips_enabled = data.get("quips_enabled")
             self.set_conf_override(conf if conf is None else float(conf))
             self.set_good_job_heartbeats(beats if beats is None else int(beats))
+            self.set_ambient_interval_sec(ambient if ambient is None else float(ambient))
+            self.set_curious_interval_sec(curious if curious is None else float(curious))
+            self.set_quips_enabled(quips_enabled if quips_enabled is None else bool(quips_enabled))
+            if quips_enabled is not None:
+                state = "enabled" if bool(quips_enabled) else "disabled"
+                self.append_log(f"[settings] Reachy Audio {state}")
             return JSONResponse(
                 {
                     "conf": self._conf_override,
                     "good_job_heartbeats": self._good_job_heartbeats,
+                    "ambient_interval_sec": self._ambient_interval_sec,
+                    "curious_interval_sec": self._curious_interval_sec,
+                    "quips_enabled": self._quips_enabled,
                 }
             )
 

setup.cfg

@@ -15,6 +15,8 @@ install_requires =
 [options.package_data]
 reachy_phone_home =
     static/*.html
+    static/*.PNG
+    assets/*.mp3
 
 [options.entry_points]
 reachy_mini_apps =

web_log_ui.html

@@ -311,6 +311,11 @@
       .log-line {
         margin-bottom: 6px;
       }
+      .status-actions {
+        display: flex;
+        justify-content: center;
+        margin: 8px 0 16px;
+      }
     </style>
   </head>
   <body>
@@ -325,6 +330,9 @@
       <button class="tab-btn" id="tabSettings">Settings</button>
     </div>
     <div class="panel" id="panelStatus">
+    <div class="status-actions">
+      <button id="quipsToggleBtn" class="tab-btn" type="button">Reachy Audio: On</button>
+    </div>
     <div class="cards">
       <div class="card" id="cardPhoneHome">
         <div class="card-header">
@@ -400,12 +408,28 @@
               <option value="600">10 min</option>
             </select>
           </div>
-          <div class="settings-actions">
-            <button id="saveSettingsBtn" class="tab-btn" type="button">Save</button>
-            <span class="muted" id="settingsStatus"></span>
+        </div>
+        <div class="settings-card">
+          <h4>Reachy Audio</h4>
+          <div class="settings-row">
+            <label for="ambientSelect">Ambient interval</label>
+            <select id="ambientSelect">
+              <option value="10">10s</option>
+              <option value="30" selected>30s</option>
+              <option value="60">1 min</option>
+              <option value="600">10 min</option>
+            </select>
+          </div>
+          <div class="settings-row">
+            <label for="curiousInput">Curious interval (sec)</label>
+            <input id="curiousInput" type="number" min="1" max="30" step="1" value="5" />
           </div>
         </div>
       </div>
+      <div class="settings-actions">
+        <button id="saveSettingsBtn" class="tab-btn" type="button">Save</button>
+        <span class="muted" id="settingsStatus"></span>
+      </div>
     </div>
     </div>
     <script>
@@ -422,6 +446,8 @@
       const downloadWeightsBtn = document.getElementById("downloadWeightsBtn");
       const confInput = document.getElementById("confInput");
       const goodJobSelect = document.getElementById("goodJobSelect");
+      const ambientSelect = document.getElementById("ambientSelect");
+      const curiousInput = document.getElementById("curiousInput");
       const saveSettingsBtn = document.getElementById("saveSettingsBtn");
       const settingsStatus = document.getElementById("settingsStatus");
       let videoEnabled = false;
@@ -440,6 +466,8 @@
       const statusReachy = document.getElementById("statusReachy");
       const subReachy = document.getElementById("subReachy");
       const statusPhoneHome = document.getElementById("statusPhoneHome");
+      const quipsToggleBtn = document.getElementById("quipsToggleBtn");
+      let quipsEnabled = true;
       let aspectTimer = null;
       let snapshotTimer = null;
 
@@ -540,6 +568,16 @@
             const seconds = data.good_job_heartbeats * 10;
             goodJobSelect.value = String(seconds);
           }
+          if (data.quips_enabled !== null && data.quips_enabled !== undefined) {
+            quipsEnabled = Boolean(data.quips_enabled);
+            quipsToggleBtn.textContent = quipsEnabled ? "Reachy Audio: On" : "Reachy Audio: Off";
+          }
+          if (data.ambient_interval_sec !== null && data.ambient_interval_sec !== undefined) {
+            ambientSelect.value = String(data.ambient_interval_sec);
+          }
+          if (data.curious_interval_sec !== null && data.curious_interval_sec !== undefined) {
+            curiousInput.value = String(data.curious_interval_sec);
+          }
         } catch (err) {
           settingsStatus.textContent = "Failed to load settings";
         }
@@ -554,7 +592,28 @@
           await fetch("/settings", {
             method: "POST",
             headers: { "Content-Type": "application/json" },
-            body: JSON.stringify({ conf: confVal, good_job_heartbeats: beats }),
+            body: JSON.stringify({
+              conf: confVal,
+              good_job_heartbeats: beats,
+              ambient_interval_sec: parseFloat(ambientSelect.value),
+              curious_interval_sec: parseFloat(curiousInput.value),
+            }),
+          });
+          settingsStatus.textContent = "Saved";
+        } catch (err) {
+          settingsStatus.textContent = "Save failed";
+        }
+      });
+
+      quipsToggleBtn.addEventListener("click", async () => {
+        quipsEnabled = !quipsEnabled;
+        quipsToggleBtn.textContent = quipsEnabled ? "Reachy Audio: On" : "Reachy Audio: Off";
+        settingsStatus.textContent = "Saving...";
+        try {
+          await fetch("/settings", {
+            method: "POST",
+            headers: { "Content-Type": "application/json" },
+            body: JSON.stringify({ quips_enabled: quipsEnabled }),
           });
           settingsStatus.textContent = "Saved";
         } catch (err) {