Develop/blinks by maninhofurg · Pull Request #5 · fbotathome/fbot_hri

maninhofurg · 2026-03-21T12:16:33Z

Dynamic Configuration (CMD 1): Implemented logic in main.cpp and emotions_bridge.py to load motor names and blink angles via motors.yaml.

Blink Service (CMD 3): Added the /set_blink service using the std_srvs/srv/SetBool interface for manual control of face autonomy.

Control Logic: Implemented the handleBlinking() function in the firmware with a safety check to prevent movements if parameters are not loaded.

State Persistence: Updated the currentEyelidLeftAngle and currentEyelidRightAngle variables to ensure the eyelid returns to the correct position after blinking, even during emotion execution.

Action: Call the /set_blink service passing the boolean value True.

ros2 service call /set_blink std_srvs/srv/SetBool "{data: true}"

richassis

Nice job! Requesting some changes and some improvements suggestions.

richassis · 2026-04-24T16:15:46Z

+        blink_left: true
+        blink_closed_angle: 140 # Novo: Ângulo para fechar no piscar


The key for identifying it as a blinking motor is unnecessary. Keep only one key with the angle value.
Here is my suggestion:

Suggested change

blink_left: true

blink_closed_angle: 140 # Novo: Ângulo para fechar no piscar

blink_left_angle: 140 #New angle for blinking

richassis · 2026-04-24T16:16:07Z

+        blink_right: true
+        blink_closed_angle: 35 # Novo: Ângulo para fechar no piscar


The key for identifying it as a blinking motor is unnecessary. Keep only one key with the angle value. Here is my suggestion:

Suggested change

blink_right: true

blink_closed_angle: 35 # Novo: Ângulo para fechar no piscar

blink_right_angle: 35 #New angle for blinking

richassis · 2026-04-24T16:16:35Z


        try:
-            self.serial = serial.Serial('/dev/ttyFACE')
+            self.serial = serial.Serial('/dev/ttyFACE', 9600, timeout=1) # Mantido conforme padrão ESP32


Comments on code should be in English

richassis · 2026-04-24T16:24:38Z

@@ -35,28 +36,67 @@ def __init__(self, pause=False):



It is interesting to always set a default initial state for blinking. The way it is right now, it won't start nor stop the blinking, so it keeps as it was before launching node.
My suggestion is to add an argument to the emotions.launch.py, where the user sets if blinking should start True or False. Then here at the init, you internally "call" the blinking service as this value, so it starts the way the user set.

https://github.com/fbotathome/fbot_intelligence/blob/main/fbot_agent/launch/fbot_agent.launch.py

richassis · 2026-04-24T16:25:24Z

+
        time.sleep(2)
+
+    # ADICIONADO: CALLBACK DO NOVO SERVIÇO (CMD 3)


Comments in english

richassis · 2026-04-24T16:25:40Z

        motors_pins: dict = {
-            "cmd": 1
+            "cmd": 1,
+            "blink_cfg": {} # Novo sub-dicionário para parâmetros de piscagem


Comments in english

richassis · 2026-04-24T16:25:59Z

-
            motors_pins[motor] = self.get_parameter(motor+'.pin').value
+
+            # Verifica se é uma pálpebra configurada para piscar (Busca dinamicamente no YAML)


Comments in english

richassis · 2026-04-24T16:26:03Z

-                self.declare_parameter(motor+'.'+param, value)
-
+        for motor, params in config.items():
+            # Itera sobre cada sub-item do motor (pin, blink_left, etc)


Comments in english

richassis · 2026-04-24T16:28:21Z

+    },
+    "python.autoComplete.extraPaths": [
+        "/home/maninho/fbot_ws/install/fbot_head/lib/python3.10/site-packages",
+        "/home/maninho/ros2_ws/install/robo_sentidos/lib/python3.10/site-packages",
+        "/home/maninho/ros2_ws/build/my_py_pkg",
+        "/home/maninho/ros2_ws/install/my_py_pkg/lib/python3.10/site-packages",
+        "/home/maninho/ros2_ws/build/meu_fsm_pkg",
+        "/home/maninho/ros2_ws/install/meu_fsm_pkg/lib/python3.10/site-packages",
+        "/home/maninho/fbot_ws/install/fbot_behavior/lib/python3.10/site-packages",
+        "/home/maninho/fbot_ws/install/fbot_agent_msgs/local/lib/python3.10/dist-packages",
+        "/home/maninho/fbot_ws/install/fbot_agent/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages",
+        "",
+        "/opt/ros/humble/lib/yasmin_factory",
+        "/opt/ros/humble/lib/yasmin_factory",
+        "/opt/ros/humble/lib/yasmin_factory",
+        "/opt/ros/humble/lib/yasmin_factory"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/maninho/fbot_ws/install/fbot_head/lib/python3.10/site-packages",
+        "/home/maninho/ros2_ws/install/robo_sentidos/lib/python3.10/site-packages",
+        "/home/maninho/ros2_ws/build/my_py_pkg",
+        "/home/maninho/ros2_ws/install/my_py_pkg/lib/python3.10/site-packages",
+        "/home/maninho/ros2_ws/build/meu_fsm_pkg",
+        "/home/maninho/ros2_ws/install/meu_fsm_pkg/lib/python3.10/site-packages",
+        "/home/maninho/fbot_ws/install/fbot_behavior/lib/python3.10/site-packages",
+        "/home/maninho/fbot_ws/install/fbot_agent_msgs/local/lib/python3.10/dist-packages",
+        "/home/maninho/fbot_ws/install/fbot_agent/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages",
+        "",
+        "/opt/ros/humble/lib/yasmin_factory",
+        "/opt/ros/humble/lib/yasmin_factory",
+        "/opt/ros/humble/lib/yasmin_factory",
+        "/opt/ros/humble/lib/yasmin_factory"
+    ]


This file should not be here

Suggested change

},

"python.autoComplete.extraPaths": [

"/home/maninho/fbot_ws/install/fbot_head/lib/python3.10/site-packages",

"/home/maninho/ros2_ws/install/robo_sentidos/lib/python3.10/site-packages",

"/home/maninho/ros2_ws/build/my_py_pkg",

"/home/maninho/ros2_ws/install/my_py_pkg/lib/python3.10/site-packages",

"/home/maninho/ros2_ws/build/meu_fsm_pkg",

"/home/maninho/ros2_ws/install/meu_fsm_pkg/lib/python3.10/site-packages",

"/home/maninho/fbot_ws/install/fbot_behavior/lib/python3.10/site-packages",

"/home/maninho/fbot_ws/install/fbot_agent_msgs/local/lib/python3.10/dist-packages",

"/home/maninho/fbot_ws/install/fbot_agent/lib/python3.10/site-packages",

"/opt/ros/humble/lib/python3.10/site-packages",

"/opt/ros/humble/local/lib/python3.10/dist-packages",

"",

"/opt/ros/humble/lib/yasmin_factory",

"/opt/ros/humble/lib/yasmin_factory",

"/opt/ros/humble/lib/yasmin_factory",

"/opt/ros/humble/lib/yasmin_factory"

],

"python.analysis.extraPaths": [

"/home/maninho/fbot_ws/install/fbot_head/lib/python3.10/site-packages",

"/home/maninho/ros2_ws/install/robo_sentidos/lib/python3.10/site-packages",

"/home/maninho/ros2_ws/build/my_py_pkg",

"/home/maninho/ros2_ws/install/my_py_pkg/lib/python3.10/site-packages",

"/home/maninho/ros2_ws/build/meu_fsm_pkg",

"/home/maninho/ros2_ws/install/meu_fsm_pkg/lib/python3.10/site-packages",

"/home/maninho/fbot_ws/install/fbot_behavior/lib/python3.10/site-packages",

"/home/maninho/fbot_ws/install/fbot_agent_msgs/local/lib/python3.10/dist-packages",

"/home/maninho/fbot_ws/install/fbot_agent/lib/python3.10/site-packages",

"/opt/ros/humble/lib/python3.10/site-packages",

"/opt/ros/humble/local/lib/python3.10/dist-packages",

"",

"/opt/ros/humble/lib/yasmin_factory",

"/opt/ros/humble/lib/yasmin_factory",

"/opt/ros/humble/lib/yasmin_factory",

"/opt/ros/humble/lib/yasmin_factory"

]

}

richassis · 2026-04-24T16:28:50Z

@@ -9,101 +9,95 @@
 #define SERVOMAX  2500 // Maximum pulse width in microseconds


COmments in english

…lt_blink

maninhofurg · 2026-05-14T11:20:19Z

Hi @richassis, I've updated the PR with the requested changes:

Simplified motors.yaml by using only the blink angle keys. * Translated all new comments to English. * Removed the local .vscode/settings.json file. * Added a default_blink parameter to set the initial state. Thanks for the review!

maninhofurg added 2 commits January 22, 2026 14:01

Implementing blinking logic for Boris

f352370

Add logical dynamic parameterization for Boris

00d0e22

maninhofurg requested review from Gui-MB and richassis April 24, 2026 15:52

maninhofurg self-assigned this Apr 24, 2026

richassis requested changes Apr 24, 2026

View reviewed changes

refactor: simplify blink parameters, translate comments and add defau…

1f5288f

…lt_blink

richassis self-requested a review August 19, 2026 12:53

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		blink_left: true
		blink_closed_angle: 140 # Novo: Ângulo para fechar no piscar

	blink_left: true
	blink_closed_angle: 140 # Novo: Ângulo para fechar no piscar
	blink_left_angle: 140 #New angle for blinking

		blink_right: true
		blink_closed_angle: 35 # Novo: Ângulo para fechar no piscar

	blink_right: true
	blink_closed_angle: 35 # Novo: Ângulo para fechar no piscar
	blink_right_angle: 35 #New angle for blinking


		time.sleep(2)

		# ADICIONADO: CALLBACK DO NOVO SERVIÇO (CMD 3)


		motors_pins[motor] = self.get_parameter(motor+'.pin').value

		# Verifica se é uma pálpebra configurada para piscar (Busca dinamicamente no YAML)

		@@ -9,101 +9,95 @@
		#define SERVOMAX 2500 // Maximum pulse width in microseconds

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maninhofurg commented Mar 21, 2026

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maninhofurg commented May 14, 2026

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