added redirect service

README.md

@@ -17,7 +17,7 @@ We build a robot with raspberry and arduino.
 
     python3 -m venv /opt/face/venv
     /opt/face/venv/bin/pip install --upgrade pip
-    /opt/face/venv/bin/pip install fastapi uvicorn
+    /opt/face/venv/bin/pip install fastapi uvicorn netifaces
 
 ### Exchange Nginx Web-Folder
     sudo rm -r /var/www/html
@@ -73,18 +73,21 @@ http://pi-ip/
     curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
       -d '{"emotion":"happy","blink":true,"intensity":0.85}'
 
-### systemd Service
+### systemd Services
     sudo ln -s /opt/helva-robot/face/etc/systemd/system/face.service /etc/systemd/system/
+    sudo ln -s /opt/helva-robot/face/etc/systemd/system/redirect_to_tethering.service /etc/systemd/system/
 
-    sudo chown -R www-data:www-data /opt/face
-    sudo chmod -R 755 /opt/face
+    sudo chown -R www-data:www-data /opt/face/*.py
+    sudo chmod -R 755 /opt/face/*.py
 
-Start:
+### Start:
 
     sudo systemctl daemon-reload
     sudo systemctl enable --now face.service
     sudo systemctl status face.service --no-pager
 
+    
+
 ### Face Control UI
     http://localhost/control/
 
@@ -248,3 +251,12 @@ should be -> {"ok": true, ... } -> otherwise look at the logs:
     journalctl -u drive-ctl -n 80 --no-pager
 
 
+
+## Networking / AccessPoint / Captive Portal
+
+see /network/ folder for config
+
+### Captive Portal
+allows you to log into the raspi AP and you get automatically to the page of the roboter
+
+

drive/arduino-sketch/arduino-sketch-live.ino

@@ -1,303 +1,163 @@
 /*
-  4WD Robot Motor Control (2x BTS7960: Left + Right)
-  - Soft start/stop via ramping (slew-rate limiter)
-  - Differential drive mixing: throttle + turn
-  - Serial control (USB): f/b/l/r/s or m <throttle> <turn>
-  - Watchdog: stops if no command received in time
-
-  Wiring (per BTS7960 module):
-    - LPWM  -> Arduino PWM pin
-    - RPWM  -> Arduino PWM pin
-    - LEN/REN (or L_EN/R_EN) -> Arduino digital pins (or permanently HIGH to 5V)
-    - VCC   -> 5V (logic)
-    - GND   -> GND common with Arduino and motor supply
-    - B+ / B- -> motor supply (e.g. 12V)
-    - M+ / M- -> motor output
-
-  NOTE:
-    Each side is one BTS7960 module driving two motors in parallel (front+rear) on that side.
+  Arduino Drive "Safe Executor"
+  - Receives:  L <int> R <int>   (-255..255)
+  - Outputs PWM immediately (no ramping here)
+  - Safety: watchdog stop if no command
+  - Deadzone + Min PWM mapping to avoid motor buzzing at low PWM
+  - Optional direction-change protection (short stop)
 */
 
-#include <Arduino.h>
-#include <PS2X_lib.h>
-PS2X ps2x;
+// ===== Left BTS7960 pins =====
+const uint8_t L_RPWM = 5;
+const uint8_t L_LPWM = 6;
+const uint8_t L_REN  = 7;
+const uint8_t L_LEN  = 8;
 
-// ------ PS2 Controller Pins -------------
-const uint8_t PS2_CLK = 2;
-const uint8_t PS2_ATT = 3;
-const uint8_t PS2_CMD = 4;
-const uint8_t PS2_DAT = 12;
+// ===== Right BTS7960 pins =====
+const uint8_t R_RPWM = 9;
+const uint8_t R_LPWM = 10;
+const uint8_t R_REN  = 11;
+const uint8_t R_LEN  = 12;
 
-// ------- USE PS2 Controller or Serial Input --------------
-#define USE_PS2 1
+// ===== Safety / feel =====
+const uint16_t CMD_TIMEOUT_MS = 600;  // Web sendet regelmäßig; 600ms ist entspannt
+const uint8_t  DEADZONE = 10;         // kleine Werte -> 0
+const uint8_t  MIN_PWM  = 70;         // anpassen: 60..110 typisch (gegen "brummen")
 
-// ----------------------------- Pins (ANPASSEN) -----------------------------
-// LEFT BTS7960
-const uint8_t L_LPWM = 5;    // PWM pin
-const uint8_t L_RPWM = 6;    // PWM pin
-const uint8_t L_LEN  = 7;    // enable pin (LEN)
-const uint8_t L_REN  = 8;    // enable pin (REN)
+// Optional: beim Richtungswechsel kurz stoppen (schont Treiber/Getriebe)
+const bool     PROTECT_DIR_CHANGE = true;
+const uint16_t DIR_CHANGE_STOP_MS = 60;
 
-// RIGHT BTS7960
-const uint8_t R_LPWM = 9;    // PWM pin
-const uint8_t R_RPWM = 10;   // PWM pin
-const uint8_t R_LEN  = 11;   // enable pin (LEN)
-const uint8_t R_REN  = 12;   // enable pin (REN)
+int targetL = 0, targetR = 0;
+unsigned long lastCmdMs = 0;
 
-// --------------------------- Tuning / Limits -------------------------------
-// PWM range: 0..255
-const int PWM_MAX = 255;
+int lastOutL = 0, lastOutR = 0;
 
-// Ramp speed: PWM units per second (z.B. 300 => ~0.85s von 0 auf 255)
-const float RAMP_UP_PER_SEC   = 320.0f;
-const float RAMP_DOWN_PER_SEC = 520.0f; // meist darf bremsen/stoppen schneller sein
-
-// Deadband: kleine Werte ignorieren (gegen "Zittern")
-const int INPUT_DEADBAND = 10;
-
-// Watchdog: wenn so lange kein Command kommt -> STOP
-const uint32_t COMMAND_TIMEOUT_MS = 600;
-
-// Loop interval (Ramping arbeitet zeitbasiert; häufig genug aufrufen)
-const uint32_t CONTROL_INTERVAL_MS = 10;
-
-// ---------------------------- State ----------------------------------------
-volatile int targetLeft  = 0;   // -255..255
-volatile int targetRight = 0;   // -255..255
-
-float currentLeft  = 0.0f;      // ramped output -255..255
-float currentRight = 0.0f;
-
-uint32_t lastCmdMs = 0;
-uint32_t lastControlMs = 0;
-
-// ------------------------- Helpers -----------------------------------------
-static int clampInt(int v, int lo, int hi) {
-  if (v < lo) return lo;
-  if (v > hi) return hi;
+static int clamp255(int v) {
+  if (v > 255) return 255;
+  if (v < -255) return -255;
   return v;
 }
 
-static int applyDeadband(int v, int db) {
-  if (abs(v) < db) return 0;
-  return v;
+int applyMinPwm(int v) {
+  v = clamp255(v);
+  int a = abs(v);
+  if (a <= DEADZONE) return 0;
+
+  int s = (v >= 0) ? 1 : -1;
+
+  // map: DEADZONE..255 -> MIN_PWM..255
+  long mapped = MIN_PWM + (long)(a - DEADZONE) * (255 - MIN_PWM) / (255 - DEADZONE);
+  if (mapped > 255) mapped = 255;
+
+  return s * (int)mapped;
 }
 
-// Ramp current towards target based on dt
-static float rampTo(float current, float target, float dtSec) {
-  float diff = target - current;
-  if (diff == 0.0f) return current;
-
-  const float rate = (abs(target) > abs(current)) ? RAMP_UP_PER_SEC : RAMP_DOWN_PER_SEC;
-  float step = rate * dtSec;
-
-  if (abs(diff) <= step) return target;
-  return current + (diff > 0 ? step : -step);
-}
-
-// Send signed speed (-255..255) to one BTS7960
-static void driveBTS7960(uint8_t lpwm, uint8_t rpwm, uint8_t len, uint8_t ren, int speed) {
-  speed = clampInt(speed, -PWM_MAX, PWM_MAX);
-
-  // Enable driver
-  digitalWrite(len, HIGH);
-  digitalWrite(ren, HIGH);
-
-  int pwm = abs(speed);
-
-  // IMPORTANT: never drive both PWM pins at the same time
+void setBTS7960(int speed, uint8_t rpwm, uint8_t lpwm) {
+  speed = clamp255(speed);
   if (speed > 0) {
-    analogWrite(lpwm, pwm);
-    analogWrite(rpwm, 0);
+    analogWrite(rpwm, (uint8_t)speed);
+    analogWrite(lpwm, 0);
   } else if (speed < 0) {
-    analogWrite(lpwm, 0);
-    analogWrite(rpwm, pwm);
-  } else {
-    analogWrite(lpwm, 0);
     analogWrite(rpwm, 0);
+    analogWrite(lpwm, (uint8_t)(-speed));
+  } else {
+    analogWrite(rpwm, 0);
+    analogWrite(lpwm, 0);
   }
 }
 
-static void stopAll() {
-  targetLeft = 0;
-  targetRight = 0;
+bool parseLine(const String& line, int &outL, int &outR) {
+  int idxL = line.indexOf('L');
+  int idxR = line.indexOf('R');
+  if (idxL < 0 || idxR < 0) return false;
+
+  String partL = line.substring(idxL + 1, idxR);
+  String partR = line.substring(idxR + 1);
+  partL.trim(); partR.trim();
+
+  outL = clamp255(partL.toInt());
+  outR = clamp255(partR.toInt());
+  return true;
 }
 
-// Differential drive mixing:
-// throttle: -255..255, turn: -255..255
-static void setMix(int throttle, int turn) {
-  throttle = clampInt(throttle, -PWM_MAX, PWM_MAX);
-  turn     = clampInt(turn,     -PWM_MAX, PWM_MAX);
+void setupPins() {
+  pinMode(L_RPWM, OUTPUT); pinMode(L_LPWM, OUTPUT);
+  pinMode(L_REN, OUTPUT);  pinMode(L_LEN, OUTPUT);
 
-  throttle = applyDeadband(throttle, INPUT_DEADBAND);
-  turn     = applyDeadband(turn,     INPUT_DEADBAND);
+  pinMode(R_RPWM, OUTPUT); pinMode(R_LPWM, OUTPUT);
+  pinMode(R_REN, OUTPUT);  pinMode(R_LEN, OUTPUT);
 
-  // Classic mix
-  int left  = throttle + turn;
-  int right = throttle - turn;
+  digitalWrite(L_REN, HIGH); digitalWrite(L_LEN, HIGH);
+  digitalWrite(R_REN, HIGH); digitalWrite(R_LEN, HIGH);
 
-  // Normalize if exceeds range
-  int maxMag = max(abs(left), abs(right));
-  if (maxMag > PWM_MAX) {
-    // scale down proportionally
-    left  = (int)((float)left  * ((float)PWM_MAX / (float)maxMag));
-    right = (int)((float)right * ((float)PWM_MAX / (float)maxMag));
+  setBTS7960(0, L_RPWM, L_LPWM);
+  setBTS7960(0, R_RPWM, R_LPWM);
 }
 
-  targetLeft = left;
-  targetRight = right;
-}
+void outputLR(int l, int r) {
+  l = applyMinPwm(l);
+  r = applyMinPwm(r);
 
-// ------------------------- Serial command parser ---------------------------
-// Commands:
-//   f <pwm>   -> forward
-//   b <pwm>   -> backward
-//   l <pwm>   -> turn left (in place)
-//   r <pwm>   -> turn right (in place)
-//   s         -> stop
-//   m <throttle> <turn>  -> mix mode (-255..255 each)
-// Examples:
-//   f 140
-//   m 120 -40
-//   s
-static void handleSerialLine(String line) {
-  line.trim();
-  if (line.length() == 0) return;
+  if (PROTECT_DIR_CHANGE) {
+    // if sign changes across 0 while moving -> brief stop
+    auto sign = [](int v) -> int { return (v > 0) - (v < 0); };
 
-  char cmd = tolower(line.charAt(0));
+    bool lFlip = (sign(lastOutL) != 0) && (sign(l) != 0) && (sign(lastOutL) != sign(l));
+    bool rFlip = (sign(lastOutR) != 0) && (sign(r) != 0) && (sign(lastOutR) != sign(r));
 
-  // Update watchdog timestamp on any valid-looking input
-  lastCmdMs = millis();
-
-  if (cmd == 's') {
-    stopAll();
-    return;
-  }
-
-  // Split by spaces
-  // Simple parsing:
-  // cmd + integers
-  int a = 0, b = 0;
-  int n = 0;
-
-  // Try parse "m a b"
-  if (cmd == 'm') {
-    n = sscanf(line.c_str(), "m %d %d", &a, &b);
-    if (n == 2) {
-      setMix(a, b);
-    }
-    return;
-  }
-
-  // Parse "f a" / "b a" / "l a" / "r a"
-  n = sscanf(line.c_str(), "%c %d", &cmd, &a);
-  if (n < 2) return;
-
-  a = clampInt(a, 0, PWM_MAX);
-
-  switch (tolower(cmd)) {
-    case 'f': setMix(+a, 0); break;
-    case 'b': setMix(-a, 0); break;
-    case 'l': setMix(0, +a); break; // left turn in place
-    case 'r': setMix(0, -a); break; // right turn in place
-    default: break;
+    if (lFlip || rFlip) {
+      setBTS7960(0, L_RPWM, L_LPWM);
+      setBTS7960(0, R_RPWM, R_LPWM);
+      delay(DIR_CHANGE_STOP_MS);
     }
   }
 
-// ------------------------------ Arduino ------------------------------------
+  setBTS7960(l, L_RPWM, L_LPWM);
+  setBTS7960(r, R_RPWM, R_LPWM);
+
+  lastOutL = l;
+  lastOutR = r;
+}
+
 void setup() {
-  int err = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_ATT, PS2_DAT, false, false);
-  Serial.print("PS2 init: "); Serial.println(err);
-
-  pinMode(L_LPWM, OUTPUT);
-  pinMode(L_RPWM, OUTPUT);
-  pinMode(L_LEN, OUTPUT);
-  pinMode(L_REN, OUTPUT);
-
-  pinMode(R_LPWM, OUTPUT);
-  pinMode(R_RPWM, OUTPUT);
-  pinMode(R_LEN, OUTPUT);
-  pinMode(R_REN, OUTPUT);
-
-  // Init: disabled PWM = 0, enables on
-  analogWrite(L_LPWM, 0); analogWrite(L_RPWM, 0);
-  analogWrite(R_LPWM, 0); analogWrite(R_RPWM, 0);
-
-  digitalWrite(L_LEN, HIGH); digitalWrite(L_REN, HIGH);
-  digitalWrite(R_LEN, HIGH); digitalWrite(R_REN, HIGH);
-
   Serial.begin(115200);
-  Serial.println(F("BTS7960 Robot Control ready."));
-  Serial.println(F("Commands: f/b/l/r <0..255>, m <throttle -255..255> <turn -255..255>, s"));
+  setupPins();
+  delay(200);
+
+  Serial.println(F("Drive Ready. Send: L <val> R <val>  (-255..255)"));
+  Serial.print(F("DEADZONE=")); Serial.print(DEADZONE);
+  Serial.print(F(" MIN_PWM=")); Serial.println(MIN_PWM);
 
   lastCmdMs = millis();
-  lastControlMs = millis();
 }
 
 void loop() {
-  #if USE_PS2
-    // -------- PS2 Controller Input -------
-    ps2x.read_gamepad(false, 0);
-
-    // Not-Stop z.B. START
-    if (ps2x.ButtonPressed(PSB_START)) {
-      stopAll();
-      lastCmdMs = millis();     // watchdog “füttern”
-    }
-
-    // Sticks lesen
-    int ly = ps2x.Analog(PSS_LY);   // 0..255
-    int rx = ps2x.Analog(PSS_RX);   // 0..255
-
-    // 0..255 -> -255..255
-    auto stickToSigned = [](int v) {
-      int x = (v - 128) * 2;
-      if (x > 255) x = 255;
-      if (x < -255) x = -255;
-      return x;
-    };
-
-    // Mapping: LY nach oben = vorwärts (invertieren)
-    int throttle = -stickToSigned(ly);
-    int turn     =  stickToSigned(rx);
-
-    lastCmdMs = millis();       // watchdog “füttern”
-    setMix(throttle, turn);     // das ist dein Original-Mixer
-
-  #else
-  // -------- Serial input (line based) --------
-  static String buf;
   while (Serial.available()) {
-    char c = (char)Serial.read();
-    if (c == '\n' || c == '\r') {
-      if (buf.length() > 0) {
-        handleSerialLine(buf);
-        buf = "";
-      }
+    String line = Serial.readStringUntil('\n');
+    line.trim();
+    if (line.length() == 0) continue;
+
+    int l, r;
+    if (parseLine(line, l, r)) {
+      targetL = l;
+      targetR = r;
+      lastCmdMs = millis();
+
+      outputLR(targetL, targetR);
+
+      Serial.print(F("RX/OUT L=")); Serial.print(lastOutL);
+      Serial.print(F(" R=")); Serial.println(lastOutR);
     } else {
-      // avoid huge line
-      if (buf.length() < 80) buf += c;
+      Serial.println(F("Parse error -> STOP"));
+      targetL = 0; targetR = 0;
+      lastCmdMs = millis();
+      outputLR(0, 0);
     }
   }
-  #ENDIF
-
-  // -------- Watchdog --------
-  if (millis() - lastCmdMs > COMMAND_TIMEOUT_MS) {
-    stopAll();
-  }
 
-  // -------- Control update (ramping + output) --------
-  uint32_t now = millis();
-  if (now - lastControlMs >= CONTROL_INTERVAL_MS) {
-    float dt = (now - lastControlMs) / 1000.0f;
-    lastControlMs = now;
-
-    // ramp current values towards target
-    currentLeft  = rampTo(currentLeft,  (float)targetLeft,  dt);
-    currentRight = rampTo(currentRight, (float)targetRight, dt);
-
-    // apply to drivers
-    driveBTS7960(L_LPWM, L_RPWM, L_LEN, L_REN, (int)round(currentLeft));
-    driveBTS7960(R_LPWM, R_RPWM, R_LEN, R_REN, (int)round(currentRight));
+  // Watchdog stop
+   if (millis() - lastCmdMs > CMD_TIMEOUT_MS) {
+    outputLR(0, 0);
   }
 }

drive/arduino-sketch/arduino-sketch-ps2-controller.ino/arduino-sketch-ps2-controller.ino.ino

@@ -1,132 +0,0 @@
-// ===== Arduino UNO: Differential Drive über 2x BTS7960 =====
-// Serial command format: "L <int> R <int>\n"  where int in [-255..255]
-// Soft-start ramping + watchdog stop
-
-// --- Left BTS7960 pins ---
-const uint8_t L_RPWM = 5;   // PWM
-const uint8_t L_LPWM = 6;   // PWM
-const uint8_t L_REN  = 7;   // enable
-const uint8_t L_LEN  = 8;   // enable
-
-// --- Right BTS7960 pins ---
-const uint8_t R_RPWM = 9;   // PWM
-const uint8_t R_LPWM = 10;  // PWM
-const uint8_t R_REN  = 11;  // enable
-const uint8_t R_LEN  = 12;  // enable
-
-// Ramping
-const uint8_t RAMP_STEP = 6;        // speed change per loop (0..255)
-const uint16_t LOOP_MS  = 15;       // ramp update interval
-const uint16_t CMD_TIMEOUT_MS = 300; // stop if no command within x ms
-
-int targetL = 0, targetR = 0;
-int currentL = 0, currentR = 0;
-
-unsigned long lastCmdMs = 0;
-unsigned long lastLoopMs = 0;
-
-void setupPins() {
-  pinMode(L_RPWM, OUTPUT); pinMode(L_LPWM, OUTPUT);
-  pinMode(L_REN, OUTPUT);  pinMode(L_LEN, OUTPUT);
-
-  pinMode(R_RPWM, OUTPUT); pinMode(R_LPWM, OUTPUT);
-  pinMode(R_REN, OUTPUT);  pinMode(R_LEN, OUTPUT);
-
-  digitalWrite(L_REN, HIGH); digitalWrite(L_LEN, HIGH);
-  digitalWrite(R_REN, HIGH); digitalWrite(R_LEN, HIGH);
-
-  analogWrite(L_RPWM, 0); analogWrite(L_LPWM, 0);
-  analogWrite(R_RPWM, 0); analogWrite(R_LPWM, 0);
-}
-
-static int clamp255(int v) {
-  if (v > 255) return 255;
-  if (v < -255) return -255;
-  return v;
-}
-
-void driveOne(int speed, uint8_t rpwm, uint8_t lpwm) {
-  speed = clamp255(speed);
-  if (speed > 0) {
-    analogWrite(rpwm, (uint8_t)speed);
-    analogWrite(lpwm, 0);
-  } else if (speed < 0) {
-    analogWrite(rpwm, 0);
-    analogWrite(lpwm, (uint8_t)(-speed));
-  } else {
-    analogWrite(rpwm, 0);
-    analogWrite(lpwm, 0);
-  }
-}
-
-static int rampTowards(int current, int target, uint8_t step) {
-  if (current < target) {
-    int n = current + step;
-    return (n > target) ? target : n;
-  }
-  if (current > target) {
-    int n = current - step;
-    return (n < target) ? target : n;
-  }
-  return current;
-}
-
-bool parseLine(const String& line, int &outL, int &outR) {
-  // expected: "L <int> R <int>"
-  int idxL = line.indexOf('L');
-  int idxR = line.indexOf('R');
-  if (idxL < 0 || idxR < 0) return false;
-
-  // crude parse; robust enough for our simple format
-  String partL = line.substring(idxL + 1, idxR);
-  String partR = line.substring(idxR + 1);
-
-  partL.trim();
-  partR.trim();
-
-  outL = partL.toInt();
-  outR = partR.toInt();
-  outL = clamp255(outL);
-  outR = clamp255(outR);
-  return true;
-}
-
-void setup() {
-  Serial.begin(115200);
-  setupPins();
-  lastCmdMs = millis();
-  lastLoopMs = millis();
-}
-
-void loop() {
-  // --- read serial lines ---
-  while (Serial.available()) {
-    String line = Serial.readStringUntil('\n');
-    line.trim();
-    if (line.length() == 0) continue;
-
-    int l, r;
-    if (parseLine(line, l, r)) {
-      targetL = l;
-      targetR = r;
-      lastCmdMs = millis();
-    }
-  }
-
-  // --- watchdog stop ---
-  if (millis() - lastCmdMs > CMD_TIMEOUT_MS) {
-    targetL = 0;
-    targetR = 0;
-  }
-
-  // --- ramp update ---
-  if (millis() - lastLoopMs >= LOOP_MS) {
-    lastLoopMs = millis();
-
-    currentL = rampTowards(currentL, targetL, RAMP_STEP);
-    currentR = rampTowards(currentR, targetR, RAMP_STEP);
-
-    driveOne(currentL, L_RPWM, L_LPWM);
-    driveOne(currentR, R_RPWM, R_LPWM);
-  }
-}

drive/etc/nginx/snippets/captive-portal.conf

@@ -0,0 +1,16 @@
+# --- Captive Portal Trigger (Android/iOS/Windows) ---
+# Android / Google connectivity check
+location = /generate_204 { return 302 /; }
+location = /gen_204      { return 302 /; }
+
+# iOS/macOS captive check
+location = /hotspot-detect.html { return 200 '<HTML><HEAD><TITLE>Success</TITLE></HEAD><BODY>OK</BODY></HTML>'; add_header Content-Type text/html; }
+location = /library/test/success.html { return 302 /; }
+
+# Windows NCSI check
+location = /ncsi.txt { return 302 /; }
+location = /connecttest.txt { return 302 /; }
+
+# Optional: Android “portal” URL
+location = /captiveportal { return 302 /; }
+

drive/etc/nginx/snippets/drive.conf

@@ -1,6 +1,6 @@
 
-  location ^~ /drive/ {
-    alias /opt/helva-robot/drive/var/www/drive/;
+  location ^~ /drive {
+    alias /opt/helva-robot/drive/var/www/drive;
     try_files $uri $uri/ /drive/index.html;
   }
 

drive/opt/drive-ctl/server.py

@@ -5,6 +5,28 @@ import serial
 from fastapi import FastAPI, WebSocket, WebSocketDisconnect
 from fastapi.responses import HTMLResponse
 
+import time
+import logging
+
+log = logging.getLogger("drive")
+logging.basicConfig(level=logging.INFO)
+
+_last_send_t = None
+
+def log_send_timing(note: str = ""):
+    global _last_send_t
+    now = time.perf_counter()  # monotonic + hochauflösend
+    if _last_send_t is None:
+        _last_send_t = now
+        return
+    dt_ms = (now - _last_send_t) * 1000.0
+    _last_send_t = now
+
+    # Nur loggen wenn "auffällig"
+    if dt_ms > 120:
+        log.warning("SERIAL SEND GAP %.0f ms %s", dt_ms, note)
+
+
 SERIAL_PORT = "/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"   # ggf. /dev/ttyUSB0
 BAUD = 115200
 
@@ -24,6 +46,7 @@ def send_lr(l: int, r: int):
   l = clamp255(l)
   r = clamp255(r)
   line = f"L {l} R {r}\n".encode("ascii")
+  log_send_timing("(before write)")
   ser.write(line)
 
 @app.get("/health")

drive/var/www/drive/index.html

@@ -3,12 +3,12 @@
 <head>
   <meta charset="utf-8" />
   <meta name="viewport" content="width=device-width, initial-scale=1, viewport-fit=cover">
-  <title>Robot Dual Stick</title>
+  <title>Robot Dual Stick (Ramping)</title>
   <style>
     html, body { height: 100%; margin: 0; background: #0b0f14; color: #e8eef6; font-family: system-ui, -apple-system, Segoe UI, Roboto, Arial; }
-    .wrap { height: 100%; display: grid; grid-template-rows: auto 1fr auto; padding: 14px; gap: 12px; }
+    .wrap { height: 100%; display: grid; grid-template-rows: auto 1fr auto auto; padding: 14px; gap: 12px; }
     .top { display:flex; align-items:center; justify-content:space-between; gap: 10px; }
-    .badge { padding: 8px 12px; border-radius: 999px; background: #152033; font-weight: 700; }
+    .badge { padding: 8px 12px; border-radius: 999px; background: #152033; font-weight: 800; }
     .status { font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace; }
 
     .panel { background:#101826; border-radius: 18px; padding: 12px; }
@@ -22,17 +22,22 @@
       user-select: none;
     }
     .stickBox { width: min(46vw, 340px); aspect-ratio: 1/1; }
-    canvas { width: 100%; height: 100%; background:#0f1726; border-radius: 22px; }
+    canvas { width: 100%; height: 100%; background:#0f1726; border-radius: 22px; touch-action: none; }
 
     .row { display:flex; gap: 12px; align-items:center; justify-content:space-between; flex-wrap: wrap; }
-    .btn { padding: 14px 16px; border-radius: 14px; border: 0; background:#1e2b44; color:#fff; font-weight: 800; font-size: 16px; }
+    .btn { padding: 14px 16px; border-radius: 14px; border: 0; background:#1e2b44; color:#fff; font-weight: 900; font-size: 16px; }
     .btn:active { transform: scale(0.98); }
     .btnStop { background:#7a1f2a; }
+    .btnOn { outline: 3px solid rgba(59,130,246,0.7); }
 
-    input[type="range"]{ width: 220px; }
-    .small { opacity: 0.85; font-size: 14px; }
+    input[type="range"]{ width: 240px; }
+    .small { opacity: 0.86; font-size: 14px; }
     .mono { font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace; }
     .hint { margin-top: 8px; opacity: 0.85; font-size: 14px; text-align: center; }
+
+    .grid2 { display:grid; grid-template-columns: 1fr 1fr; gap: 10px; }
+    .kv { display:flex; gap:10px; align-items:center; justify-content:space-between; }
+    .kv label { font-weight:800; }
   </style>
 </head>
 <body>
@@ -56,46 +61,180 @@
   </div>
 
   <div class="panel row">
-    <div>
-      <div style="font-weight:900">Max Speed: <span id="maxv">180</span></div>
-      <input id="max" type="range" min="60" max="255" value="180">
-      <div class="small mono" id="readout">T 0 | Turn 0  →  L 0 | R 0</div>
+    <div style="min-width: 320px;">
+      <div class="kv">
+        <label>Max Speed:</label>
+        <span class="mono"><span id="maxv">180</span></span>
       </div>
-    <div style="display:flex; gap:10px">
+      <input id="max" type="range" min="60" max="255" value="180">
+
+      <div class="grid2" style="margin-top:12px">
+        <div class="kv">
+          <label>Accel:</label>
+          <span class="mono"><span id="accv">2.2</span>/s</span>
+        </div>
+        <input id="acc" type="range" min="0.8" max="6.0" step="0.1" value="2.2">
+
+        <div class="kv">
+          <label>Decel:</label>
+          <span class="mono"><span id="decv">3.6</span>/s</span>
+        </div>
+        <input id="dec" type="range" min="0.8" max="8.0" step="0.1" value="3.6">
+
+        <div class="kv">
+          <label>Turn:</label>
+          <span class="mono"><span id="turnv">6.0</span>/s</span>
+        </div>
+        <input id="turn" type="range" min="1.0" max="12.0" step="0.1" value="6.0">
+
+        <div class="kv">
+          <label>Expo:</label>
+          <span class="mono"><span id="expov">0.35</span></span>
+        </div>
+        <input id="expo" type="range" min="0.0" max="0.8" step="0.05" value="0.35">
+      </div>
+    </div>
+
+    <div style="display:flex; gap:10px; align-items:center; flex-wrap:wrap;">
       <button class="btn" id="btnConnect">Connect</button>
+      <button class="btn" id="btnSlow">SLOW</button>
       <button class="btn btnStop" id="btnStop">STOP</button>
     </div>
   </div>
 
+  <div class="panel small mono" id="readout">
+    target: T 0.00 | Turn 0.00  ||  smooth: T 0.00 | Turn 0.00  ||  L 0 | R 0
+  </div>
+
   <div class="small" style="text-align:center; opacity:0.8">
-    Loslassen = STOP. Wenn Verbindung/Tab weg: STOP (Watchdog).
+    Loslassen = STOP. Tab/Verbindung weg = STOP. (Web sendet laufend, damit Arduino-Watchdog nicht stoppt.)
   </div>
 </div>
 
 <script>
 (() => {
+  // ===== UI refs =====
   const statusEl = document.getElementById('status');
+  const readoutEl = document.getElementById('readout');
+
   const maxEl = document.getElementById('max');
   const maxvEl = document.getElementById('maxv');
-  const readoutEl = document.getElementById('readout');
+
+  const accEl = document.getElementById('acc');
+  const accvEl = document.getElementById('accv');
+
+  const decEl = document.getElementById('dec');
+  const decvEl = document.getElementById('decv');
+
+  const turnRateEl = document.getElementById('turn');
+  const turnvEl = document.getElementById('turnv');
+
+  const expoEl = document.getElementById('expo');
+  const expovEl = document.getElementById('expov');
+
   const btnConnect = document.getElementById('btnConnect');
   const btnStop = document.getElementById('btnStop');
+  const btnSlow = document.getElementById('btnSlow');
 
   const cL = document.getElementById('leftStick');
   const cR = document.getElementById('rightStick');
-  const gL = cL.getContext('2d');
-  const gR = cR.getContext('2d');
 
+  // ===== WebSocket =====
   let ws = null;
   let connected = false;
 
-  // Stick states (normalized)
-  // Left stick: throttle in [-1..1] (up = +1)
-  // Right stick: turn in [-1..1] (right = +1)
+  function setStatus(txt, ok=false){
+    statusEl.textContent = txt;
+    statusEl.style.background = ok ? "#16331d" : "#3a1a1a";
+  }
+
+  function connect(){
+    if (connected) return;
+    const proto = (location.protocol === "https:") ? "wss" : "ws";
+    const url = `${proto}://${location.host}/drive-ws`; // <— NGINX path
+    ws = new WebSocket(url);
+
+    ws.onopen = () => { connected = true; setStatus("online", true); };
+    ws.onclose = () => { connected = false; setStatus("offline", false); hardStop(); };
+    ws.onerror = () => { connected = false; setStatus("error", false); hardStop(); };
+    ws.onmessage = () => {};
+  }
+
+  btnConnect.addEventListener('click', connect);
+
+  // ===== Control state =====
+  // Targets come directly from sticks
+  let throttleTarget = 0; // -1..+1 (up = +)
+  let turnTarget = 0;     // -1..+1 (right = +)
+
+  // Smoothed (ramped) values
   let throttle = 0;
   let turn = 0;
 
-  // For touch handling
+  // last motor outputs
+  let lastL = 0, lastR = 0;
+
+  // slow mode
+  let slowMode = false;
+  btnSlow.addEventListener('click', () => {
+    slowMode = !slowMode;
+    btnSlow.classList.toggle('btnOn', slowMode);
+  });
+
+  // ===== Helpers =====
+  function clamp(v, a, b){ return Math.max(a, Math.min(b, v)); }
+
+  // Expo curve: 0 = linear, higher = finer around center
+  // Returns in [-1..1]
+  function expo(v, e){
+    v = clamp(v, -1, 1);
+    e = clamp(e, 0, 0.95);
+    // cubic blend
+    return (1 - e) * v + e * v * v * v;
+  }
+
+  // Differential mix: throttle + turn -> left/right in [-1..1]
+  function mix(th, tr){
+    let l = th + tr;
+    let r = th - tr;
+    const m = Math.max(1, Math.abs(l), Math.abs(r));
+    return { l: l / m, r: r / m };
+  }
+
+  function stepTowards(cur, target, maxDelta){
+    const d = target - cur;
+    if (Math.abs(d) <= maxDelta) return target;
+    return cur + Math.sign(d) * maxDelta;
+  }
+
+  // Send helper with simple rate limit (force bypasses)
+  let lastSendMs = 0;
+  function sendLR(l, r, force=false){
+    if (!connected) return;
+    const now = performance.now();
+    if (!force && (now - lastSendMs < 35)) return; // ~28Hz max
+    lastSendMs = now;
+
+    try { ws.send(JSON.stringify({ l, r })); } catch(e) {}
+  }
+
+  function hardStop(){
+    throttleTarget = 0; turnTarget = 0;
+    throttle = 0; turn = 0;
+    lastL = 0; lastR = 0;
+    sendLR(0, 0, true);
+    leftStick.reset();
+    rightStick.reset();
+    renderReadout();
+  }
+
+  btnStop.addEventListener('click', hardStop);
+
+  document.addEventListener("visibilitychange", () => {
+    if (document.hidden) hardStop();
+  });
+
+  // ===== Stick widgets =====
   function makeStick(canvas, mode /* 'throttle' or 'turn' */) {
     const ctx = canvas.getContext('2d');
     const cx = canvas.width / 2;
@@ -105,8 +244,6 @@
     let active = false;
     let px = cx, py = cy;
 
-    function clamp(v, a, b){ return Math.max(a, Math.min(b, v)); }
-
     function pointerPos(evt){
       const r = canvas.getBoundingClientRect();
       return {
@@ -115,23 +252,61 @@
       };
     }
 
-    function apply(nx, ny) {
-      // nx, ny in [-1..1] where ny is +down
+    function draw(){
+      ctx.clearRect(0,0,canvas.width,canvas.height);
+
+      // base circle
+      ctx.lineWidth = 10;
+      ctx.strokeStyle = "#24324d";
+      ctx.beginPath();
+      ctx.arc(cx, cy, radius, 0, Math.PI*2);
+      ctx.stroke();
+
+      // crosshair
+      ctx.lineWidth = 4;
+      ctx.strokeStyle = "#1c263b";
+      ctx.beginPath();
+      ctx.moveTo(cx, cy - radius); ctx.lineTo(cx, cy + radius);
+      ctx.moveTo(cx - radius, cy); ctx.lineTo(cx + radius, cy);
+      ctx.stroke();
+
+      // mode line
+      ctx.lineWidth = 6;
+      ctx.strokeStyle = "#152033";
+      ctx.beginPath();
       if (mode === 'throttle') {
-        // Up should be +throttle, so invert ny
-        throttle = clamp(-ny, -1, 1);
+        ctx.moveTo(cx, cy - radius); ctx.lineTo(cx, cy + radius);
       } else {
-        turn = clamp(nx, -1, 1);
+        ctx.moveTo(cx - radius, cy); ctx.lineTo(cx + radius, cy);
+      }
+      ctx.stroke();
+
+      // knob
+      ctx.fillStyle = "#3b82f6";
+      ctx.beginPath();
+      ctx.arc(px, py, canvas.width*0.065, 0, Math.PI*2);
+      ctx.fill();
+
+      // inner dot
+      ctx.fillStyle = "#0b0f14";
+      ctx.beginPath();
+      ctx.arc(px, py, canvas.width*0.03, 0, Math.PI*2);
+      ctx.fill();
+    }
+
+    function apply(nx, ny){
+      // nx,ny in [-1..1], ny is +down
+      if (mode === 'throttle') {
+        throttleTarget = clamp(-ny, -1, 1); // up = +
+      } else {
+        turnTarget = clamp(nx, -1, 1);      // right = +
       }
     }
 
-    function stopSelf() {
+    function reset(){
       active = false;
       px = cx; py = cy;
-      if (mode === 'throttle') throttle = 0;
-      if (mode === 'turn') turn = 0;
       draw();
-      updateAndSend(true);
     }
 
     function onDown(evt){
@@ -144,9 +319,11 @@
     function onMove(evt){
       if (!active) return;
       evt.preventDefault();
+
       const p = pointerPos(evt);
       const dx = p.x - cx;
       const dy = p.y - cy;
+
       const dist = Math.hypot(dx, dy);
       const k = dist > radius ? (radius / dist) : 1;
 
@@ -158,12 +335,16 @@
 
       apply(nx, ny);
       draw();
-      updateAndSend(false);
     }
 
     function onUp(evt){
       evt.preventDefault();
-      stopSelf();
+      active = false;
+      px = cx; py = cy;
+      // Release = target back to 0 for that axis
+      if (mode === 'throttle') throttleTarget = 0;
+      if (mode === 'turn') turnTarget = 0;
+      draw();
     }
 
     canvas.addEventListener('pointerdown', onDown);
@@ -172,157 +353,77 @@
     canvas.addEventListener('pointercancel', onUp);
     canvas.addEventListener('contextmenu', e => e.preventDefault());
 
-    function drawBase() {
-      ctx.clearRect(0,0,canvas.width,canvas.height);
-
-      // Outer circle
-      ctx.lineWidth = 10;
-      ctx.strokeStyle = "#24324d";
-      ctx.beginPath();
-      ctx.arc(cx, cy, radius, 0, Math.PI*2);
-      ctx.stroke();
-
-      // Crosshair
-      ctx.lineWidth = 4;
-      ctx.strokeStyle = "#1c263b";
-      ctx.beginPath();
-      ctx.moveTo(cx, cy - radius); ctx.lineTo(cx, cy + radius);
-      ctx.moveTo(cx - radius, cy); ctx.lineTo(cx + radius, cy);
-      ctx.stroke();
-
-      // Mode hint line
-      ctx.lineWidth = 6;
-      ctx.strokeStyle = "#152033";
-      ctx.beginPath();
-      if (mode === 'throttle') {
-        ctx.moveTo(cx, cy - radius); ctx.lineTo(cx, cy + radius);
-      } else {
-        ctx.moveTo(cx - radius, cy); ctx.lineTo(cx + radius, cy);
-      }
-      ctx.stroke();
-    }
-
-    function drawKnob() {
-      // Knob
-      ctx.fillStyle = "#3b82f6";
-      ctx.beginPath();
-      ctx.arc(px, py, canvas.width*0.065, 0, Math.PI*2);
-      ctx.fill();
-
-      // Inner dot
-      ctx.fillStyle = "#0b0f14";
-      ctx.beginPath();
-      ctx.arc(px, py, canvas.width*0.03, 0, Math.PI*2);
-      ctx.fill();
-    }
-
-    function draw(){
-      drawBase();
-      drawKnob();
-    }
-
     draw();
-    return { draw, stopSelf };
+    return { reset };
   }
 
-  function setStatus(txt, ok=false){
-    statusEl.textContent = txt;
-    statusEl.style.background = ok ? "#16331d" : "#3a1a1a";
+  const leftStick = makeStick(cL, 'throttle');
+  const rightStick = makeStick(cR, 'turn');
+
+  // ===== UI sliders text =====
+  function refreshLabels(){
+    maxvEl.textContent = maxEl.value;
+    accvEl.textContent = accEl.value;
+    decvEl.textContent = decEl.value;
+    turnvEl.textContent = turnRateEl.value;
+    expovEl.textContent = expoEl.value;
+  }
+  [maxEl, accEl, decEl, turnRateEl, expoEl].forEach(el => el.addEventListener('input', refreshLabels));
+  refreshLabels();
+
+  // ===== Main control loop (RAMPING happens HERE) =====
+  function renderReadout(){
+    readoutEl.textContent =
+      `target: T ${throttleTarget.toFixed(2)} | Turn ${turnTarget.toFixed(2)}  ||  ` +
+      `smooth: T ${throttle.toFixed(2)} | Turn ${turn.toFixed(2)}  ||  ` +
+      `L ${lastL} | R ${lastR}`;
   }
 
-  function clamp(v, a, b){ return Math.max(a, Math.min(b, v)); }
+  let lastTick = performance.now();
 
-  // Mix throttle + turn to left/right [-1..1]
-  function mix(throttle, turn) {
-    let l = throttle + turn;
-    let r = throttle - turn;
-
-    // normalize to keep within [-1..1]
-    const m = Math.max(1, Math.abs(l), Math.abs(r));
-    l /= m; r /= m;
-    return { l, r };
-  }
-
-  let lastSend = 0;
-  let lastL = 0, lastR = 0;
-
-  function sendLR(l, r, force=false){
+  setInterval(() => {
     const now = performance.now();
-    if (!connected) return;
-    if (!force && (now - lastSend < 35)) return; // ~28Hz
-    lastSend = now;
+    const dt = Math.max(0.001, (now - lastTick) / 1000);
+    lastTick = now;
 
-    try { ws.send(JSON.stringify({l, r})); } catch(e) {}
-  }
+    // rates from UI
+    const ACCEL_PER_SEC = parseFloat(accEl.value);
+    const DECEL_PER_SEC = parseFloat(decEl.value);
+    const TURN_PER_SEC  = parseFloat(turnRateEl.value);
+    const EXPO          = parseFloat(expoEl.value);
 
-  function updateAndSend(force) {
-    const maxSpeed = parseInt(maxEl.value, 10);
-    const m = mix(throttle, turn);
+    // ramp throttle
+    const rateT = (Math.abs(throttleTarget) > Math.abs(throttle)) ? ACCEL_PER_SEC : DECEL_PER_SEC;
+    throttle = stepTowards(throttle, throttleTarget, rateT * dt);
 
-    const L = Math.round(clamp(m.l, -1, 1) * maxSpeed);
-    const R = Math.round(clamp(m.r, -1, 1) * maxSpeed);
+    // ramp turn
+    turn = stepTowards(turn, turnTarget, TURN_PER_SEC * dt);
+
+    // apply expo AFTER ramp (feels nicer)
+    const th = expo(throttle, EXPO);
+    const tr = expo(turn, EXPO);
+
+    // mix
+    let { l, r } = mix(th, tr);
+
+    // scale
+    let maxSpeed = parseInt(maxEl.value, 10);
+    if (slowMode) maxSpeed = Math.round(maxSpeed * 0.45);
+
+    const L = Math.round(clamp(l, -1, 1) * maxSpeed);
+    const R = Math.round(clamp(r, -1, 1) * maxSpeed);
 
     lastL = L; lastR = R;
-    readoutEl.textContent = `T ${throttle.toFixed(2)} | Turn ${turn.toFixed(2)}  →  L ${L} | R ${R}`;
+    renderReadout();
 
-    // sendLR(L, R, force);
+    // always send with a gentle cap (force keeps Arduino alive)
+    // This is both "control output" and heartbeat.
+    sendLR(L, R, true);
+  }, 20); // 50 Hz smoothing + sending
 
-    // ---- Heartbeat: keep sending current values while driving ----
-    setInterval(() => {
-      // wenn nicht verbunden -> nix
-      if (!connected) return;
-
-      // Wenn du NUR beim aktiven Fahren senden willst:
-      const driving = (Math.abs(throttle) > 0.02) || (Math.abs(turn) > 0.02);
-
-      if (driving) {
-        // erzwinge Senden auch wenn sich nichts geändert hat
-        sendLR(lastL, lastR, true);
-      }
-}, 400); // 40 Hz
-
-  }
-
-  function hardStop() {
-    throttle = 0; turn = 0;
-    updateAndSend(true);
-    left.stopSelf();
-    right.stopSelf();
-  }
-
-  function connect(){
-    if (connected) return;
-    const proto = (location.protocol === "https:") ? "wss" : "ws";
-    const url = `${proto}://${location.host}/drive-ws`;
-    ws = new WebSocket(url);
-
-    ws.onopen = () => { connected = true; setStatus("online", true); updateAndSend(true); };
-    ws.onclose = () => { connected = false; setStatus("offline", false); hardStop(); };
-    ws.onerror = () => { connected = false; setStatus("error", false); hardStop(); };
-    ws.onmessage = () => {};
-  }
-
-  btnConnect.addEventListener('click', connect);
-  btnStop.addEventListener('click', hardStop);
-
-  maxEl.addEventListener('input', () => {
-    maxvEl.textContent = maxEl.value;
-    updateAndSend(true);
-  });
-
-  // Create sticks
-  const left = makeStick(cL, 'throttle');
-  const right = makeStick(cR, 'turn');
-
-  // Auto-connect
+  // ===== Start =====
   connect();
   setStatus("connecting...", false);
-
-  // Safety: stop when page hidden
-  document.addEventListener("visibilitychange", () => {
-    if (document.hidden) hardStop();
-  });
-
 })();
 </script>
 </body>

face/etc/nginx/sites-available/face

@@ -2,6 +2,18 @@ server {
     listen 80;
     server_name _;
 
+    # redirect service to tethering IP for 'webview kiosk' -> mobile phone to face
+    location /redirect {
+        proxy_pass http://127.0.0.1:8000/redirect;
+	proxy_set_header Host $host;
+	proxy_set_header X-Real-IP $remote_addr;
+	proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
+    }
+
+    # captive portal to face
+    include /opt/helva-robot/drive/etc/nginx/snippets/captive-portal.conf;
+
+    # gives access to drive control
     include /opt/helva-robot/drive/etc/nginx/snippets/drive.conf;
 
     root /opt/helva-robot/face/var/www/html;

face/etc/systemd/system/redirect.service

@@ -0,0 +1,17 @@
+[Unit]
+Description=Redirect Tethering IP Service
+After=network.target
+
+[Service]
+WorkingDirectory=/opt/face
+ExecStart=/opt/face/venv/bin/python -m uvicorn redirect_tethering_ip:app --host 127.0.0.1 --port 8000 --app-dir /opt/face
+Restart=always
+RestartSec=1
+
+# Tipp: eigener User ist sauber, aber www-data geht auch.
+User=www-data
+Group=www-data
+
+[Install]
+WantedBy=multi-user.target
+

face/opt/face/face_server.py

@@ -1,151 +1,125 @@
+from __future__ import annotations
+
 import asyncio
 import json
-from typing import Any, Dict, Optional
+from typing import Any, Dict, Set
 
 from fastapi import FastAPI, Request
-from fastapi.responses import StreamingResponse, JSONResponse
+from fastapi.responses import JSONResponse, StreamingResponse
 
 app = FastAPI()
 
-clients: set[asyncio.Queue[str]] = set()
-
-# Global state sent to clients
-state: Dict[str, Any] = {
+STATE: Dict[str, Any] = {
     "emotion": "neutral",
-    "intensity": 0.7,          # 0..1
-    "look": None,              # {"x": -1..1, "y": -1..1} or None
-    "mouth": {"open": False, "amount": 0.0, "duration_ms": 0},
-    "talk": {"enabled": False, "rate_hz": 3.2, "amount": 0.9, "jitter": 0.25},
+    "intensity": 0.85,
+    "look": {"x": 0.0, "y": 0.0},
+    "speaking": False,
+    "eyesMoving": True,
 }
 
-def clamp(v: float, lo: float, hi: float) -> float:
-    return max(lo, min(hi, v))
+CLIENTS: Set[asyncio.Queue[str]] = set()
+LOCK = asyncio.Lock()
 
-def sse(event: str, data: str) -> str:
-    return f"event: {event}\ndata: {data}\n\n"
 
-def normalize_patch(patch: Dict[str, Any]) -> Dict[str, Any]:
-    out: Dict[str, Any] = {}
-
-    if "emotion" in patch:
-        out["emotion"] = str(patch["emotion"])
-
-    if "intensity" in patch:
+def clamp(v: Any, lo: float, hi: float) -> float:
     try:
-            out["intensity"] = clamp(float(patch["intensity"]), 0.0, 1.0)
+        x = float(v)
     except Exception:
-            pass
+        return lo
+    return max(lo, min(hi, x))
 
-    if "look" in patch:
-        look = patch["look"]
-        if look is None:
-            out["look"] = None
-        elif isinstance(look, dict):
-            try:
-                x = clamp(float(look.get("x", 0.0)), -1.0, 1.0)
-                y = clamp(float(look.get("y", 0.0)), -1.0, 1.0)
-                out["look"] = {"x": x, "y": y}
-            except Exception:
-                pass
 
-    if "mouth" in patch and isinstance(patch["mouth"], dict):
-        m = patch["mouth"]
-        try:
-            open_ = bool(m.get("open", False))
-            amount = clamp(float(m.get("amount", 0.0)), 0.0, 1.0)
-            duration_ms = int(m.get("duration_ms", 0))
-            duration_ms = max(0, min(duration_ms, 10_000))
-            out["mouth"] = {"open": open_, "amount": amount, "duration_ms": duration_ms}
-        except Exception:
-            pass
+def merge_state(payload: Dict[str, Any]) -> None:
+    if isinstance(payload.get("emotion"), str):
+        STATE["emotion"] = payload["emotion"]
 
-    # one-shot flags are allowed but not stored in state
-    if "blink" in patch:
-        out["blink"] = bool(patch["blink"])
+    if "intensity" in payload:
+        STATE["intensity"] = clamp(payload["intensity"], 0.0, 1.0)
 
-    if "talk" in patch:
-        t = patch["talk"]
-        if isinstance(t, dict):
-            try:
-                enabled = bool(t.get("enabled", False))
-                rate_hz = float(t.get("rate_hz", 3.2))
-                amount = float(t.get("amount", 0.9))
-                jitter = float(t.get("jitter", 0.25))
+    if isinstance(payload.get("look"), dict):
+        lx = clamp(payload["look"].get("x", 0.0), -1.0, 1.0)
+        ly = clamp(payload["look"].get("y", 0.0), -1.0, 1.0)
+        STATE["look"] = {"x": lx, "y": ly}
 
-                rate_hz = clamp(rate_hz, 0.5, 10.0)
-                amount = clamp(amount, 0.0, 1.0)
-                jitter = clamp(jitter, 0.0, 1.0)
+    if isinstance(payload.get("speaking"), bool):
+        STATE["speaking"] = payload["speaking"]
 
-                out["talk"] = {"enabled": enabled, "rate_hz": rate_hz, "amount": amount, "jitter": jitter}
-            except Exception:
-                pass
+    if isinstance(payload.get("eyesMoving"), bool):
+        STATE["eyesMoving"] = payload["eyesMoving"]
 
-    return out
 
-async def broadcast(payload: Dict[str, Any]) -> None:
-    msg = json.dumps(payload, separators=(",", ":"), ensure_ascii=False)
-    dead = []
-    for q in clients:
+async def broadcast() -> None:
+    msg = json.dumps(STATE, separators=(",", ":"))
+    dead: list[asyncio.Queue[str]] = []
+
+    async with LOCK:
+        for q in CLIENTS:
             try:
                 q.put_nowait(msg)
             except Exception:
                 dead.append(q)
         for q in dead:
-        clients.discard(q)
+            CLIENTS.discard(q)
+
+
+@app.get("/state")
+async def get_state():
+    return JSONResponse(STATE)
+
+@app.get("/api/state")
+async def get_state():
+    return JSONResponse(STATE)
+
+
+@app.post("/state")
+async def set_state(payload: Dict[str, Any]):
+    merge_state(payload)
+    await broadcast()
+    return JSONResponse({"ok": True, "state": STATE})
+
+@app.post("/api/state")
+async def set_state(payload: Dict[str, Any]):
+    merge_state(payload)
+    await broadcast()
+    return JSONResponse({"ok": True, "state": STATE})
+
 
 @app.get("/events")
 async def events(request: Request):
-    q: asyncio.Queue[str] = asyncio.Queue()
-    clients.add(q)
+    """
+    SSE stream for browser:
+      const es = new EventSource("/events");
+    nginx should proxy /events -> http://127.0.0.1:8001/events
+    """
+    q: asyncio.Queue[str] = asyncio.Queue(maxsize=50)
+
+    async with LOCK:
+        CLIENTS.add(q)
 
     async def gen():
         try:
-            # Send current state immediately on connect
-            yield sse("state", json.dumps(state, separators=(",", ":"), ensure_ascii=False))
+            # initial state immediately
+            initial = json.dumps(STATE, separators=(",", ":"))
+            yield f"event: state\ndata: {initial}\n\n"
 
             while True:
                 if await request.is_disconnected():
                     break
-                msg = await q.get()
-                yield sse("state", msg)
+
+                try:
+                    msg = await asyncio.wait_for(q.get(), timeout=15.0)
+                    yield f"event: state\ndata: {msg}\n\n"
+                except asyncio.TimeoutError:
+                    # keepalive
+                    yield ": keepalive\n\n"
         finally:
-            clients.discard(q)
+            async with LOCK:
+                CLIENTS.discard(q)
 
     headers = {
         "Cache-Control": "no-cache",
         "Connection": "keep-alive",
-        "X-Accel-Buffering": "no",
+        "X-Accel-Buffering": "no",  # important behind nginx
     }
     return StreamingResponse(gen(), media_type="text/event-stream", headers=headers)
 
-@app.post("/api/state")
-async def set_state(patch: Dict[str, Any]):
-    global state
-    normalized = normalize_patch(patch)
-
-    # Merge persistent fields
-    for k in ("emotion", "intensity", "look", "mouth", "talk"):
-        if k in normalized:
-            state[k] = normalized[k]
-
-    # Broadcast merged state + one-shot flags if any
-    payload = dict(state)
-    if "blink" in normalized:
-        payload["blink"] = normalized["blink"]
-
-    await broadcast(payload)
-    return JSONResponse({"ok": True, "state": state})
-
-# Compatibility endpoint (optional): keeps your old curl calls working
-@app.post("/api/emotion/{name}")
-async def set_emotion(name: str):
-    global state
-    state["emotion"] = name
-    payload = dict(state)
-    await broadcast(payload)
-    return JSONResponse({"ok": True, "state": state})
-
-@app.get("/api/state")
-async def get_state():
-    return {"state": state}
-

face/opt/face/redirect_tethering_ip.py

@@ -0,0 +1,14 @@
+from fastapi import FastAPI
+from fastapi.responses import RedirectResponse
+import netifaces
+
+app = FastAPI()
+
+@app.get("/redirect")
+def redirect_to_pi():
+  # gather tethering IP
+  interface = 'usb0'
+  ip_address = netifaces.ifaddresses(interface)[netifaces.AF_INET][0]['addr']
+
+  # relocate to current tethering-IP
+  return RedirectResponse(url=f'http://{ip_address}:80')

face/var/www/html/app.js

@@ -1,194 +0,0 @@
-const label = document.getElementById("label");
-const eyes = Array.from(document.querySelectorAll(".eye"));
-const mouthShape = document.querySelector(".mouth-shape");
-
-let current = "neutral";
-let wanderEnabled = true;
-let wanderTimer = null;
-
-let talkEnabled = false;
-let talkCfg = { rate_hz: 3.2, amount: 0.9, jitter: 0.25 };
-let talkTimer = null;
-
-function clamp(v, lo, hi){ return Math.max(lo, Math.min(hi, v)); }
-
-function setEmotion(name) {
-  const safe = String(name || "neutral")
-    .toLowerCase()
-    .replace(/[^a-z0-9_-]/g, "");
-
-  current = safe;
-  document.body.className = `emotion-${safe}`;
-  label.textContent = safe;
-
-  // surprised -> O-mouth
-  if (safe === "surprised") document.body.classList.add("has-omouth");
-  else document.body.classList.remove("has-omouth");
-
-  // frown for sad/angry
-  if (safe === "sad" || safe === "angry") mouthShape.classList.add("frown");
-  else mouthShape.classList.remove("frown");
-}
-
-function blinkOnce() {
-  eyes.forEach(e => e.classList.add("blink"));
-  setTimeout(() => eyes.forEach(e => e.classList.remove("blink")), 120);
-}
-
-function setLook(x, y) {
-  // x/y in -1..1 -> px offsets
-  const pxX = Math.round(clamp(x, -1, 1) * 12);
-  const pxY = Math.round(clamp(y, -1, 1) * 10);
-  document.documentElement.style.setProperty("--pupil-x", `${pxX}px`);
-  document.documentElement.style.setProperty("--pupil-y", `${pxY}px`);
-}
-
-function setIntensity(v) {
-  const val = clamp(Number(v ?? 0.7), 0, 1);
-  document.documentElement.style.setProperty("--intensity", String(val));
-}
-
-function setMouthOpen(v) {
-  const val = clamp(Number(v ?? 0), 0, 1);
-  document.documentElement.style.setProperty("--mouth-open", String(val));
-}
-
-function speak(amount = 0.8, durationMs = 600) {
-  if (talkEnabled) return; // Talk-Mode steuert Mund
-  setMouthOpen(amount);
-  setTimeout(() => setMouthOpen(0), Math.max(0, durationMs));
-}
-
-function stopTalk() {
-  talkEnabled = false;
-  if (talkTimer) {
-    clearTimeout(talkTimer);
-    talkTimer = null;
-  }
-  setMouthOpen(0);
-}
-
-function startTalk(cfg) {
-  talkEnabled = true;
-  talkCfg = {
-    rate_hz: clamp(Number(cfg?.rate_hz ?? 3.2), 0.5, 10),
-    amount: clamp(Number(cfg?.amount ?? 0.9), 0, 1),
-    jitter: clamp(Number(cfg?.jitter ?? 0.25), 0, 1),
-  };
-
-  if (talkTimer) clearTimeout(talkTimer);
-
-  // “sprech”-Animation: Mund öffnet/schließt schnell, mit bisschen Zufall
-  const tick = () => {
-    if (!talkEnabled) return;
-
-    const base = talkCfg.amount;
-    const j = talkCfg.jitter;
-
-    // random-ish open amount between ~0.2..1.0, scaled
-    const r = (0.35 + Math.random() * 0.65);
-    const open = clamp(base * r * (1 - j + Math.random() * j), 0, 1);
-    setMouthOpen(open);
-
-    // timing from rate_hz (Hz -> ms)
-    const interval = Math.max(60, Math.round(1000 / talkCfg.rate_hz));
-    // add a bit of jitter to cadence
-    const next = interval + Math.round((Math.random() * 2 - 1) * interval * 0.25);
-
-    talkTimer = setTimeout(tick, next);
-  };
-
-  tick();
-}
-
-
-/* Pupillen-Wandern nur wenn kein look gesetzt ist */
-function startWander() {
-  if (wanderTimer) clearTimeout(wanderTimer);
-
-  const tick = () => {
-    if (!wanderEnabled) return;
-
-    const x = (Math.random() * 2 - 1) * 0.7;
-    const y = (Math.random() * 2 - 1) * 0.6;
-    setLook(x, y);
-
-    const next = 600 + Math.random() * 900;
-    wanderTimer = setTimeout(tick, next);
-  };
-  tick();
-}
-
-function applyState(s) {
-  if (!s || typeof s !== "object") return;
-
-  if (s.emotion) setEmotion(s.emotion);
-  if (s.intensity !== undefined) setIntensity(s.intensity);
-
-  // one-shot blink
-  if (s.blink) blinkOnce();
-
-  // look: if null -> enable wander. if object -> fixed look
-  if ("look" in s) {
-    if (s.look === null) {
-      wanderEnabled = true;
-      startWander();
-    } else if (typeof s.look === "object") {
-      wanderEnabled = false;
-      setLook(s.look.x ?? 0, s.look.y ?? 0);
-    }
-  }
-
-  // mouth command
-  if (s.mouth && typeof s.mouth === "object") {
-    const open = !!s.mouth.open;
-    const amount = clamp(Number(s.mouth.amount ?? 0.8), 0, 1);
-    const dur = Number(s.mouth.duration_ms ?? 600);
-
-    if (open) speak(amount, dur);
-    else setMouthOpen(0);
-  }
-
-  // talk mode
-  if (s.talk && typeof s.talk === "object") {
-    const enabled = !!s.talk.enabled;
-    if (enabled) startTalk(s.talk);
-    else stopTalk();
-  }
-}
-
-function connect() {
-  const es = new EventSource("/events");
-  es.addEventListener("state", (e) => {
-    try { applyState(JSON.parse(e.data)); } catch {}
-  });
-  es.onmessage = (e) => {
-    // fallback: treat as state json
-    try { applyState(JSON.parse(e.data)); } catch {}
-  };
-  es.onerror = () => {
-    es.close();
-    setTimeout(connect, 1000);
-  };
-}
-
-connect();
-startWander();
-
-/* zufälliges Blinzeln unabhängig vom Push */
-(function startBlinkLoop(){
-  const loop = () => {
-    let base = 3500;
-    if (current === "sleepy") base = 2200;
-    if (current === "surprised") base = 4200;
-
-    const next = base + Math.random() * 2200;
-    setTimeout(() => {
-      blinkOnce();
-      if (Math.random() < 0.12) setTimeout(blinkOnce, 220);
-      loop();
-    }, next);
-  };
-  loop();
-})();
-

face/var/www/html/control/control.css

@@ -0,0 +1,121 @@
+:root{
+  --bg:#06070b;
+  --card:#0f1422;
+  --text:#e8f0ff;
+  --muted:#a8b6d8;
+  --border: rgba(255,255,255,.10);
+  --accent: rgba(120,220,255,1);
+  --shadow: 0 12px 40px rgba(0,0,0,.55);
+  --r: 18px;
+}
+
+html,body{ height:100%; margin:0; background:var(--bg); color:var(--text);
+  font-family:system-ui, -apple-system, Segoe UI, Roboto, Helvetica, Arial; }
+
+.page{ max-width: 880px; margin:0 auto; padding: 18px; }
+.top{ display:flex; align-items:flex-start; justify-content:space-between; gap:16px; flex-wrap:wrap; }
+h1{ margin:0; font-size:22px; }
+h2{ margin:0 0 12px 0; font-size:16px; }
+
+.card{
+  background: rgba(255,255,255,.04);
+  border: 1px solid var(--border);
+  border-radius: var(--r);
+  padding: 14px;
+  margin-top: 14px;
+  box-shadow: var(--shadow);
+}
+
+.row{ display:flex; gap:10px; align-items:center; flex-wrap:wrap; }
+.pill{
+  font-size: 12px;
+  color: var(--muted);
+  border:1px solid var(--border);
+  border-radius: 999px;
+  padding: 8px 10px;
+  background: rgba(255,255,255,.03);
+}
+
+.grid{
+  display:grid;
+  grid-template-columns: repeat(auto-fit, minmax(140px, 1fr));
+  gap: 10px;
+}
+
+.emobtn{
+  border:1px solid var(--border);
+  background: rgba(255,255,255,.05);
+  border-radius: 14px;
+  padding: 12px;
+  color: var(--text);
+  cursor:pointer;
+  display:flex;
+  align-items:center;
+  gap:10px;
+  justify-content:flex-start;
+}
+.emobtn.active{ outline: 2px solid rgba(120,220,255,.55); }
+
+.icon{
+  width:34px; height:34px;
+  border-radius: 10px;
+  display:grid; place-items:center;
+  background: rgba(120,220,255,.12);
+  border: 1px solid rgba(120,220,255,.25);
+  color: var(--accent);
+  font-size: 18px;
+}
+
+.controls{ display:grid; gap: 12px; }
+.toggle{ display:flex; gap:10px; align-items:center; color:var(--text); }
+.toggle input{ transform: scale(1.2); }
+
+.slider{ display:grid; grid-template-columns: 110px 1fr 60px; gap:10px; align-items:center; }
+.slider output{ text-align:right; color: var(--muted); }
+
+.lookpad{
+  width:min(520px, 92vw);
+  aspect-ratio: 1 / 1;
+  margin-top: 10px;
+  border-radius: 20px;
+  border:1px solid var(--border);
+  background: rgba(0,0,0,.35);
+  position:relative;
+  overflow:hidden;
+  touch-action: none;
+}
+.cross::before, .cross::after{
+  content:"";
+  position:absolute;
+  left:50%; top:0; bottom:0;
+  width:1px;
+  background: rgba(255,255,255,.08);
+}
+.cross::after{
+  left:0; right:0; top:50%; bottom:auto;
+  height:1px; width:auto;
+}
+.dot{
+  width:18px; height:18px;
+  border-radius: 99px;
+  background: rgba(120,220,255,.95);
+  box-shadow: 0 0 0 6px rgba(120,220,255,.18);
+  position:absolute;
+  left:50%; top:50%;
+  transform: translate(-50%,-50%);
+}
+
+.btn{
+  border:1px solid var(--border);
+  background: rgba(255,255,255,.06);
+  color: var(--text);
+  border-radius: 14px;
+  padding: 10px 12px;
+  cursor:pointer;
+}
+.btn:active{ transform: translateY(1px); }
+
+.muted{ margin: 0; color: var(--muted); font-size: 13px; }
+.foot{ margin-top: 18px; display:flex; justify-content:space-between; }
+.link{ color: rgba(120,220,255,.95); text-decoration:none; }
+

face/var/www/html/control/control.js

@@ -0,0 +1,229 @@
+// Control UI -> POST /api/state
+// Also subscribes to /events to show current state/connection.
+
+(() => {
+  const EMOTIONS = [
+    { id: "neutral",   label: "Neutral",   icon: "•" },
+    { id: "happy",     label: "Happy",     icon: "😊" },
+    { id: "sad",       label: "Sad",       icon: "☹️" },
+    { id: "angry",     label: "Angry",     icon: "😠" },
+    { id: "sleepy",    label: "Sleepy",    icon: "😴" },
+    { id: "surprised", label: "Surprised", icon: "😲" },
+    { id: "excited",   label: "Excited",   icon: "⚡" },
+  ];
+
+  const clamp = (n,a,b) => Math.max(a, Math.min(b, n));
+  const clamp01 = (v) => clamp(Number(v) || 0, 0, 1);
+
+  const ui = {
+    grid: document.getElementById("emotionGrid"),
+    conn: document.getElementById("conn"),
+    current: document.getElementById("current"),
+    speaking: document.getElementById("speaking"),
+    eyesMoving: document.getElementById("eyesMoving"),
+    intensity: document.getElementById("intensity"),
+    intensityVal: document.getElementById("intensityVal"),
+    lookpad: document.getElementById("lookpad"),
+    lookdot: document.getElementById("lookdot"),
+    center: document.getElementById("center"),
+    stareOff: document.getElementById("stareOff"),
+  };
+
+  const state = {
+    emotion: "neutral",
+    intensity: 0.85,
+    speaking: false,
+    eyesMoving: true,
+    look: { x: 0, y: 0 },
+    // stare/lock is represented by sending/omitting look.
+    stare: false,
+  };
+
+  function renderEmotionButtons() {
+    ui.grid.innerHTML = "";
+    for (const e of EMOTIONS) {
+      const b = document.createElement("button");
+      b.className = "emobtn";
+      b.dataset.emotion = e.id;
+      b.innerHTML = `
+        <div class="icon">${e.icon}</div>
+        <div>
+          <div style="font-weight:700">${e.label}</div>
+          <div style="opacity:.6;font-size:12px">${e.id}</div>
+        </div>
+      `;
+      b.addEventListener("click", () => {
+        state.emotion = e.id;
+        setActiveEmotion();
+        sendState({ emotion: state.emotion });
+      });
+      ui.grid.appendChild(b);
+    }
+    setActiveEmotion();
+  }
+
+  function setActiveEmotion() {
+    for (const btn of ui.grid.querySelectorAll(".emobtn")) {
+      btn.classList.toggle("active", btn.dataset.emotion === state.emotion);
+    }
+    ui.current.textContent = state.emotion;
+  }
+
+  async function sendState(partial) {
+    // Build payload. If stare=false -> do NOT send look (so face can drift).
+    const payload = {
+      emotion: state.emotion,
+      intensity: state.intensity,
+      speaking: state.speaking,
+      eyesMoving: state.eyesMoving,
+      ...partial,
+    };
+
+    if (state.stare) payload.look = { x: state.look.x, y: state.look.y };
+    else delete payload.look;
+
+    try {
+      await fetch("/api/state", {
+        method: "POST",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify(payload),
+      });
+    } catch (_) {
+      // ignore; SSE status will show disconnected
+    }
+  }
+
+  // intensity
+  ui.intensity.addEventListener("input", () => {
+    state.intensity = clamp01(ui.intensity.value);
+    ui.intensityVal.textContent = state.intensity.toFixed(2);
+    sendState({ intensity: state.intensity });
+  });
+
+  // toggles
+  ui.speaking.addEventListener("change", () => {
+    state.speaking = !!ui.speaking.checked;
+    sendState({ speaking: state.speaking });
+  });
+
+  ui.eyesMoving.addEventListener("change", () => {
+    state.eyesMoving = !!ui.eyesMoving.checked;
+    sendState({ eyesMoving: state.eyesMoving });
+  });
+
+  // Look pad (touch/mouse)
+  function setDotFromLook() {
+    const r = ui.lookpad.getBoundingClientRect();
+    const px = (state.look.x + 1) / 2 * r.width;
+    const py = (state.look.y + 1) / 2 * r.height;
+    ui.lookdot.style.left = `${px}px`;
+    ui.lookdot.style.top  = `${py}px`;
+    ui.lookdot.style.transform = "translate(-50%,-50%)";
+  }
+
+  function setLookFromEvent(ev) {
+    const r = ui.lookpad.getBoundingClientRect();
+    const x = clamp((ev.clientX - r.left) / r.width, 0, 1);
+    const y = clamp((ev.clientY - r.top)  / r.height, 0, 1);
+
+    state.look.x = (x * 2) - 1;
+    state.look.y = (y * 2) - 1;
+    state.stare = true; // touching pad implies stare
+    setDotFromLook();
+    sendState({}); // will include look because stare=true
+  }
+
+  let pointerDown = false;
+  ui.lookpad.addEventListener("pointerdown", (ev) => {
+    pointerDown = true;
+    ui.lookpad.setPointerCapture(ev.pointerId);
+    setLookFromEvent(ev);
+  });
+  ui.lookpad.addEventListener("pointermove", (ev) => {
+    if (!pointerDown) return;
+    setLookFromEvent(ev);
+  });
+  ui.lookpad.addEventListener("pointerup", () => { pointerDown = false; });
+
+  // dblclick / double tap center
+  let lastTap = 0;
+  ui.lookpad.addEventListener("pointerdown", () => {
+    const now = Date.now();
+    if (now - lastTap < 280) {
+      state.look = { x: 0, y: 0 };
+      state.stare = true;
+      setDotFromLook();
+      sendState({});
+    }
+    lastTap = now;
+  });
+
+  ui.center.addEventListener("click", () => {
+    state.look = { x: 0, y: 0 };
+    state.stare = true;
+    setDotFromLook();
+    sendState({});
+  });
+
+  ui.stareOff.addEventListener("click", () => {
+    state.stare = false; // omit look in next send
+    sendState({});
+  });
+
+  // SSE subscribe to reflect current state + connection
+  (function connectSSE(){
+    let es;
+    function open(){
+      ui.conn.textContent = "connecting…";
+      es = new EventSource("/events");
+
+      es.onopen = () => ui.conn.textContent = "online";
+
+      const apply = (msg) => {
+        if (!msg || typeof msg !== "object") return;
+
+        if (typeof msg.emotion === "string") state.emotion = msg.emotion;
+        if (msg.intensity !== undefined) state.intensity = clamp01(msg.intensity);
+        if (typeof msg.speaking === "boolean") state.speaking = msg.speaking;
+        if (typeof msg.eyesMoving === "boolean") state.eyesMoving = msg.eyesMoving;
+
+        if (msg.look && typeof msg.look === "object") {
+          state.look = {
+            x: clamp(Number(msg.look.x ?? 0), -1, 1),
+            y: clamp(Number(msg.look.y ?? 0), -1, 1),
+          };
+          state.stare = true;
+        }
+
+        ui.intensity.value = String(state.intensity);
+        ui.intensityVal.textContent = state.intensity.toFixed(2);
+        ui.speaking.checked = state.speaking;
+        ui.eyesMoving.checked = state.eyesMoving;
+
+        setActiveEmotion();
+        setDotFromLook();
+      };
+
+      es.addEventListener("state", (ev) => {
+        try { apply(JSON.parse(ev.data)); } catch (_) {}
+      });
+
+      es.onmessage = (ev) => {
+        try { apply(JSON.parse(ev.data)); } catch (_) {}
+      };
+
+      es.onerror = () => {
+        ui.conn.textContent = "offline";
+        try { es.close(); } catch (_) {}
+        setTimeout(open, 1200);
+      };
+    }
+    open();
+  })();
+
+  // init
+  renderEmotionButtons();
+  ui.intensityVal.textContent = state.intensity.toFixed(2);
+  setDotFromLook();
+})();
+

face/var/www/html/control/index.html

@@ -2,390 +2,67 @@
 <html lang="de">
 <head>
   <meta charset="utf-8" />
-  <meta name="viewport" content="width=device-width,initial-scale=1" />
-  <title>Robot Face Control</title>
-  <style>
-    :root { color-scheme: dark; }
-    body {
-      margin: 0;
-      font-family: system-ui, -apple-system, Segoe UI, Roboto, sans-serif;
-      background: #0b0f14;
-      color: #d7e3f2;
-    }
-    .wrap {
-      max-width: 720px;
-      margin: 0 auto;
-      padding: 16px;
-      display: grid;
-      gap: 14px;
-    }
-    .card {
-      background: rgba(18, 25, 37, 0.85);
-      border: 1px solid rgba(255,255,255,0.08);
-      border-radius: 18px;
-      padding: 14px;
-      box-shadow: 0 10px 30px rgba(0,0,0,0.25);
-    }
-    h1 { font-size: 18px; margin: 0 0 10px 0; opacity: 0.95; }
-    h2 { font-size: 14px; margin: 0 0 10px 0; opacity: 0.85; }
-    .grid {
-      display: grid;
-      grid-template-columns: repeat(3, minmax(0, 1fr));
-      gap: 10px;
-    }
-    button {
-      background: #121925;
-      color: #d7e3f2;
-      border: 1px solid rgba(255,255,255,0.10);
-      padding: 12px 10px;
-      border-radius: 14px;
-      cursor: pointer;
-      font-size: 14px;
-      transition: transform 120ms ease, border-color 120ms ease;
-      user-select: none;
-      touch-action: manipulation;
-    }
-    button:active { transform: scale(0.98); }
-    button.primary { border-color: rgba(0,255,180,0.35); }
-    .row {
-      display: grid;
-      grid-template-columns: 1fr auto;
-      align-items: center;
-      gap: 10px;
-      margin-top: 10px;
-    }
-    .row3 {
-      display: grid;
-      grid-template-columns: 1fr 1fr 1fr;
-      gap: 10px;
-      margin-top: 10px;
-    }
-    input[type="range"] {
-      width: 100%;
-      accent-color: #6ee7ff;
-    }
-    .value {
-      font-variant-numeric: tabular-nums;
-      opacity: 0.85;
-      min-width: 72px;
-      text-align: right;
-    }
-    .toggle {
-      display: grid;
-      grid-template-columns: auto 1fr;
-      gap: 10px;
-      align-items: center;
-    }
-    .pill {
-      display: inline-flex;
-      align-items: center;
-      gap: 8px;
-      padding: 10px 12px;
-      border-radius: 999px;
-      border: 1px solid rgba(255,255,255,0.10);
-      background: #121925;
-    }
-    .dot {
-      width: 10px; height: 10px; border-radius: 999px;
-      background: rgba(255,255,255,0.35);
-    }
-    .dot.ok { background: rgba(0,255,180,0.75); }
-    .dot.bad { background: rgba(255,70,70,0.75); }
-    .small { font-size: 12px; opacity: 0.75; }
-    .footer {
-      display: flex;
-      gap: 10px;
-      flex-wrap: wrap;
-      margin-top: 10px;
-    }
-  </style>
+  <meta name="viewport" content="width=device-width,initial-scale=1,viewport-fit=cover" />
+  <title>Face Control</title>
+  <link rel="stylesheet" href="/control/control.css" />
 </head>
 <body>
-  <div class="wrap">
-    <div class="card">
-      <h1>Robot Face Control</h1>
-      <div class="toggle">
-        <span class="pill"><span id="connDot" class="dot"></span><span id="connTxt">offline</span></span>
-        <div class="small" id="stateTxt">–</div>
-      </div>
+  <main class="page">
+    <header class="top">
+      <h1>Face Control</h1>
+      <div class="row">
+        <span class="pill">Status: <strong id="conn">?</strong></span>
+        <span class="pill">Aktuell: <strong id="current">neutral</strong></span>
       </div>
+    </header>
 
-    <div class="card">
+    <section class="card">
       <h2>Emotion</h2>
-      <div class="grid">
-        <button data-emotion="neutral" class="primary">neutral</button>
-        <button data-emotion="happy">happy</button>
-        <button data-emotion="sad">sad</button>
-        <button data-emotion="angry">angry</button>
-        <button data-emotion="surprised">surprised</button>
-        <button data-emotion="sleepy">sleepy</button>
-      </div>
+      <div class="grid" id="emotionGrid"></div>
+    </section>
 
+    <section class="card">
+      <h2>Parameter</h2>
+
+      <div class="controls">
+        <label class="toggle">
+          <input id="speaking" type="checkbox" />
+          <span>🗣️ Sprechen</span>
+        </label>
+
+        <label class="toggle">
+          <input id="eyesMoving" type="checkbox" checked />
+          <span>👀 Augen bewegen</span>
+        </label>
+
+        <label class="slider">
+          <span>Intensity</span>
+          <input id="intensity" type="range" min="0" max="1" step="0.01" value="0.85" />
+          <output id="intensityVal">0.85</output>
+        </label>
+      </div>
+    </section>
+
+    <section class="card">
+      <h2>Look</h2>
+      <p class="muted">Zieh im Feld: links/rechts/oben/unten. Doppeltipp = zentrieren.</p>
+      <div class="lookpad" id="lookpad">
+        <div class="cross"></div>
+        <div class="dot" id="lookdot"></div>
+      </div>
       <div class="row">
-        <label for="intensity">Intensität</label>
-        <div class="value" id="intensityVal">0.70</div>
-      </div>
-      <input id="intensity" type="range" min="0" max="1" step="0.01" value="0.70" />
-      <div class="footer">
-        <button id="blinkBtn">Blinzeln</button>
-        <button id="wanderBtn" class="primary">Blick: wander</button>
-      </div>
+        <button class="btn" id="center">Center</button>
+        <button class="btn" id="stareOff">Stare OFF</button>
       </div>
+    </section>
 
-    <div class="card">
-      <h2>Blick (fix)</h2>
-      <div class="row">
-        <label for="lookX">X (links ↔ rechts)</label>
-        <div class="value" id="lookXVal">0.00</div>
-      </div>
-      <input id="lookX" type="range" min="-1" max="1" step="0.01" value="0" />
+    <footer class="foot">
+      <a class="link" href="/">← Face</a>
+      <a class="link" href="/drive">Drive →</a>
+    </footer>
+  </main>
 
-      <div class="row">
-        <label for="lookY">Y (oben ↕ unten)</label>
-        <div class="value" id="lookYVal">0.00</div>
-      </div>
-      <input id="lookY" type="range" min="-1" max="1" step="0.01" value="0" />
-
-      <div class="footer">
-        <button id="applyLookBtn">Blick anwenden</button>
-        <button id="centerLookBtn">Zentrieren</button>
-      </div>
-    </div>
-
-    <div class="card">
-      <h2>Sprechen</h2>
-
-      <div class="footer">
-        <button id="speakBtn">Speak (700ms)</button>
-        <button id="talkToggleBtn" class="primary">Talk: OFF</button>
-      </div>
-
-      <div class="row">
-        <label for="talkRate">Rate (Hz)</label>
-        <div class="value" id="talkRateVal">3.20</div>
-      </div>
-      <input id="talkRate" type="range" min="0.5" max="10" step="0.1" value="3.2" />
-
-      <div class="row">
-        <label for="talkAmount">Mund-Öffnung</label>
-        <div class="value" id="talkAmountVal">0.90</div>
-      </div>
-      <input id="talkAmount" type="range" min="0" max="1" step="0.01" value="0.9" />
-
-      <div class="row">
-        <label for="talkJitter">Jitter</label>
-        <div class="value" id="talkJitterVal">0.25</div>
-      </div>
-      <input id="talkJitter" type="range" min="0" max="1" step="0.01" value="0.25" />
-    </div>
-
-    <div class="card small">
-      Tipp: URL am Handy öffnen: <b>/control/</b> (z. B. http://raspy/control/)
-    </div>
-  </div>
-
-  <script>
-    const $ = (id) => document.getElementById(id);
-
-    const connDot = $("connDot");
-    const connTxt = $("connTxt");
-    const stateTxt = $("stateTxt");
-
-    const intensity = $("intensity");
-    const intensityVal = $("intensityVal");
-
-    const lookX = $("lookX"), lookXVal = $("lookXVal");
-    const lookY = $("lookY"), lookYVal = $("lookYVal");
-
-    const talkToggleBtn = $("talkToggleBtn");
-    const talkRate = $("talkRate"), talkRateVal = $("talkRateVal");
-    const talkAmount = $("talkAmount"), talkAmountVal = $("talkAmountVal");
-    const talkJitter = $("talkJitter"), talkJitterVal = $("talkJitterVal");
-
-    let talkEnabled = false;
-    let wander = true;
-    let lastState = null;
-
-    function fmt(n, d=2){ return Number(n).toFixed(d); }
-
-    async function postState(patch) {
-      const res = await fetch("/api/state", {
-        method: "POST",
-        headers: {"Content-Type":"application/json"},
-        body: JSON.stringify(patch),
-      });
-      if (!res.ok) throw new Error("POST failed: " + res.status);
-      return res.json();
-    }
-
-    function setConn(ok) {
-      connDot.classList.toggle("ok", ok);
-      connDot.classList.toggle("bad", !ok);
-      connTxt.textContent = ok ? "online" : "offline";
-    }
-
-    function updateStateText(s) {
-      if (!s) { stateTxt.textContent = "–"; return; }
-      const e = s.emotion ?? "?";
-      const i = s.intensity ?? "?";
-      const t = s.talk?.enabled ? "talk" : "silent";
-      const lk = (s.look === null || s.look === undefined) ? "wander" : `look(${fmt(s.look.x)},${fmt(s.look.y)})`;
-      stateTxt.textContent = `${e} | intensity ${fmt(i)} | ${t} | ${lk}`;
-    }
-
-    // Emotion buttons
-    document.querySelectorAll("button[data-emotion]").forEach(btn => {
-      btn.addEventListener("click", async () => {
-        try {
-          await postState({ emotion: btn.dataset.emotion });
-        } catch(e) { console.error(e); }
-      });
-    });
-
-    // Intensity slider
-    intensity.addEventListener("input", () => intensityVal.textContent = fmt(intensity.value));
-    intensity.addEventListener("change", async () => {
-      try { await postState({ intensity: Number(intensity.value) }); } catch(e){ console.error(e); }
-    });
-
-    // Blink + Wander toggle
-    $("blinkBtn").addEventListener("click", async () => {
-      try { await postState({ blink: true }); } catch(e){ console.error(e); }
-    });
-
-    $("wanderBtn").addEventListener("click", async (ev) => {
-      wander = !wander;
-      ev.target.textContent = "Blick: " + (wander ? "wander" : "fix");
-      ev.target.classList.toggle("primary", wander);
-      try {
-        await postState({ look: wander ? null : { x: Number(lookX.value), y: Number(lookY.value) } });
-      } catch(e){ console.error(e); }
-    });
-
-    // Look sliders
-    function updateLookLabels(){
-      lookXVal.textContent = fmt(lookX.value);
-      lookYVal.textContent = fmt(lookY.value);
-    }
-    lookX.addEventListener("input", updateLookLabels);
-    lookY.addEventListener("input", updateLookLabels);
-    updateLookLabels();
-
-    $("applyLookBtn").addEventListener("click", async () => {
-      try {
-        wander = false;
-        $("wanderBtn").textContent = "Blick: fix";
-        $("wanderBtn").classList.remove("primary");
-        await postState({ look: { x: Number(lookX.value), y: Number(lookY.value) } });
-      } catch(e){ console.error(e); }
-    });
-
-    $("centerLookBtn").addEventListener("click", async () => {
-      lookX.value = 0; lookY.value = 0; updateLookLabels();
-      try {
-        wander = false;
-        $("wanderBtn").textContent = "Blick: fix";
-        $("wanderBtn").classList.remove("primary");
-        await postState({ look: { x: 0, y: 0 } });
-      } catch(e){ console.error(e); }
-    });
-
-    // Speak (one-shot)
-    $("speakBtn").addEventListener("click", async () => {
-      try {
-        await postState({ mouth: { open: true, amount: Number(talkAmount.value), duration_ms: 700 } });
-      } catch(e){ console.error(e); }
-    });
-
-    // Talk controls
-    function updateTalkLabels(){
-      talkRateVal.textContent = fmt(talkRate.value);
-      talkAmountVal.textContent = fmt(talkAmount.value);
-      talkJitterVal.textContent = fmt(talkJitter.value);
-    }
-    talkRate.addEventListener("input", updateTalkLabels);
-    talkAmount.addEventListener("input", updateTalkLabels);
-    talkJitter.addEventListener("input", updateTalkLabels);
-    updateTalkLabels();
-
-    async function pushTalk() {
-      try {
-        await postState({
-          talk: {
-            enabled: talkEnabled,
-            rate_hz: Number(talkRate.value),
-            amount: Number(talkAmount.value),
-            jitter: Number(talkJitter.value),
-          }
-        });
-      } catch(e){ console.error(e); }
-    }
-
-    talkToggleBtn.addEventListener("click", async () => {
-      talkEnabled = !talkEnabled;
-      talkToggleBtn.textContent = "Talk: " + (talkEnabled ? "ON" : "OFF");
-      talkToggleBtn.classList.toggle("primary", !talkEnabled); // OFF = primary (wie vorher)
-      await pushTalk();
-    });
-
-    [talkRate, talkAmount, talkJitter].forEach(el => {
-      el.addEventListener("change", async () => {
-        if (talkEnabled) await pushTalk();
-      });
-    });
-
-    // Live state via SSE (optional, aber nice)
-    function connectSSE() {
-      try {
-        const es = new EventSource("/events");
-        es.addEventListener("state", (e) => {
-          setConn(true);
-          try {
-            lastState = JSON.parse(e.data);
-            updateStateText(lastState);
-
-            // sync some UI hints
-            if (typeof lastState?.intensity === "number") {
-              intensity.value = lastState.intensity;
-              intensityVal.textContent = fmt(intensity.value);
-            }
-            if (lastState?.look === null) {
-              wander = true;
-              $("wanderBtn").textContent = "Blick: wander";
-              $("wanderBtn").classList.add("primary");
-            } else if (lastState?.look) {
-              wander = false;
-              $("wanderBtn").textContent = "Blick: fix";
-              $("wanderBtn").classList.remove("primary");
-              lookX.value = lastState.look.x ?? 0;
-              lookY.value = lastState.look.y ?? 0;
-              updateLookLabels();
-            }
-            if (lastState?.talk) {
-              talkEnabled = !!lastState.talk.enabled;
-              talkToggleBtn.textContent = "Talk: " + (talkEnabled ? "ON" : "OFF");
-              talkToggleBtn.classList.toggle("primary", !talkEnabled);
-              if (typeof lastState.talk.rate_hz === "number") talkRate.value = lastState.talk.rate_hz;
-              if (typeof lastState.talk.amount === "number") talkAmount.value = lastState.talk.amount;
-              if (typeof lastState.talk.jitter === "number") talkJitter.value = lastState.talk.jitter;
-              updateTalkLabels();
-            }
-          } catch {}
-        });
-        es.onerror = () => { setConn(false); es.close(); setTimeout(connectSSE, 1200); };
-      } catch {
-        setConn(false);
-      }
-    }
-    connectSSE();
-
-    // Initial ping
-    fetch("/api/state").then(r => r.json()).then(j => {
-      setConn(true);
-      lastState = j.state;
-      updateStateText(lastState);
-    }).catch(() => setConn(false));
-  </script>
+  <script src="/control/control.js"></script>
 </body>
 </html>
 

face/var/www/html/face.css

@@ -0,0 +1,52 @@
+:root{
+  --panel:#0b1020cc;
+  --text:#e8f0ff;
+  --shadow: 0 12px 40px rgba(0,0,0,.55);
+  --r: 18px;
+}
+
+html, body { height:100%; margin:0; background:#000; }
+.stage{
+  position:fixed; inset:0;
+  background:#000;
+  touch-action:manipulation;
+  user-select:none;
+}
+.face{ width:100vw; height:100vh; display:block; }
+
+/* Touch overlay: 2 links only */
+.overlay{
+  position:fixed;
+  left:max(12px, env(safe-area-inset-left));
+  right:max(12px, env(safe-area-inset-right));
+  bottom:max(12px, env(safe-area-inset-bottom));
+  display:flex; gap:10px; align-items:center;
+
+  background:var(--panel);
+  border:1px solid rgba(255,255,255,.10);
+  border-radius:var(--r);
+  padding:10px 12px;
+  box-shadow:var(--shadow);
+  backdrop-filter: blur(10px);
+  -webkit-backdrop-filter: blur(10px);
+
+  opacity:0;
+  transform: translateY(10px);
+  pointer-events:none;
+  transition: opacity .18s ease, transform .18s ease;
+}
+.overlay.show{ opacity:1; transform:translateY(0); pointer-events:auto; }
+
+a.btn{
+  border:1px solid rgba(255,255,255,.14);
+  background: rgba(255,255,255,.06);
+  color: var(--text);
+  border-radius:14px;
+  padding:10px 12px;
+  font-size:14px;
+  text-decoration:none;
+  line-height:1;
+  display:inline-flex; align-items:center; gap:8px;
+}
+a.btn:active{ transform: translateY(1px); }
+

face/var/www/html/face.js

@@ -0,0 +1,368 @@
+(() => {
+  const OVERLAY_TIMEOUT_MS = 2500;
+
+  const clamp = (n, a, b) => Math.max(a, Math.min(b, n));
+  const clamp01 = (v) => {
+    const n = Number(v);
+    if (Number.isNaN(n)) return 0;
+    return clamp(n, 0, 1);
+  };
+
+  const EMOTIONS = new Set(["neutral","happy","sad","angry","sleepy","surprised","excited"]);
+
+  const state = {
+    emotion: "neutral",
+    intensity: 0.85,
+    look: { x: 0, y: 0 },
+    lookLock: false,
+    speaking: false,
+    eyesMoving: true,
+  };
+
+  const stage = document.getElementById("stage");
+  const overlay = document.getElementById("overlay");
+
+  const eyeL = document.getElementById("eyeL");
+  const eyeR = document.getElementById("eyeR");
+  const eyesGroup = document.getElementById("eyesGroup");
+  const mouth = document.getElementById("mouth");
+
+  // Touch overlay show
+  let overlayTimer = null;
+  function showOverlay(){
+    overlay.classList.add("show");
+    clearTimeout(overlayTimer);
+    overlayTimer = setTimeout(() => overlay.classList.remove("show"), OVERLAY_TIMEOUT_MS);
+  }
+  stage.addEventListener("pointerdown", () => showOverlay(), { passive:true });
+
+  // STYLE: closer to sticker art (thin edge, almost no glow)
+  function applyStyle(el) {
+    const a = 0.90 + 0.10 * state.intensity;
+    el.setAttribute("fill", `rgba(120,235,255,${a})`);
+    el.setAttribute("stroke", `rgba(210,255,255,${0.45 + 0.35 * state.intensity})`);
+    el.setAttribute("stroke-width", "4.5");
+    el.setAttribute("stroke-linejoin", "round");
+    el.setAttribute("stroke-linecap", "round");
+  }
+
+  // Helpers: Ellipse path (absolute, clean)
+  function ellipsePath(cx, cy, rx, ry) {
+    return `M ${cx-rx},${cy}
+            C ${cx-rx},${cy-ry} ${cx},${cy-ry} ${cx},${cy-ry}
+            C ${cx+rx},${cy-ry} ${cx+rx},${cy} ${cx+rx},${cy}
+            C ${cx+rx},${cy+ry} ${cx},${cy+ry} ${cx},${cy+ry}
+            C ${cx-rx},${cy+ry} ${cx-rx},${cy} ${cx-rx},${cy} Z`;
+  }
+
+  // ICON SHAPES (hand-tuned proportions similar to your reference)
+  // Coordinate system: viewBox 0..1000 x 0..600
+
+  const ICONS = {
+    neutral: {
+	  // friendly neutral eyes: a bit wider + slightly shorter (feels warm, not surprised)
+	  eyeL: ellipsePath(395, 270, 50, 90),
+	  eyeR: ellipsePath(605, 270, 50, 90),
+
+	  // friendly micro-smile: more curve + a bit wider
+	  mouth: `M 400,442
+			  Q 500,505 600,442
+			  Q 560,478 500,478
+			  Q 440,478 400,442 Z`,
+
+	  // speaking visemes (keep "smile family" so it stays friendly while talking)
+	  visemes: [
+		`M 400,442
+		 Q 500,505 600,442
+		 Q 560,478 500,478
+		 Q 440,478 400,442 Z`,
+
+		`M 390,432
+		 Q 500,520 610,432
+		 Q 565,492 500,492
+		 Q 435,492 390,432 Z`,
+
+		`M 375,418
+		 Q 500,540 625,418
+		 Q 570,510 500,510
+		 Q 430,510 375,418 Z`,
+	  ],
+
+	  allowLook: true,
+	},
+
+
+    happy: {
+      // Eyes: thick, filled, closed (no "eyebrow" look), positioned lower
+      eyeL: `M 350,308
+	     Q 395,252 440,308
+	     Q 395,276 350,308 Z`,
+
+      eyeR: `M 560,308
+	     Q 605,252 650,308
+	     Q 605,276 560,308 Z`,
+
+
+      // Mouth: smaller + centered (about "up to mid-eye width")
+      mouth: `M 410,392
+	      Q 500,475 590,392
+	      Q 565,452 500,452
+	      Q 435,452 410,392 Z`,
+
+      // Speaking visemes: same style family, not oversized
+      visemes: [
+	`M 410,392
+	 Q 500,475 590,392
+	 Q 565,452 500,452
+	 Q 435,452 410,392 Z`,
+
+	`M 402,384
+	 Q 500,492 598,384
+	 Q 570,466 500,466
+	 Q 430,466 402,384 Z`,
+
+	`M 392,374
+	 Q 500,512 608,374
+	 Q 575,484 500,484
+	 Q 425,484 392,374 Z`,
+      ],
+
+      allowLook: false,
+    },
+
+
+
+    sad: {
+      // thin sleepy-ish eyes like reference bottom-right
+      eyeL: `M 330,270
+             Q 395,250 460,270
+             Q 460,294 395,294
+             Q 330,294 330,270 Z`,
+      eyeR: `M 540,270
+             Q 605,250 670,270
+             Q 670,294 605,294
+             Q 540,294 540,270 Z`,
+      mouth: `M 330,490
+              Q 500,350 670,490
+              Q 610,420 500,420
+              Q 390,420 330,490 Z`,
+      visemes: [
+        `M 330,490 Q 500,350 670,490 Q 610,420 500,420 Q 390,420 330,490 Z`,
+        `M 350,500 Q 500,360 650,500 Q 600,440 500,440 Q 400,440 350,500 Z`,
+        `M 365,510 Q 500,380 635,510 Q 590,460 500,460 Q 410,460 365,510 Z`,
+      ],
+      allowLook: false,
+    },
+
+    sleepy: {
+      // even flatter than sad
+      eyeL: `M 320,270
+             Q 395,258 470,270
+             Q 470,292 395,304
+             Q 320,292 320,270 Z`,
+      eyeR: `M 530,270
+             Q 605,258 680,270
+             Q 680,292 605,304
+             Q 530,292 530,270 Z`,
+      mouth: `M 335,495
+              Q 500,360 665,495
+              Q 610,435 500,435
+              Q 390,435 335,495 Z`,
+      visemes: [
+        `M 335,495 Q 500,360 665,495 Q 610,435 500,435 Q 390,435 335,495 Z`,
+        `M 355,505 Q 500,380 645,505 Q 595,455 500,455 Q 405,455 355,505 Z`,
+        `M 370,515 Q 500,400 630,515 Q 585,470 500,470 Q 415,470 370,515 Z`,
+      ],
+      allowLook: false,
+    },
+
+    angry: {
+      // Eyes: sharp, inward pointing "evil" shapes (closer to template)
+      eyeL: `M 325,255
+	     Q 360,205 435,225
+	     Q 455,230 470,245
+	     Q 415,330 340,305
+	     Q 315,295 325,255 Z`,
+
+      eyeR: `M 675,255
+	     Q 640,205 565,225
+	     Q 545,230 530,245
+	     Q 585,330 660,305
+	     Q 685,295 675,255 Z`,
+
+      // Mouth: smaller, angled trapezoid (not huge)
+      mouth: `M 405,410
+	      L 600,445
+	      L 565,500
+	      L 360,468 Z`,
+
+      // Speaking visemes: same "shout" family but not growing absurdly
+      visemes: [
+	`M 405,410 L 600,445 L 565,500 L 360,468 Z`,
+	`M 395,405 L 610,448 L 575,515 L 350,480 Z`,
+	`M 385,398 L 620,452 L 590,530 L 340,495 Z`,
+      ],
+
+      allowLook: false,
+    },
+
+
+    surprised: {
+      eyeL: ellipsePath(395, 270, 50, 100),
+      eyeR: ellipsePath(605, 270, 50, 100),
+      mouth: `M 450,382
+              Q 500,340 550,382
+              Q 585,450 550,518
+              Q 500,560 450,518
+              Q 415,450 450,382 Z`,
+      visemes: [
+        `M 450,382 Q 500,340 550,382 Q 585,450 550,518 Q 500,560 450,518 Q 415,450 450,382 Z`,
+        `M 440,370 Q 500,320 560,370 Q 600,450 560,530 Q 500,580 440,530 Q 400,450 440,370 Z`,
+        `M 430,360 Q 500,300 570,360 Q 615,450 570,540 Q 500,600 430,540 Q 385,450 430,360 Z`,
+      ],
+      allowLook: true,
+    },
+
+    excited: {
+      // excited: big surprised eyes, big grin
+      eyeL: ellipsePath(395, 270, 54, 108),
+      eyeR: ellipsePath(605, 270, 54, 108),
+      mouth: `M 315,350
+              Q 500,560 685,350
+              Q 620,545 500,545
+              Q 380,545 315,350 Z`,
+      visemes: [
+        `M 315,350 Q 500,560 685,350 Q 620,545 500,545 Q 380,545 315,350 Z`,
+        `M 305,340 Q 500,580 695,340 Q 625,560 500,560 Q 375,560 305,340 Z`,
+        `M 290,330 Q 500,600 710,330 Q 630,575 500,575 Q 370,575 290,330 Z`,
+      ],
+      allowLook: true,
+    },
+  };
+
+  // Look movement only for allowedLook emotions (otherwise it destroys icon-eyes)
+  function applyLook() {
+    const cfg = ICONS[state.emotion] ?? ICONS.neutral;
+    if (!cfg.allowLook) {
+      eyesGroup.setAttribute("transform", "");
+      return;
+    }
+    const dx = clamp(state.look.x, -1, 1) * 16;
+    const dy = clamp(state.look.y, -1, 1) * 12;
+    eyesGroup.setAttribute("transform", `translate(${dx},${dy})`);
+  }
+
+  // Speaking: use viseme cycling instead of scaling (keeps shapes “sticker clean”)
+  let speakTimer = null;
+  let visemeIndex = 0;
+
+  function startSpeaking() {
+    stopSpeaking();
+    visemeIndex = 0;
+
+    const base = state.emotion === "excited" ? 90 : (state.emotion === "sleepy" ? 180 : 120);
+    speakTimer = setInterval(() => {
+      if (!state.speaking) return;
+      visemeIndex = (visemeIndex + 1) % 3;
+      render(); // will pick viseme
+    }, base);
+  }
+
+  function stopSpeaking() {
+    if (speakTimer) clearInterval(speakTimer);
+    speakTimer = null;
+    visemeIndex = 0;
+    mouth.setAttribute("transform", "");
+  }
+
+  // Optional drift (only if allowLook and not locked)
+  let driftTimer = null;
+  function scheduleDrift() {
+    clearTimeout(driftTimer);
+    const cfg = ICONS[state.emotion] ?? ICONS.neutral;
+
+    if (state.lookLock || !state.eyesMoving || !cfg.allowLook) return;
+
+    state.look = {
+      x: (Math.random() * 2 - 1) * 0.5,
+      y: (Math.random() * 2 - 1) * 0.35,
+    };
+    render();
+    driftTimer = setTimeout(scheduleDrift, 900 + Math.random() * 900);
+  }
+
+  function render() {
+    const cfg = ICONS[state.emotion] ?? ICONS.neutral;
+
+    applyStyle(eyeL);
+    applyStyle(eyeR);
+    applyStyle(mouth);
+
+    eyeL.setAttribute("d", cfg.eyeL);
+    eyeR.setAttribute("d", cfg.eyeR);
+
+    const mouthPath = (state.speaking && cfg.visemes) ? cfg.visemes[visemeIndex] : cfg.mouth;
+    mouth.setAttribute("d", mouthPath);
+
+    applyLook();
+  }
+
+  // Public API
+  window.applyFaceState = (payload) => {
+    if (!payload || typeof payload !== "object") return;
+
+    if (payload.intensity !== undefined) state.intensity = clamp01(payload.intensity);
+
+    if (typeof payload.emotion === "string") {
+      state.emotion = EMOTIONS.has(payload.emotion) ? payload.emotion : "neutral";
+    }
+
+    if (payload.look && typeof payload.look === "object") {
+      state.look = {
+        x: clamp(Number(payload.look.x ?? 0), -1, 1),
+        y: clamp(Number(payload.look.y ?? 0), -1, 1),
+      };
+      state.lookLock = true;
+    } else {
+      state.lookLock = false;
+    }
+
+    if (typeof payload.speaking === "boolean") state.speaking = payload.speaking;
+    if (typeof payload.eyesMoving === "boolean") state.eyesMoving = payload.eyesMoving;
+
+    render();
+
+    if (state.speaking) startSpeaking();
+    else stopSpeaking();
+
+    if (!state.lookLock) scheduleDrift();
+  };
+
+  // SSE /events
+  (function connectSSE(){
+    let es;
+    function open(){
+      es = new EventSource("/events");
+
+      const handle = (ev) => {
+        try { window.applyFaceState(JSON.parse(ev.data)); } catch (_) {}
+      };
+
+      es.addEventListener("state", handle);
+      es.onmessage = handle;
+
+      es.onerror = () => {
+        try { es.close(); } catch (_) {}
+        setTimeout(open, 1200);
+      };
+    }
+    open();
+  })();
+
+  // init
+  render();
+  scheduleDrift();
+})();
+
+
+

face/var/www/html/index.html

@@ -2,25 +2,40 @@
 <html lang="de">
 <head>
   <meta charset="utf-8" />
-  <meta name="viewport" content="width=device-width,initial-scale=1" />
-  <title>Robot Face</title>
-  <link rel="stylesheet" href="/style.css?v=2" />
+  <meta name="viewport" content="width=device-width,initial-scale=1,viewport-fit=cover" />
+  <title>Face</title>
+  <link rel="stylesheet" href="/face.css" />
 </head>
-<body class="emotion-neutral">
-  <div id="face" aria-label="Robot face">
-    <div class="eyes">
-      <div class="eye"></div>
-      <div class="eye"></div>
+<body>
+  <div class="stage" id="stage">
+    <svg class="face" viewBox="0 0 1000 600" role="img" aria-label="face">
+      <defs>
+        <filter id="glow" x="-50%" y="-50%" width="200%" height="200%">
+          <feGaussianBlur stdDeviation="4" result="b"/>
+          <feMerge>
+            <feMergeNode in="b"/>
+            <feMergeNode in="SourceGraphic"/>
+          </feMerge>
+        </filter>
+      </defs>
+
+      <g id="faceGroup" filter="url(#glow)">
+        <g id="eyesGroup">
+          <path id="eyeL" d="" />
+          <path id="eyeR" d="" />
+        </g>
+        <path id="mouth" d="" />
+      </g>
+    </svg>
+
+    <!-- Touch-only links (NO params) -->
+    <div class="overlay" id="overlay" aria-hidden="true">
+      <a class="btn" href="/drive">🚗 Drive</a>
+      <a class="btn" href="/control">🎛️ Control</a>
+    </div>
   </div>
 
-    <div class="mouth">
-      <div class="mouth-shape"></div>
-    </div>
-
-    <div class="label" id="label">neutral</div>
-  </div>
-
-  <script src="/app.js?v=2"></script>
+  <script src="/face.js"></script>
 </body>
 </html>
 

face/var/www/html/style.css

@@ -1,286 +0,0 @@
-:root {
-  --bg: #0b0f14;
-  --panel: #121925;
-  --fg: #d7e3f2;
-
-  /* Glow / Stimmung */
-  --glow: rgba(0, 255, 180, 0.22);
-
-  /* Pupillen-Offset (wird via JS verändert) */
-  --pupil-x: 0px;
-  --pupil-y: 0px;
-
-  /* Mund-Parameter (Default = neutral) */
-  --mouth-w: 38vw;
-  --mouth-h: 10vh;
-  --mouth-radius: 999px;
-  --mouth-line-y: 50%;
-  --mouth-line-h: 10px;
-  --mouth-line-opacity: 0.85;
-
-  /* „Smile“-Bogen (0 = aus) */
-  --smile: 0;
-  /* „Frown“-Bogen (0 = aus) */
-  --frown: 0;
-
-  /* „O“-Mund (0 = aus, sonst Größe) */
-  --omouth: 0;
-}
-
-html, body {
-  height: 100%;
-  margin: 0;
-  background: var(--bg);
-  overflow: hidden;
-  font-family: system-ui, -apple-system, Segoe UI, Roboto, sans-serif;
-}
-
-#face {
-  height: 100%;
-  display: grid;
-  place-items: center;
-  gap: 3.5vh;
-}
-
-.eyes {
-  display: flex;
-  gap: 8vw;
-  align-items: center;
-}
-
-.eye {
-  width: 14vw;
-  height: 14vw;
-  max-width: 220px;
-  max-height: 220px;
-  border-radius: 999px;
-  background: var(--panel);
-  box-shadow: 0 0 40px var(--glow);
-  position: relative;
-  overflow: hidden;
-  transition: border-radius 220ms ease, transform 220ms ease, height 220ms ease;
-}
-
-/* Pupille */
-.eye::after {
-  content: "";
-  position: absolute;
-  inset: 28%;
-  border-radius: 999px;
-  background: var(--fg);
-  opacity: 0.9;
-  transform: translate(var(--pupil-x), var(--pupil-y));
-  transition: transform 180ms ease;
-}
-
-/* Blinzeln: wir "quetschen" das Auge kurz */
-.eye.blink {
-  transform: scaleY(0.12);
-}
-
-/* Mund-Container */
-.mouth {
-  width: var(--mouth-w);
-  height: var(--mouth-h);
-  max-width: 600px;
-  max-height: 120px;
-  border-radius: var(--mouth-radius);
-  background: var(--panel);
-  box-shadow: 0 0 40px var(--glow);
-  position: relative;
-  overflow: hidden;
-  transition: width 220ms ease, height 220ms ease, border-radius 220ms ease;
-}
-
-/* Mund-Shape (Linie + Bögen + O-Mund) */
-.mouth-shape {
-  position: absolute;
-  inset: 0;
-}
-
-/* Mund-Linie */
-.mouth-shape::after {
-  content: "";
-  position: absolute;
-  left: 12%;
-  right: 12%;
-  top: var(--mouth-line-y);
-  height: var(--mouth-line-h);
-  transform: translateY(-50%);
-  background: var(--fg);
-  border-radius: 999px;
-  opacity: var(--mouth-line-opacity);
-  transition: all 220ms ease;
-}
-
-/* Smile-Bogen */
-.mouth-shape::before {
-  content: "";
-  position: absolute;
-  left: 16%;
-  right: 16%;
-  top: 38%;
-  height: 55%;
-  border: calc(6px + 6px * var(--smile)) solid rgba(215,227,242,0.85);
-  border-top: none;
-  border-left-color: transparent;
-  border-right-color: transparent;
-  border-bottom-left-radius: 999px;
-  border-bottom-right-radius: 999px;
-  opacity: calc(0.10 + 0.60 * var(--smile));
-  transition: opacity 220ms ease, border-width 220ms ease;
-}
-
-/* Frown-Bogen als extra Element über box-shadow Trick */
-.mouth-shape {
-  filter: drop-shadow(0 0 0 rgba(0,0,0,0));
-}
-.mouth-shape.frown::before {
-  content: "";
-  position: absolute;
-  left: 16%;
-  right: 16%;
-  bottom: 38%;
-  height: 55%;
-  border: calc(6px + 6px * var(--frown)) solid rgba(215,227,242,0.85);
-  border-bottom: none;
-  border-left-color: transparent;
-  border-right-color: transparent;
-  border-top-left-radius: 999px;
-  border-top-right-radius: 999px;
-  opacity: calc(0.10 + 0.60 * var(--frown));
-}
-
-/* O-Mund: wir machen aus dem Mund-Container einen Kreis und verstecken Linie */
-body.has-omouth .mouth {
-  width: calc(18vw + 8vw * var(--omouth));
-  height: calc(18vw + 8vw * var(--omouth));
-  max-width: 260px;
-  max-height: 260px;
-  border-radius: 999px;
-}
-body.has-omouth .mouth-shape::after {
-  left: 28%;
-  right: 28%;
-  top: 50%;
-  height: 42%;
-  border-radius: 999px;
-  opacity: 0.9;
-}
-body.has-omouth .mouth-shape::before {
-  opacity: 0; /* Smile aus */
-}
-
-/* Label */
-.label {
-  position: fixed;
-  bottom: 18px;
-  left: 18px;
-  padding: 10px 14px;
-  background: rgba(18, 25, 37, 0.75);
-  color: var(--fg);
-  border-radius: 14px;
-  backdrop-filter: blur(8px);
-  border: 1px solid rgba(255,255,255,0.08);
-  letter-spacing: 0.5px;
-}
-
-/* ===== Emotionen über Variablen ===== */
-
-body.emotion-neutral {
-  --glow: rgba(0, 255, 180, 0.22);
-  --smile: 0;
-  --frown: 0;
-  --omouth: 0;
-  --mouth-line-opacity: 0.85;
-  --mouth-line-h: 10px;
-}
-body.emotion-neutral .mouth-shape { }
-body.emotion-neutral .mouth-shape.frown { } /* no-op */
-
-body.emotion-happy {
-  --glow: rgba(0, 255, 120, 0.32);
-  --smile: 1;
-  --frown: 0;
-  --omouth: 0;
-  --mouth-line-y: 58%;
-  --mouth-line-h: 12px;
-  --mouth-line-opacity: 0;
-}
-body.emotion-happy .mouth-shape { }
-body.emotion-happy .mouth-shape.frown { } /* no-op */
-body.emotion-happy .mouth-shape::before {
-  top: -20%;      /* war 38% -> kleiner = weiter nach oben */
-  height: 62%;   /* etwas größer, damit der Bogen schön wirkt */
-}
-
-body.emotion-sad {
-  --glow: rgba(120, 180, 255, 0.32);
-  --smile: 0;
-  --frown: 1;
-  --omouth: 0;
-  --mouth-line-y: 42%;
-  --mouth-line-h: 12px;
-  --mouth-line-opacity: 0;
-}
-body.emotion-sad .mouth-shape { }
-body.emotion-sad .mouth-shape.frown { } /* no-op */
-
-body.emotion-angry {
-  --glow: rgba(255, 70, 70, 0.32);
-  --smile: 0;
-  --frown: 0.35;
-  --omouth: 0;
-  --mouth-line-opacity: 0.95;
-  --mouth-line-h: 16px;
-}
-body.emotion-angry .eye {
-  border-radius: 26% 74% 60% 40% / 55% 45% 55% 45%;
-  transform: rotate(-2deg);
-}
-
-body.emotion-surprised {
-  --glow: rgba(255, 220, 90, 0.34);
-  --smile: 0;
-  --frown: 0;
-  --omouth: 1;
-  --mouth-line-opacity: 0.95;
-}
-body.emotion-surprised { }
-body.emotion-surprised.has-omouth { } /* marker in JS */
-
-body.emotion-sleepy {
-  --glow: rgba(180, 180, 255, 0.22);
-  --smile: 0;
-  --frown: 0;
-  --omouth: 0;
-  --mouth-line-opacity: 0.55;
-  --mouth-line-h: 8px;
-}
-body.emotion-sleepy .eye {
-  height: 6vw;
-  max-height: 90px;
-}
-
-
-/* Smooth transition for everything */
-* { box-sizing: border-box; }
-
-
-:root{
-  --intensity: 0.7;     /* 0..1 */
-  --mouth-open: 0;      /* 0..1 */
-}
-
-/* Glow stärker je nach Intensität */
-.eye, .mouth {
-  box-shadow: 0 0 calc(26px + 30px * var(--intensity)) var(--glow);
-}
-
-/* Mund-Linie “öffnet”: wird dicker und etwas tiefer */
-.mouth-shape::after {
-  height: calc(var(--mouth-line-h) + 26px * var(--mouth-open));
-  top: calc(var(--mouth-line-y) + 6% * var(--mouth-open));
-  opacity: calc(var(--mouth-line-opacity) + 0.10 * var(--mouth-open));
-}
-

network/etc/dnsmasq.conf

@@ -0,0 +1,6 @@
+interface=wlan0
+dhcp-range=10.42.0.50,10.42.0.150,255.255.255.0,12h
+bind-interfaces
+
+# Captive Portal DNS
+address=/#/10.42.0.1

network/etc/hostapd/hostapd.conf

@@ -0,0 +1,14 @@
+interface=wlan0
+driver=nl80211
+ssid=Helva
+hw_mode=g
+channel=6
+# wmm_enabled=1
+auth_algs=1
+# wpa=2
+wpa=0
+# wpa_passphrase=Helva
+# wpa_key_mgmt=WPA-PSK
+# rsn_pairwise=CCMP
+country_code=AT
+ieee80211n=1

network/etc/systemd/network/10-wlan0-ap.network

@@ -0,0 +1,6 @@
+[Match]
+Name=wlan0
+
+[Network]
+Address=10.42.0.1/24
+ConfigureWithoutCarrier=yes

network/etc/systemd/system/hostapd.service.d/override.conf

@@ -0,0 +1,6 @@
+[Unit]
+After=network-online.target
+Wants=network-online.target
+
+[Service]
+ExecStartPre=/sbin/ip link set wlan0 up

network/var/www/captive/index.html

@@ -0,0 +1 @@
+<html>