v0.2.17: Remove head_joints/passive_joints, move error_message to diagnostic

- Remove Phase 13-14 entities (head_joints, passive_joints)
- Remove get_head_joints_json() and get_passive_joints_json() from reachy_controller
- Move error_message from Phase 1 to Phase 6 (Diagnostic)
- Add entity_category=2 (diagnostic) to all Phase 6 entities

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "reachy_mini_ha_voice"
-version = "0.2.16"
+version = "0.2.17"
 description = "Home Assistant Voice Assistant for Reachy Mini"
 readme = "README.md"
 requires-python = ">=3.10"

reachy_mini_ha_voice/__init__.py

@@ -11,7 +11,7 @@ Key features:
 - Reachy Mini motion control integration
 """
 
-__version__ = "0.2.16"
+__version__ = "0.2.17"
 __author__ = "Desmond Dong"
 
 # Don't import main module here to avoid runpy warning

reachy_mini_ha_voice/entity_registry.py

@@ -25,7 +25,6 @@ ENTITY_KEYS: Dict[str, int] = {
     # Phase 1: Basic status and volume
     "daemon_state": 100,
     "backend_ready": 101,
-    "error_message": 102,
     "speaker_volume": 103,
     # Phase 2: Motor control
     "motors_enabled": 200,
@@ -53,6 +52,7 @@ ENTITY_KEYS: Dict[str, int] = {
     "wireless_version": 603,
     "simulation_mode": 604,
     "wlan_ip": 605,
+    "error_message": 606,  # Moved to diagnostic
     # Phase 7: IMU sensors
     "imu_accel_x": 700,
     "imu_accel_y": 701,
@@ -79,10 +79,6 @@ ENTITY_KEYS: Dict[str, int] = {
     "agc_max_gain": 1201,
     "noise_suppression": 1202,
     "echo_cancellation_converged": 1203,
-    # Phase 13: Robot joints (single JSON sensor)
-    "head_joints": 1300,
-    # Phase 14: Passive joints for 3D visualization
-    "passive_joints": 1400,
 }
 
 
@@ -148,7 +144,7 @@ class EntityRegistry:
         self._setup_phase10_entities(entities)
         # Phase 11 (LED control) disabled - LEDs are inside the robot and not visible
         self._setup_phase12_entities(entities)
-        self._setup_phase13_entities(entities)
+        # Phase 13-14 (head_joints, passive_joints) removed - not needed
 
         _LOGGER.info("All entities registered: %d total", len(entities))
 
@@ -175,15 +171,6 @@ class EntityRegistry:
             value_getter=rc.get_backend_ready,
         ))
 
-        entities.append(TextSensorEntity(
-            server=self.server,
-            key=get_entity_key("error_message"),
-            name="Error Message",
-            object_id="error_message",
-            icon="mdi:alert-circle",
-            value_getter=rc.get_error_message,
-        ))
-
         entities.append(NumberEntity(
             server=self.server,
             key=get_entity_key("speaker_volume"),
@@ -200,7 +187,7 @@ class EntityRegistry:
             value_setter=rc.set_speaker_volume,
         ))
 
-        _LOGGER.debug("Phase 1 entities registered: daemon_state, backend_ready, error_message, speaker_volume")
+        _LOGGER.debug("Phase 1 entities registered: daemon_state, backend_ready, speaker_volume")
 
     def _setup_phase2_entities(self, entities: List) -> None:
         """Setup Phase 2 entities: Motor control."""
@@ -448,6 +435,7 @@ class EntityRegistry:
             unit_of_measurement="Hz",
             accuracy_decimals=1,
             state_class="measurement",
+            entity_category=2,  # diagnostic
             value_getter=rc.get_control_loop_frequency,
         ))
 
@@ -457,6 +445,7 @@ class EntityRegistry:
             name="SDK Version",
             object_id="sdk_version",
             icon="mdi:information",
+            entity_category=2,  # diagnostic
             value_getter=rc.get_sdk_version,
         ))
 
@@ -466,6 +455,7 @@ class EntityRegistry:
             name="Robot Name",
             object_id="robot_name",
             icon="mdi:robot",
+            entity_category=2,  # diagnostic
             value_getter=rc.get_robot_name,
         ))
 
@@ -476,6 +466,7 @@ class EntityRegistry:
             object_id="wireless_version",
             icon="mdi:wifi",
             device_class="connectivity",
+            entity_category=2,  # diagnostic
             value_getter=rc.get_wireless_version,
         ))
 
@@ -485,6 +476,7 @@ class EntityRegistry:
             name="Simulation Mode",
             object_id="simulation_mode",
             icon="mdi:virtual-reality",
+            entity_category=2,  # diagnostic
             value_getter=rc.get_simulation_mode,
         ))
 
@@ -494,10 +486,21 @@ class EntityRegistry:
             name="WLAN IP",
             object_id="wlan_ip",
             icon="mdi:ip-network",
+            entity_category=2,  # diagnostic
             value_getter=rc.get_wlan_ip,
         ))
 
-        _LOGGER.debug("Phase 6 entities registered: control_loop_frequency, sdk_version, robot_name, wireless_version, simulation_mode, wlan_ip")
+        entities.append(TextSensorEntity(
+            server=self.server,
+            key=get_entity_key("error_message"),
+            name="Error Message",
+            object_id="error_message",
+            icon="mdi:alert-circle",
+            entity_category=2,  # diagnostic
+            value_getter=rc.get_error_message,
+        ))
+
+        _LOGGER.debug("Phase 6 entities registered: control_loop_frequency, sdk_version, robot_name, wireless_version, simulation_mode, wlan_ip, error_message")
 
     def _setup_phase7_entities(self, entities: List) -> None:
         """Setup Phase 7 entities: IMU sensors (wireless only)."""
@@ -723,32 +726,6 @@ class EntityRegistry:
 
         _LOGGER.debug("Phase 12 entities registered: agc_enabled, agc_max_gain, noise_suppression, echo_cancellation_converged")
 
-    def _setup_phase13_entities(self, entities: List) -> None:
-        """Setup Phase 13 entities: Robot joints as JSON sensor."""
-        rc = self.reachy_controller
-
-        entities.append(TextSensorEntity(
-            server=self.server,
-            key=get_entity_key("head_joints"),
-            name="Head Joints",
-            object_id="head_joints",
-            icon="mdi:robot",
-            value_getter=rc.get_head_joints_json,
-        ))
-
-        _LOGGER.debug("Phase 13 entities registered: head_joints")
-
-        # Phase 14: Passive joints for 3D visualization
-        entities.append(TextSensorEntity(
-            server=self.server,
-            key=get_entity_key("passive_joints"),
-            name="Passive Joints",
-            object_id="passive_joints",
-            value_getter=rc.get_passive_joints_json,
-        ))
-
-        _LOGGER.debug("Phase 14 entities registered: passive_joints")
-
     def find_entity_references(self, entities: List) -> None:
         """Find and store references to special entities from existing list.
 

reachy_mini_ha_voice/reachy_controller.py

@@ -1120,57 +1120,3 @@ class ReachyController:
             except Exception as e:
                 logger.debug(f"Error getting AEC converged status: {e}")
         return False
-
-    # ========== Phase 13: Robot Joints ==========
-
-    def get_head_joints_json(self) -> str:
-        """
-        Get head joints as JSON string.
-
-        Returns:
-            JSON string: "[yaw_body, stewart_1, stewart_2, stewart_3, stewart_4, stewart_5, stewart_6]"
-            Values in radians
-        """
-        if not self.is_available:
-            return "[]"
-        try:
-            import json
-            head_joints, _ = self.reachy.get_current_joint_positions()
-            if head_joints and len(head_joints) >= 7:
-                # Convert radians to list
-                joints_list = [float(j) for j in head_joints[:7]]
-                return json.dumps(joints_list)
-            return "[]"
-        except Exception as e:
-            logger.error(f"Error getting head joints JSON: {e}")
-            return "[]"
-
-    def get_passive_joints_json(self) -> str:
-        """
-        Get passive joints as JSON string with cached status.
-
-        Returns:
-            JSON string: "[passive_1_x, passive_1_y, passive_1_z, ..., passive_7_z]"
-            Values in radians (21 values total)
-        """
-        if not self.is_available:
-            return "[]"
-        try:
-            import json
-            # Get WLAN IP from cached daemon status
-            status = self._get_cached_status()
-            if status is None:
-                return "[]"
-            wlan_ip = status.get('wlan_ip', 'localhost')
-            # Call the backend API to get passive joints
-            backend_url = f"http://{wlan_ip}:8000/api/state/full?with_passive_joints=true"
-            response = requests.get(backend_url, timeout=0.5)
-            if response.status_code == 200:
-                data = response.json()
-                passive_joints = data.get("passive_joints")
-                if passive_joints and len(passive_joints) >= 21:
-                    return json.dumps(passive_joints)
-            return "[]"
-        except Exception as e:
-            logger.error(f"Error getting passive joints JSON: {e}")
-            return "[]"