v0.5.8: Fix tap detection during emotion playback - poll daemon API for move completion

PROJECT_PLAN.md

@@ -336,9 +336,10 @@ Based on deep analysis of Reachy Mini SDK, the following entities are exposed to
    - [x] `look_at_x/y/z` - Gaze point coordinate control
 
 5. **Phase 5 - DOA (Direction of Arrival)** ✅ **Re-added for wakeup turn-to-sound**
-   - [x] `doa_angle` - Sound source direction (degrees, -90 to 90)
+   - [x] `doa_angle` - Sound source direction (degrees, 0-180°, where 0°=left, 90°=front, 180°=right)
    - [x] `speech_detected` - Speech detection status
    - [x] Turn-to-sound at wakeup (robot turns toward speaker when wake word detected)
+   - [x] Direction correction: `yaw = π/2 - doa` (fixed left/right inversion)
    - Note: DOA only read once at wakeup to avoid daemon pressure; face tracking takes over after
 
 6. **Phase 6 - Diagnostic Information** (Low Priority) ✅ **Completed**
@@ -415,11 +416,13 @@ Based on deep analysis of Reachy Mini SDK, the following entities are exposed to
 - ✅ Emotion mapping: Happy/Sad/Angry/Fear/Surprise/Disgust
 - ✅ Integration with HuggingFace action library (`pollen-robotics/reachy-mini-emotions-library`)
 - ✅ SpeechSway system for natural head micro-movements during conversation (non-blocking)
+- ✅ Tap detection disabled during emotion playback (polls daemon API for completion)
 
 **Design Decisions**:
 - 🎯 No auto-play of full emotion actions during conversation to avoid blocking
 - 🎯 Use voice-driven head sway (SpeechSway) for natural motion feedback
 - 🎯 Emotion actions retained as manual trigger feature via ESPHome entity
+- 🎯 Tap detection waits for actual move completion via `/api/move/running` polling
 
 **Not Implemented**:
 - ❌ Auto-trigger emotion actions based on voice assistant response (decided not to implement to avoid blocking)
@@ -429,7 +432,8 @@ Based on deep analysis of Reachy Mini SDK, the following entities are exposed to
 
 **Code Locations**:
 - `entity_registry.py:633-658` - Emotion Selector entity
-- `satellite.py:544-574` - `_play_emotion()` method
+- `satellite.py:_play_emotion()` - Emotion playback with move UUID tracking
+- `satellite.py:_wait_for_move_completion()` - Polls daemon API for move completion
 - `motion.py:132-156` - Conversation start motion control (uses SpeechSway)
 - `movement_manager.py:541-595` - Move queue management (allows SpeechSway overlay)
 

index.html

@@ -97,6 +97,25 @@
 				<h2>Changelog</h2>
 				<div class="how-to-use changelog-container">
 					<div class="changelog-scroll">
+						<div class="changelog-entry">
+							<span class="version">v0.5.8</span>
+							<span class="date">2026-01-09</span>
+							<ul>
+								<li>Fix: Tap detection now waits for emotion playback to complete (polls daemon API)</li>
+								<li>Fix: Prevents false tap triggers during long emotion animations</li>
+								<li>New: DOA turn-to-sound at wakeup (robot turns toward speaker)</li>
+								<li>New: DOA angle and speech_detected entities in Home Assistant</li>
+							</ul>
+						</div>
+						<div class="changelog-entry">
+							<span class="version">v0.5.7</span>
+							<span class="date">2026-01-09</span>
+							<ul>
+								<li>Fix: DOA direction inversion corrected (left/right now correct)</li>
+								<li>Fix: Home Assistant shows raw DOA angle (0-180°)</li>
+								<li>Fix: EntityRegistry 'state' attribute error in tap_sensitivity</li>
+							</ul>
+						</div>
 						<div class="changelog-entry">
 							<span class="version">v0.5.6</span>
 							<span class="date">2026-01-09</span>

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "reachy_mini_ha_voice"
-version = "0.5.6"
+version = "0.5.8"
 description = "Home Assistant Voice Assistant for Reachy Mini"
 readme = "README.md"
 requires-python = ">=3.10"

reachy_mini_ha_voice/satellite.py

@@ -824,16 +824,6 @@ class VoiceSatelliteProtocol(APIServer):
             if tap_detector:
                 tap_detector.set_enabled(False)
                 _LOGGER.debug("Tap detection disabled during emotion playback")
-                
-                # Re-enable after emotion completes (estimated 3 seconds)
-                def reenable_tap():
-                    import time
-                    time.sleep(3.0)
-                    if tap_detector:
-                        tap_detector.set_enabled(True)
-                        _LOGGER.debug("Tap detection re-enabled after emotion")
-                
-                threading.Thread(target=reenable_tap, daemon=True).start()
 
             # Get WLAN IP from daemon status
             wlan_ip = "localhost"
@@ -850,9 +840,28 @@ class VoiceSatelliteProtocol(APIServer):
 
             response = requests.post(url, timeout=5)
             if response.status_code == 200:
-                _LOGGER.info(f"Playing emotion: {emotion_name}")
+                result = response.json()
+                move_uuid = result.get('uuid')
+                _LOGGER.info(f"Playing emotion: {emotion_name} (uuid={move_uuid})")
+                
+                # Wait for move completion in background thread
+                if tap_detector and move_uuid:
+                    def wait_for_completion():
+                        self._wait_for_move_completion(wlan_ip, move_uuid, tap_detector)
+                    threading.Thread(target=wait_for_completion, daemon=True).start()
+                elif tap_detector:
+                    # Fallback: re-enable after 5 seconds if no UUID
+                    def reenable_tap_fallback():
+                        time.sleep(5.0)
+                        if tap_detector:
+                            tap_detector.set_enabled(True)
+                            _LOGGER.debug("Tap detection re-enabled (fallback timeout)")
+                    threading.Thread(target=reenable_tap_fallback, daemon=True).start()
             else:
                 _LOGGER.warning(f"Failed to play emotion {emotion_name}: HTTP {response.status_code}")
+                # Re-enable tap detection on failure
+                if tap_detector:
+                    tap_detector.set_enabled(True)
 
         except Exception as e:
             _LOGGER.error(f"Error playing emotion {emotion_name}: {e}")
@@ -860,3 +869,44 @@ class VoiceSatelliteProtocol(APIServer):
             tap_detector = getattr(self.state, 'tap_detector', None)
             if tap_detector:
                 tap_detector.set_enabled(True)
+
+    def _wait_for_move_completion(self, wlan_ip: str, move_uuid: str, tap_detector) -> None:
+        """Wait for a move to complete by polling the daemon API.
+        
+        Args:
+            wlan_ip: IP address of the daemon
+            move_uuid: UUID of the move to wait for
+            tap_detector: TapDetector instance to re-enable after completion
+        """
+        import requests
+        
+        MAX_WAIT_SECONDS = 30.0  # Maximum wait time to prevent infinite loops
+        POLL_INTERVAL = 0.3  # Poll every 300ms
+        
+        start_time = time.time()
+        running_url = f"http://{wlan_ip}:8000/api/move/running"
+        
+        try:
+            while time.time() - start_time < MAX_WAIT_SECONDS:
+                try:
+                    response = requests.get(running_url, timeout=2)
+                    if response.status_code == 200:
+                        running_moves = response.json()
+                        # Check if our move is still in the running list
+                        running_uuids = [m.get('uuid') for m in running_moves]
+                        if move_uuid not in running_uuids:
+                            _LOGGER.debug(f"Move {move_uuid} completed")
+                            break
+                    else:
+                        _LOGGER.debug(f"Failed to get running moves: HTTP {response.status_code}")
+                except requests.RequestException as e:
+                    _LOGGER.debug(f"Error polling move status: {e}")
+                
+                time.sleep(POLL_INTERVAL)
+            else:
+                _LOGGER.warning(f"Move {move_uuid} did not complete within {MAX_WAIT_SECONDS}s")
+        finally:
+            # Always re-enable tap detection
+            if tap_detector:
+                tap_detector.set_enabled(True)
+                _LOGGER.debug("Tap detection re-enabled after move completion")