From f001d06315a928463b44be3c8837ce73be7cfe49 Mon Sep 17 00:00:00 2001
From: Joe DiPrima <epilectrik@gmail.com>
Date: Wed, 18 Feb 2026 22:14:02 -0600
Subject: [PATCH] Add connection status feedback via face LED and web badge

- Robot face LED: red when VP not connected, blue when connected,
  off on shutdown. Uses AudioClient.LedControl() via DDS.
- LED updates throttled to 1 Hz to avoid spamming.
- Depends on televuer last_data_time timestamp for freshness detection.
- Web page patch script updated with connection status badge
  (red/blue floating div) + unified pass-through patches.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
---
 teleop/teleop_hand_and_arm.py | 39 +++++++++++++++++++++++++++++++++++
 teleop/televuer               |  2 +-
 2 files changed, 40 insertions(+), 1 deletion(-)

diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index 326cf78..2e3e2b2 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -174,6 +174,21 @@ if __name__ == '__main__':
         else:
             ChannelFactoryInitialize(0, networkInterface=args.network_interface)
 
+        # LED connection indicator (face RGB)
+        led_client = None
+        if not args.sim:
+            try:
+                from unitree_sdk2py.g1.audio.g1_audio_client import AudioClient
+                led_client = AudioClient()
+                led_client.SetTimeout(3.0)
+                led_client.Init()
+                led_client.LedControl(255, 0, 0)  # Red = not connected
+                logger_mp.info("[LED] Face LED initialized (red = waiting for VP)")
+            except Exception as e:
+                logger_mp.warning(f"[LED] Face LED control unavailable: {e}")
+        led_is_blue = False
+        led_last_update = 0.0
+
         # ipc communication mode. client usage: see utils/ipc.py
         if args.ipc:
             ipc_server = IPC_Server(on_press=on_press,get_state=get_state)
@@ -788,7 +803,24 @@ if __name__ == '__main__':
                     else:
                         recorder.add_item(colors=colors, depths=depths, states=states, actions=actions)
 
+            # --- LED connection status (throttled to ~1 Hz) ---
             current_time = time.time()
+            if led_client and (current_time - led_last_update > 1.0):
+                vp_connected = (current_time - tv_wrapper.tvuer.last_data_time) < 1.0
+                if vp_connected and not led_is_blue:
+                    try:
+                        led_client.LedControl(0, 0, 255)  # Blue = connected
+                        led_is_blue = True
+                    except:
+                        pass
+                elif not vp_connected and led_is_blue:
+                    try:
+                        led_client.LedControl(255, 0, 0)  # Red = disconnected
+                        led_is_blue = False
+                    except:
+                        pass
+                led_last_update = current_time
+
             time_elapsed = current_time - start_time
             sleep_time = max(0, (1 / args.frequency) - time_elapsed)
             time.sleep(sleep_time)
@@ -824,6 +856,13 @@ if __name__ == '__main__':
         except Exception as e:
             logger_mp.error(f"Failed to close televuer wrapper: {e}")
 
+        if led_client:
+            try:
+                led_client.LedControl(0, 0, 0)  # LED off on shutdown
+                logger_mp.info("[LED] Face LED off")
+            except:
+                pass
+
         try:
             if not args.motion:
                 pass
diff --git a/teleop/televuer b/teleop/televuer
index 59f8526..0ea96e5 160000
--- a/teleop/televuer
+++ b/teleop/televuer
@@ -1 +1 @@
-Subproject commit 59f8526ee8f4ebd86c9cf54ae4d85aceeba0e7f5
+Subproject commit 0ea96e5f51a1248036d902dcd9af2bb8a1eeebcb