fixed voice chat crashing when releasing V

naowalk.py

@@ -167,6 +167,8 @@ class LiveMicRelay:
         self.input_device_index = input_device_index
 
         self.active = False
+        # "idle" | "connecting" | "live" - read by the HUD to show status
+        self.state = "idle"
         self._ssh_client = None
         self._ssh_channel = None
         self._sock = None
@@ -186,12 +188,30 @@ class LiveMicRelay:
         if not HAS_SSH:
             print("🎙️ Live mic needs paramiko: pip install paramiko")
             return
+        # If a previous relay thread is still tearing itself down, wait for
+        # it to finish before reusing self._stream/_sock/_ssh_* for a new one.
+        if self._thread and self._thread.is_alive():
+            self._thread.join(timeout=2.0)
         self.active = True
+        self.state = "connecting"
         self._thread = threading.Thread(target=self._run, daemon=True)
         self._thread.start()
 
     def stop(self):
+        """Signal the relay thread to stop and wait for it to exit.
+
+        Deliberately does NOT touch self._stream/_sock/_ssh_* here: this is
+        called from the main/render thread on key-up, and closing a
+        PortAudio stream from a different thread while the relay thread is
+        mid blocking-read() on it is what caused the ALSA segfault on
+        release. Only _run() (via _cleanup, in its own thread) closes them.
+        """
         self.active = False
+        self.state = "idle"
+        if self._thread and self._thread.is_alive() and threading.current_thread() is not self._thread:
+            self._thread.join(timeout=2.0)
+
+    def _cleanup(self):
         if self._sock:
             try: self._sock.close()
             except: pass
@@ -237,6 +257,8 @@ class LiveMicRelay:
                                          input_device_index=self.input_device_index,
                                          frames_per_buffer=1024)
             print("🎙️ Talk relay: live")
+            if self.active:  # could've been stopped while we were still connecting
+                self.state = "live"
 
             while self.active:
                 try:
@@ -247,7 +269,9 @@ class LiveMicRelay:
         except Exception as e:
             print(f"🎙️ Talk relay error: {e}")
         finally:
-            self.stop()
+            self.active = False
+            self.state = "idle"
+            self._cleanup()
             print("🎙️ Talk relay: stopped")
 
 # ==========================================
@@ -685,6 +709,34 @@ class NaoTeleop:
                         text = self.font.render(f"♪ {self.music.current_title[:45]}", True, (0, 255, 100))
                         self.screen.blit(text, (10, 10))
 
+                    # Voice chat HUD (top-right) - only shown while V is held / connecting
+                    relay_state = getattr(self.mic_relay, "state", "idle")
+                    if relay_state == "connecting":
+                        label, color = "VOICE: CONNECTING...", (255, 200, 0)
+                    elif relay_state == "live":
+                        label, color = "VOICE: LIVE - speak now", (0, 255, 100)
+                    else:
+                        label, color = None, None
+
+                    if label:
+                        text = self.font.render(label, True, color)
+                        pad = 8
+                        box_w, box_h = text.get_width() + pad * 2 + 18, text.get_height() + pad
+                        box_x = self.display_width - box_w - 10
+                        box_y = 10
+                        s = pygame.Surface((box_w, box_h))
+                        s.set_alpha(180)
+                        s.fill((0, 0, 0))
+                        self.screen.blit(s, (box_x, box_y))
+                        # pulsing dot for "live" so it's easy to catch out of the corner of your eye
+                        if relay_state == "live":
+                            pulse = 0.5 + 0.5 * abs((pygame.time.get_ticks() % 1000) / 500.0 - 1.0)
+                            dot_color = tuple(int(c * pulse) for c in color)
+                        else:
+                            dot_color = color
+                        pygame.draw.circle(self.screen, dot_color, (box_x + pad + 5, box_y + box_h // 2), 5)
+                        self.screen.blit(text, (box_x + pad + 18, box_y + pad // 2))
+
                     # Music search interface
                     if self.music_search_mode:
                         box_h = min(self.display_height - 80, 260)