@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.828a720 → 1.10.0-dev.0.main.8e84768

package/APP_CREATION_GUIDE.md

@@ -69,6 +69,7 @@ app's UI** and nothing else.
     4. [Standalone exit hooks (`installShutdownHandler`)](#144-standalone-exit-hooks-installshutdownhandler)
     5. [Daemon parity warning](#145-daemon-parity-warning)
     6. [Anti-patterns](#146-anti-patterns)
+    7. [Backgrounded tabs: clock robot logic off a Web Worker](#147-backgrounded-tabs-clock-robot-logic-off-a-web-worker)
 
 ---
 
@@ -1793,3 +1794,57 @@ strict mode, silently no-op otherwise).
 | `await safelyReturnToPose(...)` expecting the move to complete. | It resolves after **dispatch**, not after motion finishes. `await sleep(plan.duration * 1000)` or subscribe to `state` if you need to wait. |
 | Carry degrees through your motion code. | Convert at the UI boundary; speak radians + magic-mm everywhere below it. |
 | Pass `null` head / antennas / body_yaw to opt a channel out of a `gotoTarget`. | Use `PartialPose` and **omit** the channel. The SDK treats omission as "hold previous target". |
+
+### 14.7 Backgrounded tabs: clock robot logic off a Web Worker
+
+When the user switches tabs (or the phone locks), the browser throttles
+your app hard: `requestAnimationFrame` **pauses entirely** and
+`setInterval`/`setTimeout` are clamped to **~1 tick per second**. If your
+pose streaming, audio pipeline, or stream-health watchdog is clocked by
+either of them, the robot freezes mid-motion and stalls go unnoticed until
+the tab comes back.
+
+The fix is to split your loop in two:
+
+- **Logic** (pose computation + `setTarget`, audio gain, health checks,
+  reconnects): clock it from a **Web Worker**. Worker timers are *not*
+  visibility-throttled, and the `message` events they post are delivered
+  on the main thread even while the tab is hidden.
+- **Visuals** (DOM updates, canvas, meters): keep them on `rAF`. It pauses
+  when hidden - which is exactly what you want for work nobody can see -
+  and resumes on its own.
+
+```ts
+// pose-heartbeat.worker.ts - the whole file:
+const INTERVAL_MS = 25; // ~40 Hz; the main thread down-samples as needed
+setInterval(() => postMessage(0), INTERVAL_MS);
+```
+
+```ts
+// embed.ts
+let worker: Worker | null = null;
+try {
+  worker = new Worker(new URL("./pose-heartbeat.worker.ts", import.meta.url), { type: "module" });
+  worker.onmessage = () => stepLogic(performance.now());
+} catch {
+  // Workers unavailable (rare): degrade to a throttled interval.
+  setInterval(() => stepLogic(performance.now()), 25);
+}
+
+const renderVisuals = () => { /* DOM/canvas only - no robot commands */ };
+const rafLoop = () => { renderVisuals(); requestAnimationFrame(rafLoop); };
+requestAnimationFrame(rafLoop);
+```
+
+Two companion rules make this robust:
+
+- **Clamp your `dt`.** After a long hidden stretch the first tick sees a
+  huge time delta; clamp it (e.g. `Math.min(dt, 100)`) so filters and
+  interpolators don't jump.
+- **Resync on `visibilitychange`.** When the tab returns, call
+  `reachy.requestState()` and run one logic step immediately instead of
+  waiting for the next scheduled tick, so the UI repaints from fresh state.
+
+Remember to `worker.terminate()` in your `onLeave` cleanup. A complete
+reference implementation lives in the `reachy_mini_radio_js` app
+(`src/embed.ts` + `src/pose-heartbeat.worker.ts`).

package/dist/lib/central-listener.d.ts

@@ -0,0 +1,71 @@
+/**
+ * Long-lived SSE listener channel to Hugging Face central: a realtime
+ * view of the user's robot fleet WITHOUT claiming a peer slot. The
+ * canonical implementation shared by every first-party picker / scan
+ * screen (the per-app copies used to drift).
+ *
+ * Why not just use the `ReachyMini` SDK class? Its signaling stream
+ * registers a *peer* at central, and central enforces a 1:1
+ * `token → peer_id` mapping - so a fleet-watching UI that kept an SDK
+ * instance open would clobber the peer slot the next session's WebRTC
+ * handshake needs. This module registers with `roles: ["listener"]`
+ * only, and callers `close()` it before any SDK session starts on the
+ * same token.
+ *
+ * `fetch` + manual stream reader rather than the native `EventSource`
+ * so the HF token travels in the `Authorization` header instead of
+ * the URL (no secret in DevTools / proxy logs / browser history).
+ */
+/**
+ * Shape of a producer entry in the SSE `list` frame and in
+ * `/api/robot-status`. Mirrors `get_producers_list` server-side.
+ * Kept loose so future fields appear without a wire bump.
+ */
+export interface CentralStreamProducer {
+    id: string;
+    meta?: Record<string, unknown>;
+    busy?: boolean;
+    activeApp?: string | null;
+}
+export interface CentralPeerStatusChangedEvent {
+    peerId: string;
+    roles: string[];
+    meta?: Record<string, unknown>;
+}
+export interface CentralSessionStateChangedEvent {
+    peerId: string;
+    busy: boolean;
+    activeApp?: string | null;
+    meta?: Record<string, unknown>;
+}
+export interface OpenCentralListenerOpts {
+    token: string;
+    /** Central base URL, e.g. from the consumer's env/config. */
+    signalingUrl: string;
+    /**
+     * `setPeerStatus(listener)` payload's `meta.name`. Surfaces in
+     * central logs as the listener identity - pass something that
+     * identifies the surface (e.g. "Reachy Mini Host (picker)").
+     */
+    appName?: string;
+    /** First batch of producers received after each (re)connect. */
+    onList?: (producers: CentralStreamProducer[]) => void;
+    /** A robot came online / went offline (same-owner). */
+    onPeerStatusChanged?: (event: CentralPeerStatusChangedEvent) => void;
+    /** A robot transitioned busy ↔ free (same-owner). */
+    onSessionStateChanged?: (event: CentralSessionStateChangedEvent) => void;
+    /** SSE is open and `setPeerStatus(listener)` has been POSTed. */
+    onConnect?: () => void;
+    /** SSE dropped (network, central restart, scheduled reconnect). */
+    onDisconnect?: (reason: string) => void;
+    /** Non-fatal errors. Fatal auth errors end the stream and call
+     *  onDisconnect with a meaningful reason instead. */
+    onError?: (err: Error) => void;
+}
+export interface CentralListenerHandle {
+    /** Tear the stream down. Idempotent. No further callbacks
+     *  fire after this returns. */
+    close(): void;
+}
+export declare function openCentralListener(opts: OpenCentralListenerOpts): CentralListenerHandle;
+//# sourceMappingURL=central-listener.d.ts.map

package/dist/lib/central-listener.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/central-listener.js

@@ -0,0 +1,277 @@
+/**
+ * Long-lived SSE listener channel to Hugging Face central: a realtime
+ * view of the user's robot fleet WITHOUT claiming a peer slot. The
+ * canonical implementation shared by every first-party picker / scan
+ * screen (the per-app copies used to drift).
+ *
+ * Why not just use the `ReachyMini` SDK class? Its signaling stream
+ * registers a *peer* at central, and central enforces a 1:1
+ * `token → peer_id` mapping - so a fleet-watching UI that kept an SDK
+ * instance open would clobber the peer slot the next session's WebRTC
+ * handshake needs. This module registers with `roles: ["listener"]`
+ * only, and callers `close()` it before any SDK session starts on the
+ * same token.
+ *
+ * `fetch` + manual stream reader rather than the native `EventSource`
+ * so the HF token travels in the `Authorization` header instead of
+ * the URL (no secret in DevTools / proxy logs / browser history).
+ */
+const INITIAL_BACKOFF_MS = 1_000;
+const MAX_BACKOFF_MS = 30_000;
+const DEFAULT_LISTENER_APP_NAME = 'Reachy Mini (listener)';
+// Heartbeat: the server runs a TTL sweeper that evicts peers whose
+// `last_seen` is older than `LEASE_SECONDS` (30 s by default; cf.
+// `reachy_mini_central/app.py`). `last_seen` only refreshes on inbound
+// `POST /send`, so a pure SSE listener that registers once and stays
+// silent gets evicted silently after one lease window - the SSE stays
+// open but every subsequent broadcast is dropped because the server's
+// `broadcast_to_listeners` iterates `self.peers`, which no longer
+// contains us. Symptom: the picker sees `busy=true` when a session
+// starts (within the first 30 s) but never receives the matching
+// `busy=false` because the listener slot has been reaped by then.
+//
+// Mirror the daemon's `_heartbeat_loop` (cf. `central_signaling_relay.py`):
+// re-emit `setPeerStatus(listener)` periodically, at the cadence the
+// welcome recommends (`recommended_heartbeat_interval_seconds`, with a
+// `lease_seconds / 3` fallback).
+const HEARTBEAT_DEFAULT_INTERVAL_MS = 10_000;
+const negotiateHeartbeatIntervalMs = (welcomeMsg) => {
+    const raw = welcomeMsg['recommended_heartbeat_interval_seconds'];
+    if (typeof raw === 'number' && Number.isFinite(raw) && raw > 0) {
+        return raw * 1000;
+    }
+    const lease = welcomeMsg['lease_seconds'];
+    if (typeof lease === 'number' && Number.isFinite(lease) && lease > 0) {
+        return (lease * 1000) / 3;
+    }
+    return HEARTBEAT_DEFAULT_INTERVAL_MS;
+};
+export function openCentralListener(opts) {
+    const { signalingUrl, token } = opts;
+    const appName = opts.appName ?? DEFAULT_LISTENER_APP_NAME;
+    let closed = false;
+    let abortController = null;
+    let reconnectTimer = null;
+    let heartbeatTimer = null;
+    let backoff = INITIAL_BACKOFF_MS;
+    const stopHeartbeat = () => {
+        if (heartbeatTimer !== null) {
+            clearInterval(heartbeatTimer);
+            heartbeatTimer = null;
+        }
+    };
+    const close = () => {
+        if (closed)
+            return;
+        closed = true;
+        stopHeartbeat();
+        if (reconnectTimer !== null) {
+            clearTimeout(reconnectTimer);
+            reconnectTimer = null;
+        }
+        if (abortController !== null) {
+            abortController.abort();
+            abortController = null;
+        }
+    };
+    const scheduleReconnect = (reason) => {
+        // The `reconnectTimer` check is a re-entrancy guard: stream EOF and
+        // an in-flight heartbeat's eviction branch can both land here in the
+        // same tick, and arming twice would spawn two concurrent runStream()
+        // loops (the abortController only tracks the latest).
+        if (closed || reconnectTimer !== null)
+            return;
+        // Stop the heartbeat eagerly: the SSE is dead, so any outstanding
+        // setPeerStatus POST would fail anyway and the next welcome will
+        // start a fresh interval with a freshly-negotiated cadence.
+        stopHeartbeat();
+        opts.onDisconnect?.(reason);
+        const jitter = backoff * (Math.random() - 0.5) * 0.5;
+        const delay = Math.min(MAX_BACKOFF_MS, Math.round(backoff + jitter));
+        reconnectTimer = setTimeout(() => {
+            reconnectTimer = null;
+            backoff = Math.min(MAX_BACKOFF_MS, backoff * 2);
+            void runStream();
+        }, delay);
+    };
+    /**
+     * POST `setPeerStatus(roles=['listener'])`.
+     *
+     * Used both as the one-shot post-welcome registration and as the
+     * recurring heartbeat re-emission. The wire payload is identical
+     * by design: central treats repeated setPeerStatus from the same
+     * peer as idempotent and uses the inbound POST to refresh
+     * `last_seen` (cf. `signaling.touch()` in central app.py).
+     *
+     * Returns the HTTP status code on a completed round-trip (so the
+     * caller can distinguish "peer evicted server-side" from "transient
+     * network blip"), or `null` on abort / network error.
+     */
+    const sendListenerRegistration = async () => {
+        try {
+            const resp = await fetch(`${signalingUrl}/send`, {
+                method: 'POST',
+                headers: {
+                    'Content-Type': 'application/json',
+                    Authorization: `Bearer ${token}`,
+                },
+                body: JSON.stringify({
+                    type: 'setPeerStatus',
+                    roles: ['listener'],
+                    meta: { name: appName },
+                }),
+                signal: abortController?.signal,
+            });
+            if (!resp.ok) {
+                opts.onError?.(new Error(`setPeerStatus(listener) returned HTTP ${resp.status}`));
+            }
+            return resp.status;
+        }
+        catch (err) {
+            if (err instanceof DOMException && err.name === 'AbortError')
+                return null;
+            opts.onError?.(err instanceof Error ? err : new Error(String(err)));
+            return null;
+        }
+    };
+    const startHeartbeat = (intervalMs) => {
+        stopHeartbeat();
+        if (closed)
+            return;
+        heartbeatTimer = setInterval(() => {
+            if (closed)
+                return;
+            void (async () => {
+                const status = await sendListenerRegistration();
+                if (closed)
+                    return;
+                // Server-side eviction: `disconnect_peer` (TTL sweeper or
+                // explicit) clears `token_to_peer`, so the next POST /send
+                // returns HTTP 400 ("Connect to /events first"). The SSE is
+                // still half-open from our side - keepalive pings keep it
+                // looking alive on the wire even though the central no longer
+                // routes broadcasts to us. Abort the dead stream AND schedule
+                // the reconnect ourselves: `runStream()` deliberately swallows
+                // aborts (they normally mean `close()`), so it would never
+                // reach its own `scheduleReconnect()` on this path. The
+                // reconnect mints a fresh peer and replays `welcome` + `list`.
+                if (status !== null && status >= 400 && status < 500) {
+                    if (abortController !== null) {
+                        abortController.abort();
+                    }
+                    scheduleReconnect(`listener evicted (HTTP ${status})`);
+                }
+            })();
+        }, intervalMs);
+    };
+    const handleMessage = (msg) => {
+        switch (msg.type) {
+            case 'welcome':
+                backoff = INITIAL_BACKOFF_MS;
+                // Register (central requires the SSE channel be established
+                // before it accepts a /send for this peer), THEN report
+                // connected - so `onConnect` consumers can immediately issue
+                // REST calls without racing the listener slot creation.
+                void (async () => {
+                    await sendListenerRegistration();
+                    if (closed)
+                        return;
+                    startHeartbeat(negotiateHeartbeatIntervalMs(msg));
+                    opts.onConnect?.();
+                })();
+                return;
+            // Frames come from the first-party central, so they are cast, not
+            // field-validated — same trust level as the SDK's own signaling
+            // parser.
+            case 'list':
+                opts.onList?.(Array.isArray(msg.producers)
+                    ? msg.producers
+                    : []);
+                return;
+            case 'peerStatusChanged':
+                opts.onPeerStatusChanged?.(msg);
+                return;
+            case 'sessionStateChanged':
+                opts.onSessionStateChanged?.(msg);
+                return;
+            // Other types (`peer`, `startSession`, `endSession`, `ping`)
+            // only fire when this peer becomes consumer / producer. As
+            // a pure listener we ignore them.
+            default:
+                return;
+        }
+    };
+    const runStream = async () => {
+        if (closed)
+            return;
+        abortController = new AbortController();
+        const signal = abortController.signal;
+        let resp;
+        try {
+            resp = await fetch(`${signalingUrl}/events`, {
+                method: 'GET',
+                headers: { Authorization: `Bearer ${token}` },
+                signal,
+            });
+        }
+        catch (err) {
+            if (closed)
+                return;
+            const reason = err instanceof Error ? err.message : String(err);
+            scheduleReconnect(`fetch failed: ${reason}`);
+            return;
+        }
+        if (resp.status === 401 || resp.status === 403) {
+            opts.onError?.(new Error(`Hugging Face central rejected the token (HTTP ${resp.status})`));
+            close();
+            opts.onDisconnect?.('auth_rejected');
+            return;
+        }
+        if (!resp.ok || resp.body === null) {
+            scheduleReconnect(`HTTP ${resp.status}`);
+            return;
+        }
+        const reader = resp.body.getReader();
+        const decoder = new TextDecoder();
+        let buffer = '';
+        try {
+            while (true) {
+                const { done, value } = await reader.read();
+                if (done)
+                    break;
+                buffer += decoder.decode(value, { stream: true });
+                const lines = buffer.split('\n');
+                buffer = lines.pop() ?? '';
+                for (const line of lines) {
+                    if (!line.startsWith('data:'))
+                        continue;
+                    const payload = line.slice(5).trim();
+                    if (payload.length === 0)
+                        continue;
+                    try {
+                        handleMessage(JSON.parse(payload));
+                    }
+                    catch (err) {
+                        opts.onError?.(err instanceof Error ? err : new Error(String(err)));
+                    }
+                }
+            }
+            // `signal.aborted` covers both `close()` and the heartbeat's
+            // eviction path (which schedules its own reconnect); some fetch
+            // implementations surface an abort as a clean EOF rather than an
+            // AbortError, so check it here too to avoid double-scheduling.
+            if (closed || signal.aborted)
+                return;
+            scheduleReconnect('stream ended');
+        }
+        catch (err) {
+            if (signal.aborted || closed)
+                return;
+            const reason = err instanceof Error ? err.message : String(err);
+            scheduleReconnect(`read failed: ${reason}`);
+        }
+    };
+    void runStream();
+    return { close };
+}
+//# sourceMappingURL=central-listener.js.map

package/dist/lib/central-listener.js.map

@@ -0,0 +1 @@
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package/dist/lib/central-listener.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=central-listener.test.d.ts.map

package/dist/lib/central-listener.test.d.ts.map

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