@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.b50d97e → 1.10.0-dev.0.main.c8367cd
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/APP_CREATION_GUIDE.md +98 -0
- package/dist/lib/central-listener.d.ts +71 -0
- package/dist/lib/central-listener.d.ts.map +1 -0
- package/dist/lib/central-listener.js +277 -0
- package/dist/lib/central-listener.js.map +1 -0
- package/dist/lib/central-listener.test.d.ts +2 -0
- package/dist/lib/central-listener.test.d.ts.map +1 -0
- package/dist/lib/central-listener.test.js +378 -0
- package/dist/lib/central-listener.test.js.map +1 -0
- package/dist/lib/dc-watchdog.test.d.ts +2 -0
- package/dist/lib/dc-watchdog.test.d.ts.map +1 -0
- package/dist/lib/dc-watchdog.test.js +154 -0
- package/dist/lib/dc-watchdog.test.js.map +1 -0
- package/dist/lib/ensure-awake.test.d.ts +2 -0
- package/dist/lib/ensure-awake.test.d.ts.map +1 -0
- package/dist/lib/ensure-awake.test.js +117 -0
- package/dist/lib/ensure-awake.test.js.map +1 -0
- package/dist/lib/ice-grace.test.d.ts +2 -0
- package/dist/lib/ice-grace.test.d.ts.map +1 -0
- package/dist/lib/ice-grace.test.js +211 -0
- package/dist/lib/ice-grace.test.js.map +1 -0
- package/dist/lib/imu.test.d.ts +2 -0
- package/dist/lib/imu.test.d.ts.map +1 -0
- package/dist/lib/imu.test.js +78 -0
- package/dist/lib/imu.test.js.map +1 -0
- package/dist/lib/logger.d.ts +38 -0
- package/dist/lib/logger.d.ts.map +1 -0
- package/dist/lib/logger.js +81 -0
- package/dist/lib/logger.js.map +1 -0
- package/dist/lib/pending-replies.d.ts +127 -0
- package/dist/lib/pending-replies.d.ts.map +1 -0
- package/dist/lib/pending-replies.js +255 -0
- package/dist/lib/pending-replies.js.map +1 -0
- package/dist/lib/pending-replies.test.d.ts +2 -0
- package/dist/lib/pending-replies.test.d.ts.map +1 -0
- package/dist/lib/pending-replies.test.js +217 -0
- package/dist/lib/pending-replies.test.js.map +1 -0
- package/dist/lib/reachy-mini.d.ts +202 -88
- package/dist/lib/reachy-mini.d.ts.map +1 -1
- package/dist/lib/reachy-mini.js +651 -566
- package/dist/lib/reachy-mini.js.map +1 -1
- package/dist/lib/redial.test.d.ts +2 -0
- package/dist/lib/redial.test.d.ts.map +1 -0
- package/dist/lib/redial.test.js +206 -0
- package/dist/lib/redial.test.js.map +1 -0
- package/dist/lib/request.test.d.ts +2 -0
- package/dist/lib/request.test.d.ts.map +1 -0
- package/dist/lib/request.test.js +90 -0
- package/dist/lib/request.test.js.map +1 -0
- package/dist/lib/session-supervisor.d.ts +201 -0
- package/dist/lib/session-supervisor.d.ts.map +1 -0
- package/dist/lib/session-supervisor.js +520 -0
- package/dist/lib/session-supervisor.js.map +1 -0
- package/dist/lib/token-store.d.ts +50 -0
- package/dist/lib/token-store.d.ts.map +1 -0
- package/dist/lib/token-store.js +120 -0
- package/dist/lib/token-store.js.map +1 -0
- package/dist/lib/token-store.test.d.ts +2 -0
- package/dist/lib/token-store.test.d.ts.map +1 -0
- package/dist/lib/token-store.test.js +82 -0
- package/dist/lib/token-store.test.js.map +1 -0
- package/dist/lib/types.d.ts +280 -6
- package/dist/lib/types.d.ts.map +1 -1
- package/dist/lib/url-helpers.d.ts.map +1 -1
- package/dist/lib/url-helpers.js +3 -1
- package/dist/lib/url-helpers.js.map +1 -1
- package/dist/lib/version.d.ts +2 -0
- package/dist/lib/version.d.ts.map +1 -0
- package/dist/lib/version.js +5 -0
- package/dist/lib/version.js.map +1 -0
- package/dist/reachy-mini-sdk.d.ts +15 -1
- package/dist/reachy-mini-sdk.d.ts.map +1 -1
- package/dist/reachy-mini-sdk.js +12 -0
- package/dist/reachy-mini-sdk.js.map +1 -1
- package/host/dist/ReachyHost.d.ts.map +1 -1
- package/host/dist/chunks/centralRest-uXNMidlL.js +2315 -0
- package/host/dist/chunks/index-Beu4GNzi.js +821 -0
- package/host/dist/chunks/{mountHost-DjE5zE9R.js → mountHost-BTTF4Uu9.js} +24933 -27488
- package/host/dist/components/ConnectingView.d.ts.map +1 -1
- package/host/dist/components/DaemonUpdateGate.d.ts +65 -0
- package/host/dist/components/DaemonUpdateGate.d.ts.map +1 -0
- package/host/dist/components/ErrorView.d.ts.map +1 -1
- package/host/dist/components/HostErrorBoundary.d.ts +30 -0
- package/host/dist/components/HostErrorBoundary.d.ts.map +1 -0
- package/host/dist/components/LeavingView.d.ts.map +1 -1
- package/host/dist/components/PickerView.d.ts +16 -14
- package/host/dist/components/PickerView.d.ts.map +1 -1
- package/host/dist/components/PostOAuthSplash.d.ts +14 -9
- package/host/dist/components/PostOAuthSplash.d.ts.map +1 -1
- package/host/dist/components/ReachyHostShell.d.ts.map +1 -1
- package/host/dist/components/SignInView.d.ts.map +1 -1
- package/host/dist/components/TopBar.d.ts +5 -6
- package/host/dist/components/TopBar.d.ts.map +1 -1
- package/host/dist/components/WelcomeBackOverlay.d.ts.map +1 -1
- package/host/dist/embed/index.d.ts +68 -5
- package/host/dist/embed/index.d.ts.map +1 -1
- package/host/dist/entry/auto.js +2 -2
- package/host/dist/entry/embed.d.ts +5 -4
- package/host/dist/entry/embed.d.ts.map +1 -1
- package/host/dist/entry/embed.js +5 -4
- package/host/dist/hooks/useHostBridge.d.ts +35 -1
- package/host/dist/hooks/useHostBridge.d.ts.map +1 -1
- package/host/dist/hooks/useLatestDaemonVersion.d.ts +7 -0
- package/host/dist/hooks/useLatestDaemonVersion.d.ts.map +1 -0
- package/host/dist/hooks/useOAuth.d.ts +18 -0
- package/host/dist/hooks/useOAuth.d.ts.map +1 -1
- package/host/dist/hooks/useRobots.d.ts +0 -2
- package/host/dist/hooks/useRobots.d.ts.map +1 -1
- package/host/dist/index.d.ts +2 -2
- package/host/dist/index.d.ts.map +1 -1
- package/host/dist/index.js +11 -10
- package/host/dist/lib/daemonRelease.d.ts +84 -0
- package/host/dist/lib/daemonRelease.d.ts.map +1 -0
- package/host/dist/lib/protocol.d.ts +141 -7
- package/host/dist/lib/protocol.d.ts.map +1 -1
- package/host/dist/lib/rebootWatch.d.ts +51 -0
- package/host/dist/lib/rebootWatch.d.ts.map +1 -0
- package/host/dist/lib/sdk-types.d.ts +1 -1
- package/host/dist/lib/sdk-types.d.ts.map +1 -1
- package/host/dist/lib/sdkStaleness.d.ts +78 -0
- package/host/dist/lib/sdkStaleness.d.ts.map +1 -0
- package/host/dist/lib/settings.d.ts +16 -5
- package/host/dist/lib/settings.d.ts.map +1 -1
- package/package.json +11 -4
- package/host/dist/chunks/index-lMs2sCXG.js +0 -439
- package/host/dist/chunks/reachy-mini-CdsdQLIU.js +0 -1523
- package/host/dist/lib/centralListener.d.ts +0 -73
- package/host/dist/lib/centralListener.d.ts.map +0 -1
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import { decodeCredsFromHash as $, PROTOCOL_VERSION as y, PROTOCOL_SOURCE as b, isProtocolMessage as D } from "../lib/protocol.js";
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import { p as L, a as J, c as G } from "./centralRest-uXNMidlL.js";
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const Y = "@pollen-robotics/reachy-mini-sdk", Z = `https://registry.npmjs.org/${Y}/latest`, V = "reachy.sdkLatestRelease.v1", F = "reachy.sdkStalenessDismissed.v1", Q = 360 * 60 * 1e3, v = "reachy-sdk-outdated-overlay";
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const n = await t.json(), a = typeof n.version == "string" ? n.version : null;
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return ee({ value: a, at: Date.now() }), a;
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function ne(e, t) {
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return !n || !a || n.major === 0 ? !1 : a.major > n.major;
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function re(e) {
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const n = x(e), a = x(t);
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document.body.insertAdjacentHTML(
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"beforeend",
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`<div id="${v}" role="alertdialog" aria-label="This app may be out of date">
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<style>
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#${v} {
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position: fixed; inset: 0; z-index: 2147483000;
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display: flex; align-items: center; justify-content: center;
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padding: 16px; background: rgba(0, 0, 0, 0.55);
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font-family: system-ui, -apple-system, sans-serif;
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--card-bg: #fff; --card-fg: #1a1a1a; --card-muted: #555;
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--btn-bg: #1a1a1a; --btn-fg: #fff;
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}
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@media (prefers-color-scheme: dark) {
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#${v} {
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--card-bg: #1e1e1e; --card-fg: #f0f0f0; --card-muted: #aaa;
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--btn-bg: #f0f0f0; --btn-fg: #1a1a1a;
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}
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}
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#${v} .card {
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background: var(--card-bg); color: var(--card-fg);
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border-radius: 12px; padding: 24px; max-width: 400px;
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width: 100%; text-align: center;
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box-shadow: 0 8px 32px rgba(0, 0, 0, 0.35);
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}
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#${v} .icon { font-size: 32px; line-height: 1; margin-bottom: 12px; }
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#${v} .title { font-size: 17px; font-weight: 700; margin-bottom: 8px; }
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#${v} .body {
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font-size: 13px; line-height: 1.6;
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color: var(--card-muted); margin-bottom: 16px;
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}
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#${v} button {
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width: 100%; padding: 10px 16px; border: none; border-radius: 8px;
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background: var(--btn-bg); color: var(--btn-fg);
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font-size: 13px; font-weight: 600; cursor: pointer;
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}
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</style>
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<div class="card">
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<div class="icon">⚠️</div>
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<div class="title">This app may be out of date</div>
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<div class="body">It was built with SDK v${n}, but v${a} is the latest generation. Some things may not behave as expected with your robot.</div>
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<button type="button">I understand, continue</button>
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</div>
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</div>`
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);
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const o = document.getElementById(v), r = o?.querySelector("button");
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r?.addEventListener("click", () => {
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oe(t), o?.remove();
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}), r?.focus();
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}
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const H = 8e3, W = 2e3, ie = 900 * 1e3, ce = 2500, de = 6e3, le = 6500, ue = 1e3;
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async function fe(e) {
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await e.ensureAwake();
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}
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async function pe(e) {
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e.robotState.motor_mode !== "disabled" && await new Promise((t) => {
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let n = !1, a = 0, o = 0;
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const r = () => {
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n || (n = !0, e.removeEventListener("state", i), window.clearInterval(a), window.clearTimeout(o), t());
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};
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e.robotState.motor_mode === "disabled" && r();
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}
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e.addEventListener("state", i), o = window.setTimeout(r, ue), a = window.setInterval(() => e.requestState(), 120), e.requestState();
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});
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}
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let P = null, M = null, T = "*";
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try {
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if (typeof document < "u" && document.referrer)
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return "*";
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if (K(), !n)
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throw new Error(
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"[reachy-mini-sdk/host/embed] no creds bundle found in URL hash. Was the embed mounted directly without ?embedded=1#creds=...?"
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);
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throw new Error(
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`[reachy-mini-sdk/host/embed] window.ReachyMini did not become available within ${H}ms - check the SDK CDN tag.`
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);
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const o = n.userName ?? n.username ?? null;
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n.hfToken && o && we(n.hfToken, o);
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const r = new window.ReachyMini({
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appName: n.appName,
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signalingUrl: n.signalingUrl,
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...e.sdkOptions
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});
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C = typeof r.sdkVersion == "string" ? r.sdkVersion : null;
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const i = B(t, r);
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S({
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source: b,
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type: "embed:ready",
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version: y
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}), i.start();
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const s = await i.awaitHostInit(W, n);
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I("connecting", "link"), p("boot:link:start", { robotPeerId: s.robotPeerId }), await r.authenticate(), p("boot:authenticate:ok", { state: r.state }), await r.connect(), p("boot:connect:ok", {
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state: r.state,
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robots: (r.robots ?? []).length
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});
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const d = await ge(s, n);
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I("connecting", "session"), p("boot:session:start", {
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robotPeerId: d,
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handedPeerId: s.robotPeerId,
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reresolved: d !== s.robotPeerId
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}), Oe(r);
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try {
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await r.startSession(d), p("boot:session:ok");
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} catch (c) {
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throw p("boot:session:error", {
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+
message: c?.message ?? String(c)
|
|
193
|
+
}), c;
|
|
194
|
+
}
|
|
195
|
+
return R = await ve(r), p("boot:daemon-version", { daemonVersion: R }), I("connecting", "wake"), p("boot:wake:start"), await fe(r), p("boot:wake:ok", { awake: r.isAwake() }), i.attachPageHide(r), I("live", null), _e(r), ae(C), Ee(r), i.buildHandle(r, s);
|
|
196
|
+
}
|
|
197
|
+
async function he(e) {
|
|
198
|
+
T = q();
|
|
199
|
+
const t = e.expectedOrigin ?? T, n = $(window.location.hash);
|
|
200
|
+
if (K(), !n)
|
|
201
|
+
throw new Error(
|
|
202
|
+
"[reachy-mini-sdk/host/embed] no creds bundle found in URL hash. Was the embed mounted directly without ?embedded=1#creds=...?"
|
|
203
|
+
);
|
|
204
|
+
const a = B(t, null);
|
|
205
|
+
S({
|
|
206
|
+
source: b,
|
|
207
|
+
type: "embed:ready",
|
|
208
|
+
version: y
|
|
209
|
+
}), a.start();
|
|
210
|
+
const o = await a.awaitHostInit(W, n);
|
|
211
|
+
return a.attachPageHideCredsOnly(), I("live", null), a.buildCredsOnlyHandle(o, n);
|
|
212
|
+
}
|
|
213
|
+
function U(e) {
|
|
214
|
+
return {
|
|
215
|
+
theme: e.theme,
|
|
216
|
+
config: e.config,
|
|
217
|
+
appName: e.appName,
|
|
218
|
+
hostName: e.hostName,
|
|
219
|
+
userName: e.userName ?? null,
|
|
220
|
+
robotPeerId: e.robotPeerId,
|
|
221
|
+
robotHardwareId: e.robotHardwareId ?? null
|
|
222
|
+
};
|
|
223
|
+
}
|
|
224
|
+
function j(e) {
|
|
225
|
+
return {
|
|
226
|
+
theme: e.theme,
|
|
227
|
+
config: e.config,
|
|
228
|
+
appName: e.appName,
|
|
229
|
+
hostName: e.hostName,
|
|
230
|
+
userName: e.userName ?? null,
|
|
231
|
+
robotPeerId: e.robotPeerId,
|
|
232
|
+
robotHardwareId: e.robotHardwareId ?? null
|
|
233
|
+
};
|
|
234
|
+
}
|
|
235
|
+
async function ge(e, t) {
|
|
236
|
+
const n = e.robotHardwareId, a = t.hfToken;
|
|
237
|
+
if (!n || !a) return e.robotPeerId;
|
|
238
|
+
try {
|
|
239
|
+
const o = await J({
|
|
240
|
+
signalingUrl: t.signalingUrl,
|
|
241
|
+
hfToken: a
|
|
242
|
+
});
|
|
243
|
+
return o.ok ? o.robots.find((i) => i.hardwareId === n)?.id ?? e.robotPeerId : e.robotPeerId;
|
|
244
|
+
} catch {
|
|
245
|
+
return e.robotPeerId;
|
|
246
|
+
}
|
|
247
|
+
}
|
|
248
|
+
function B(e, t) {
|
|
249
|
+
const n = /* @__PURE__ */ new Set(), a = /* @__PURE__ */ new Set(), o = /* @__PURE__ */ new Set();
|
|
250
|
+
let r = null, i = !1, s = !1, d = !1, c = null;
|
|
251
|
+
function h(l) {
|
|
252
|
+
switch (l.type) {
|
|
253
|
+
case "host:init": {
|
|
254
|
+
r = j(l), a.forEach((f) => f(r.theme)), o.forEach((f) => f(r.config));
|
|
255
|
+
break;
|
|
256
|
+
}
|
|
257
|
+
case "host:theme-changed": {
|
|
258
|
+
r && (r.theme = l.theme), a.forEach((f) => f(l.theme));
|
|
259
|
+
break;
|
|
260
|
+
}
|
|
261
|
+
case "host:config-changed": {
|
|
262
|
+
r && (r.config = l.config), o.forEach((f) => f(l.config));
|
|
263
|
+
break;
|
|
264
|
+
}
|
|
265
|
+
case "host:leaving": {
|
|
266
|
+
E();
|
|
267
|
+
break;
|
|
268
|
+
}
|
|
269
|
+
case "host:start-update": {
|
|
270
|
+
t && be(t, l.preRelease === !0);
|
|
271
|
+
break;
|
|
272
|
+
}
|
|
273
|
+
case "host:cancel-update": {
|
|
274
|
+
k?.();
|
|
275
|
+
break;
|
|
276
|
+
}
|
|
277
|
+
}
|
|
278
|
+
}
|
|
279
|
+
function m() {
|
|
280
|
+
i || (i = !0, n.forEach((l) => {
|
|
281
|
+
try {
|
|
282
|
+
l();
|
|
283
|
+
} catch (f) {
|
|
284
|
+
_.warn("onLeave threw", f);
|
|
285
|
+
}
|
|
286
|
+
}));
|
|
287
|
+
}
|
|
288
|
+
async function E() {
|
|
289
|
+
if (!s) {
|
|
290
|
+
if (s = !0, p("leave:start"), m(), t) {
|
|
291
|
+
const l = Date.now();
|
|
292
|
+
let f = "ok";
|
|
293
|
+
try {
|
|
294
|
+
f = await Promise.race([
|
|
295
|
+
t.gotoSleep({ timeoutMs: de }).then(() => "ok"),
|
|
296
|
+
new Promise(
|
|
297
|
+
(w) => window.setTimeout(() => w("hard-timeout"), le)
|
|
298
|
+
)
|
|
299
|
+
]);
|
|
300
|
+
} catch {
|
|
301
|
+
f = "error";
|
|
302
|
+
}
|
|
303
|
+
p("leave:sleep", { outcome: f, ms: Date.now() - l });
|
|
304
|
+
const g = Date.now();
|
|
305
|
+
let u = !1;
|
|
306
|
+
try {
|
|
307
|
+
t.setMotorMode("disabled"), await pe(t), u = !0;
|
|
308
|
+
} catch {
|
|
309
|
+
}
|
|
310
|
+
p("leave:motors-disabled", {
|
|
311
|
+
confirmed: u,
|
|
312
|
+
ms: Date.now() - g
|
|
313
|
+
});
|
|
314
|
+
}
|
|
315
|
+
p("leave:ack"), S({
|
|
316
|
+
source: b,
|
|
317
|
+
type: "embed:left",
|
|
318
|
+
version: y
|
|
319
|
+
});
|
|
320
|
+
}
|
|
321
|
+
}
|
|
322
|
+
return {
|
|
323
|
+
start() {
|
|
324
|
+
d || (d = !0, c = (l) => {
|
|
325
|
+
e !== "*" && l.origin !== e || D(l.data) && h(l.data);
|
|
326
|
+
}, window.addEventListener("message", c));
|
|
327
|
+
},
|
|
328
|
+
async awaitHostInit(l, f) {
|
|
329
|
+
return window.parent !== window ? r || new Promise((u) => {
|
|
330
|
+
const w = (N) => {
|
|
331
|
+
if (e !== "*" && N.origin !== e || !D(N.data)) return;
|
|
332
|
+
const A = N.data;
|
|
333
|
+
A.type === "host:init" && (window.removeEventListener("message", w), window.clearTimeout(O), r = j(A), u(r));
|
|
334
|
+
}, O = window.setTimeout(() => {
|
|
335
|
+
window.removeEventListener("message", w), r || (r = U(f)), u(r);
|
|
336
|
+
}, l);
|
|
337
|
+
window.addEventListener("message", w);
|
|
338
|
+
}) : (r = U(f), r);
|
|
339
|
+
},
|
|
340
|
+
attachPageHide(l) {
|
|
341
|
+
const f = () => {
|
|
342
|
+
m();
|
|
343
|
+
try {
|
|
344
|
+
l.stopSession();
|
|
345
|
+
} catch {
|
|
346
|
+
}
|
|
347
|
+
};
|
|
348
|
+
window.addEventListener("pagehide", f, { once: !0 });
|
|
349
|
+
},
|
|
350
|
+
/** Credentials-only variant — no SDK to stop; just fire onLeave. */
|
|
351
|
+
attachPageHideCredsOnly() {
|
|
352
|
+
window.addEventListener("pagehide", m, { once: !0 });
|
|
353
|
+
},
|
|
354
|
+
/**
|
|
355
|
+
* Build the credentials-only handle. Same lifecycle accessors as
|
|
356
|
+
* `buildHandle` but exposes `hfToken` / `robotPeerId` /
|
|
357
|
+
* `signalingUrl` (from the creds bundle) instead of a `reachy`
|
|
358
|
+
* SDK instance, so the embed app can forward those to its
|
|
359
|
+
* backend.
|
|
360
|
+
*/
|
|
361
|
+
buildCredsOnlyHandle(l, f) {
|
|
362
|
+
if (r = l, !f.hfToken)
|
|
363
|
+
throw new Error(
|
|
364
|
+
"[reachy-mini-sdk/host/embed] creds-only handle requires hfToken; the host shell did not provide one (visitor logged out?)."
|
|
365
|
+
);
|
|
366
|
+
return {
|
|
367
|
+
hfToken: f.hfToken,
|
|
368
|
+
robotPeerId: l.robotPeerId,
|
|
369
|
+
signalingUrl: f.signalingUrl,
|
|
370
|
+
get theme() {
|
|
371
|
+
return r.theme;
|
|
372
|
+
},
|
|
373
|
+
get config() {
|
|
374
|
+
return r.config;
|
|
375
|
+
},
|
|
376
|
+
get appName() {
|
|
377
|
+
return r.appName;
|
|
378
|
+
},
|
|
379
|
+
get hostName() {
|
|
380
|
+
return r.hostName;
|
|
381
|
+
},
|
|
382
|
+
get userName() {
|
|
383
|
+
return r.userName;
|
|
384
|
+
},
|
|
385
|
+
onLeave(g) {
|
|
386
|
+
return n.add(g), () => n.delete(g);
|
|
387
|
+
},
|
|
388
|
+
onThemeChange(g) {
|
|
389
|
+
return a.add(g), () => a.delete(g);
|
|
390
|
+
},
|
|
391
|
+
onConfigChange(g) {
|
|
392
|
+
const u = (w) => g(w);
|
|
393
|
+
return o.add(u), () => o.delete(u);
|
|
394
|
+
},
|
|
395
|
+
setAppState(g) {
|
|
396
|
+
I(
|
|
397
|
+
g.phase,
|
|
398
|
+
g.connectingStep ?? null,
|
|
399
|
+
g.message ?? null
|
|
400
|
+
);
|
|
401
|
+
},
|
|
402
|
+
requestLeave() {
|
|
403
|
+
S({
|
|
404
|
+
source: b,
|
|
405
|
+
type: "embed:request-leave",
|
|
406
|
+
version: y
|
|
407
|
+
});
|
|
408
|
+
},
|
|
409
|
+
reportError(g, u) {
|
|
410
|
+
S({
|
|
411
|
+
source: b,
|
|
412
|
+
type: "embed:error",
|
|
413
|
+
version: y,
|
|
414
|
+
message: g,
|
|
415
|
+
fatal: u?.fatal === !0,
|
|
416
|
+
detail: u?.detail
|
|
417
|
+
});
|
|
418
|
+
}
|
|
419
|
+
};
|
|
420
|
+
},
|
|
421
|
+
buildHandle(l, f) {
|
|
422
|
+
r = f;
|
|
423
|
+
const g = ke(l);
|
|
424
|
+
return {
|
|
425
|
+
reachy: l,
|
|
426
|
+
media: g,
|
|
427
|
+
get theme() {
|
|
428
|
+
return r.theme;
|
|
429
|
+
},
|
|
430
|
+
get config() {
|
|
431
|
+
return r.config;
|
|
432
|
+
},
|
|
433
|
+
get appName() {
|
|
434
|
+
return r.appName;
|
|
435
|
+
},
|
|
436
|
+
get hostName() {
|
|
437
|
+
return r.hostName;
|
|
438
|
+
},
|
|
439
|
+
get userName() {
|
|
440
|
+
return r.userName;
|
|
441
|
+
},
|
|
442
|
+
onLeave(u) {
|
|
443
|
+
return n.add(u), () => n.delete(u);
|
|
444
|
+
},
|
|
445
|
+
onThemeChange(u) {
|
|
446
|
+
return a.add(u), () => a.delete(u);
|
|
447
|
+
},
|
|
448
|
+
onConfigChange(u) {
|
|
449
|
+
const w = (O) => u(O);
|
|
450
|
+
return o.add(w), () => o.delete(w);
|
|
451
|
+
},
|
|
452
|
+
setAppState(u) {
|
|
453
|
+
I(
|
|
454
|
+
u.phase,
|
|
455
|
+
u.connectingStep ?? null,
|
|
456
|
+
u.message ?? null
|
|
457
|
+
);
|
|
458
|
+
},
|
|
459
|
+
requestLeave() {
|
|
460
|
+
S({
|
|
461
|
+
source: b,
|
|
462
|
+
type: "embed:request-leave",
|
|
463
|
+
version: y
|
|
464
|
+
});
|
|
465
|
+
},
|
|
466
|
+
reportError(u, w) {
|
|
467
|
+
S({
|
|
468
|
+
source: b,
|
|
469
|
+
type: "embed:error",
|
|
470
|
+
version: y,
|
|
471
|
+
message: u,
|
|
472
|
+
fatal: w?.fatal === !0,
|
|
473
|
+
detail: w?.detail
|
|
474
|
+
});
|
|
475
|
+
}
|
|
476
|
+
};
|
|
477
|
+
}
|
|
478
|
+
};
|
|
479
|
+
}
|
|
480
|
+
function K() {
|
|
481
|
+
try {
|
|
482
|
+
const e = window.location.pathname + window.location.search;
|
|
483
|
+
history.replaceState(history.state, document.title, e);
|
|
484
|
+
} catch {
|
|
485
|
+
}
|
|
486
|
+
}
|
|
487
|
+
function we(e, t) {
|
|
488
|
+
try {
|
|
489
|
+
sessionStorage.setItem("hf_token", e), sessionStorage.setItem("hf_username", t), sessionStorage.setItem(
|
|
490
|
+
"hf_token_expires",
|
|
491
|
+
new Date(Date.now() + ie).toISOString()
|
|
492
|
+
);
|
|
493
|
+
} catch {
|
|
494
|
+
}
|
|
495
|
+
}
|
|
496
|
+
function ye(e) {
|
|
497
|
+
return new Promise((t) => {
|
|
498
|
+
if (typeof window > "u") {
|
|
499
|
+
t(!1);
|
|
500
|
+
return;
|
|
501
|
+
}
|
|
502
|
+
if (window.ReachyMini) {
|
|
503
|
+
t(!0);
|
|
504
|
+
return;
|
|
505
|
+
}
|
|
506
|
+
let n = !1;
|
|
507
|
+
const a = () => {
|
|
508
|
+
n || (n = !0, window.removeEventListener("reachymini:ready", a), window.clearTimeout(o), t(!!window.ReachyMini));
|
|
509
|
+
}, o = window.setTimeout(() => {
|
|
510
|
+
n || (n = !0, window.removeEventListener("reachymini:ready", a), t(!1));
|
|
511
|
+
}, e);
|
|
512
|
+
window.addEventListener("reachymini:ready", a);
|
|
513
|
+
});
|
|
514
|
+
}
|
|
515
|
+
function S(e) {
|
|
516
|
+
if (!(typeof window > "u"))
|
|
517
|
+
try {
|
|
518
|
+
window.parent.postMessage(e, T);
|
|
519
|
+
} catch (t) {
|
|
520
|
+
_.warn("postMessage to host failed", t);
|
|
521
|
+
}
|
|
522
|
+
}
|
|
523
|
+
let k = null;
|
|
524
|
+
function be(e, t) {
|
|
525
|
+
const n = (s) => {
|
|
526
|
+
S({
|
|
527
|
+
source: b,
|
|
528
|
+
type: "embed:update-progress",
|
|
529
|
+
version: y,
|
|
530
|
+
...s
|
|
531
|
+
});
|
|
532
|
+
}, a = (s) => {
|
|
533
|
+
const d = e.setAutoReconnect;
|
|
534
|
+
if (typeof d == "function")
|
|
535
|
+
try {
|
|
536
|
+
d.call(e, s);
|
|
537
|
+
} catch {
|
|
538
|
+
}
|
|
539
|
+
};
|
|
540
|
+
a(!1);
|
|
541
|
+
const o = () => {
|
|
542
|
+
k = null, e.removeEventListener("sessionStopped", o), n({ status: "rebooting" });
|
|
543
|
+
}, r = () => {
|
|
544
|
+
k = null, e.removeEventListener("sessionStopped", o), a(!0);
|
|
545
|
+
};
|
|
546
|
+
let i;
|
|
547
|
+
try {
|
|
548
|
+
i = e.startDaemonUpdate({
|
|
549
|
+
preRelease: t,
|
|
550
|
+
onProgress: (s) => {
|
|
551
|
+
s.status === "failed" && r(), n({
|
|
552
|
+
status: s.status,
|
|
553
|
+
line: s.line ?? null,
|
|
554
|
+
error: s.error ?? null
|
|
555
|
+
});
|
|
556
|
+
}
|
|
557
|
+
});
|
|
558
|
+
} catch (s) {
|
|
559
|
+
r(), n({ status: "failed", error: s?.message ?? String(s) });
|
|
560
|
+
return;
|
|
561
|
+
}
|
|
562
|
+
if (!i) {
|
|
563
|
+
r(), n({ status: "failed", error: "Data channel not open" });
|
|
564
|
+
return;
|
|
565
|
+
}
|
|
566
|
+
e.addEventListener("sessionStopped", o), k = r;
|
|
567
|
+
}
|
|
568
|
+
let R = null, C = null;
|
|
569
|
+
async function ve(e) {
|
|
570
|
+
try {
|
|
571
|
+
const t = await Promise.race([
|
|
572
|
+
e.getVersion(),
|
|
573
|
+
new Promise(
|
|
574
|
+
(n) => setTimeout(() => n(null), ce)
|
|
575
|
+
)
|
|
576
|
+
]);
|
|
577
|
+
return typeof t == "string" && t.length > 0 ? t : null;
|
|
578
|
+
} catch {
|
|
579
|
+
return null;
|
|
580
|
+
}
|
|
581
|
+
}
|
|
582
|
+
function I(e, t, n = null, a = null) {
|
|
583
|
+
S({
|
|
584
|
+
source: b,
|
|
585
|
+
type: "embed:app-state",
|
|
586
|
+
version: y,
|
|
587
|
+
phase: e,
|
|
588
|
+
connectingStep: t,
|
|
589
|
+
message: n,
|
|
590
|
+
rttMs: a,
|
|
591
|
+
daemonVersion: R,
|
|
592
|
+
sdkVersion: C
|
|
593
|
+
});
|
|
594
|
+
}
|
|
595
|
+
const Se = 1500, Ie = 6;
|
|
596
|
+
async function Te(e) {
|
|
597
|
+
try {
|
|
598
|
+
const t = await e.getStats();
|
|
599
|
+
let n = null;
|
|
600
|
+
return t.forEach((a) => {
|
|
601
|
+
const o = a;
|
|
602
|
+
o.type !== "candidate-pair" || !(o.selected === !0 || o.nominated === !0 && o.state === "succeeded") || typeof o.currentRoundTripTime == "number" && (n = o.currentRoundTripTime * 1e3);
|
|
603
|
+
}), n;
|
|
604
|
+
} catch {
|
|
605
|
+
return null;
|
|
606
|
+
}
|
|
607
|
+
}
|
|
608
|
+
function Ee(e) {
|
|
609
|
+
if (typeof window > "u") return;
|
|
610
|
+
const t = () => z(e);
|
|
611
|
+
if (!t()) return;
|
|
612
|
+
const n = [];
|
|
613
|
+
let a = !1;
|
|
614
|
+
const o = async () => {
|
|
615
|
+
if (a) return;
|
|
616
|
+
const s = t();
|
|
617
|
+
if (!s || s.connectionState === "closed") return;
|
|
618
|
+
const d = await Te(s);
|
|
619
|
+
d !== null && (n.push(d), n.length > Ie && n.shift(), I("live", null, null, Math.min(...n)));
|
|
620
|
+
}, r = window.setInterval(() => {
|
|
621
|
+
o();
|
|
622
|
+
}, Se);
|
|
623
|
+
window.setTimeout(() => {
|
|
624
|
+
o();
|
|
625
|
+
}, 600);
|
|
626
|
+
const i = () => {
|
|
627
|
+
a || (a = !0, window.clearInterval(r));
|
|
628
|
+
};
|
|
629
|
+
e.addEventListener("sessionStopped", i), window.addEventListener("pagehide", i, { once: !0 });
|
|
630
|
+
}
|
|
631
|
+
function z(e) {
|
|
632
|
+
const t = e;
|
|
633
|
+
return t.peerConnection ?? t._pc ?? null;
|
|
634
|
+
}
|
|
635
|
+
const _ = G("embed");
|
|
636
|
+
function Le(e) {
|
|
637
|
+
return e.startsWith("boot:") || e.startsWith("leave:");
|
|
638
|
+
}
|
|
639
|
+
function p(e, t = {}) {
|
|
640
|
+
if (!(typeof window > "u")) {
|
|
641
|
+
try {
|
|
642
|
+
window.parent.postMessage(
|
|
643
|
+
{
|
|
644
|
+
source: b,
|
|
645
|
+
type: "embed:debug",
|
|
646
|
+
version: y,
|
|
647
|
+
tag: e,
|
|
648
|
+
payload: t
|
|
649
|
+
},
|
|
650
|
+
T
|
|
651
|
+
);
|
|
652
|
+
} catch {
|
|
653
|
+
}
|
|
654
|
+
try {
|
|
655
|
+
let n = "";
|
|
656
|
+
try {
|
|
657
|
+
n = JSON.stringify(t);
|
|
658
|
+
} catch {
|
|
659
|
+
n = "<unserializable>";
|
|
660
|
+
}
|
|
661
|
+
const a = `${e} ${n}`;
|
|
662
|
+
Le(e) ? _.info(a) : _.debug(a);
|
|
663
|
+
} catch {
|
|
664
|
+
}
|
|
665
|
+
}
|
|
666
|
+
}
|
|
667
|
+
function ke(e) {
|
|
668
|
+
let t = null;
|
|
669
|
+
const n = e, a = () => {
|
|
670
|
+
const i = z(e);
|
|
671
|
+
if (!i) return null;
|
|
672
|
+
const s = i.getReceivers().map((d) => d.track).filter(
|
|
673
|
+
(d) => d !== null && d.kind !== "" && d.readyState === "live"
|
|
674
|
+
);
|
|
675
|
+
return s.length === 0 ? null : new MediaStream(s);
|
|
676
|
+
}, o = () => t || (t = a(), t && p("media:cache:init", {
|
|
677
|
+
videoTracks: t.getVideoTracks().length,
|
|
678
|
+
audioTracks: t.getAudioTracks().length
|
|
679
|
+
}), t), r = () => {
|
|
680
|
+
t && (t = null, p("media:cache:clear"));
|
|
681
|
+
};
|
|
682
|
+
return e.addEventListener("sessionStopped", r), e.addEventListener("sessionReconnecting", r), {
|
|
683
|
+
attachVideo(i) {
|
|
684
|
+
const s = e.attachVideo(i), d = o();
|
|
685
|
+
if (d && i.srcObject !== d)
|
|
686
|
+
try {
|
|
687
|
+
i.srcObject = d, i.play().catch(() => {
|
|
688
|
+
}), p("media:attach:replay", {
|
|
689
|
+
videoTracks: d.getVideoTracks().length,
|
|
690
|
+
audioTracks: d.getAudioTracks().length
|
|
691
|
+
});
|
|
692
|
+
} catch (c) {
|
|
693
|
+
p("media:attach:replay:error", {
|
|
694
|
+
message: c?.message ?? String(c)
|
|
695
|
+
});
|
|
696
|
+
}
|
|
697
|
+
return s;
|
|
698
|
+
},
|
|
699
|
+
get robotStream() {
|
|
700
|
+
return o();
|
|
701
|
+
},
|
|
702
|
+
get micStream() {
|
|
703
|
+
return n._micStream;
|
|
704
|
+
}
|
|
705
|
+
};
|
|
706
|
+
}
|
|
707
|
+
function _e(e) {
|
|
708
|
+
e.addEventListener("sessionReconnecting", (t) => {
|
|
709
|
+
const n = t.detail, a = Number(n?.attempt ?? 1), o = Number(n?.maxAttempts ?? 1);
|
|
710
|
+
I(
|
|
711
|
+
"connecting",
|
|
712
|
+
"session",
|
|
713
|
+
a > 1 ? `Reconnecting to the robot (attempt ${a}/${o})` : "Connection lost — reconnecting to the robot"
|
|
714
|
+
);
|
|
715
|
+
}), e.addEventListener("sessionReconnected", () => {
|
|
716
|
+
I("live", null);
|
|
717
|
+
}), e.addEventListener("sessionStopped", (t) => {
|
|
718
|
+
const n = t.detail;
|
|
719
|
+
n?.reason === "reconnect_failed" && S({
|
|
720
|
+
source: b,
|
|
721
|
+
type: "embed:error",
|
|
722
|
+
version: y,
|
|
723
|
+
message: "Lost the connection to the robot and could not reconnect.",
|
|
724
|
+
fatal: !0,
|
|
725
|
+
detail: typeof n?.message == "string" ? n.message : void 0
|
|
726
|
+
});
|
|
727
|
+
});
|
|
728
|
+
}
|
|
729
|
+
function Oe(e) {
|
|
730
|
+
const t = [
|
|
731
|
+
"connected",
|
|
732
|
+
"disconnected",
|
|
733
|
+
"streaming",
|
|
734
|
+
"sessionStopped",
|
|
735
|
+
"sessionRejected",
|
|
736
|
+
"sessionReconnecting",
|
|
737
|
+
"sessionReconnected",
|
|
738
|
+
"robotsChanged",
|
|
739
|
+
"error",
|
|
740
|
+
"state",
|
|
741
|
+
"log",
|
|
742
|
+
"message"
|
|
743
|
+
];
|
|
744
|
+
for (const o of t)
|
|
745
|
+
try {
|
|
746
|
+
e.addEventListener(o, (r) => {
|
|
747
|
+
let i = {};
|
|
748
|
+
const s = r;
|
|
749
|
+
if (s && typeof s == "object" && "detail" in s)
|
|
750
|
+
try {
|
|
751
|
+
i = JSON.parse(JSON.stringify(s.detail ?? null));
|
|
752
|
+
} catch {
|
|
753
|
+
i = { _unserializable: !0 };
|
|
754
|
+
}
|
|
755
|
+
p(`sdk:${o}`, i);
|
|
756
|
+
});
|
|
757
|
+
} catch {
|
|
758
|
+
}
|
|
759
|
+
try {
|
|
760
|
+
const o = e, r = o._handleSignalingMessage;
|
|
761
|
+
if (typeof r == "function") {
|
|
762
|
+
const i = o._sendToServer;
|
|
763
|
+
typeof i == "function" && (o._sendToServer = async function(d) {
|
|
764
|
+
const c = d, h = { type: c?.type ?? "?" };
|
|
765
|
+
if (c && "peerId" in c && (h.peerId = String(c.peerId)), c && "sessionId" in c && (h.sessionId = String(c.sessionId)), c && "sdp" in c) {
|
|
766
|
+
const m = c.sdp;
|
|
767
|
+
h.sdpType = m?.type ?? "?", h.sdpLen = m?.sdp?.length ?? 0;
|
|
768
|
+
}
|
|
769
|
+
if (c && "ice" in c) {
|
|
770
|
+
const m = c.ice;
|
|
771
|
+
h.iceCand = (m?.candidate ?? "").slice(0, 60) || "<end-of-candidates>";
|
|
772
|
+
}
|
|
773
|
+
p("sdk:send", h);
|
|
774
|
+
try {
|
|
775
|
+
const m = await i.call(this, d), E = m;
|
|
776
|
+
return p("sdk:send:res", {
|
|
777
|
+
inFor: h.type,
|
|
778
|
+
resType: E?.type ?? null,
|
|
779
|
+
keys: E ? Object.keys(E) : []
|
|
780
|
+
}), m;
|
|
781
|
+
} catch (m) {
|
|
782
|
+
throw p("sdk:send:err", {
|
|
783
|
+
inFor: h.type,
|
|
784
|
+
msg: m?.message ?? String(m)
|
|
785
|
+
}), m;
|
|
786
|
+
}
|
|
787
|
+
}), o._handleSignalingMessage = function(d) {
|
|
788
|
+
const c = d, h = { type: c?.type ?? "?" };
|
|
789
|
+
if ("sessionId" in c && (h.sessionId = String(c.sessionId)), "peerId" in c && (h.peerId = String(c.peerId)), "sdp" in c) {
|
|
790
|
+
const m = c.sdp;
|
|
791
|
+
h.sdpType = m?.type ?? "?", h.sdpLen = m?.sdp?.length ?? 0;
|
|
792
|
+
}
|
|
793
|
+
if ("ice" in c) {
|
|
794
|
+
const m = c.ice;
|
|
795
|
+
h.iceCand = (m?.candidate ?? "").slice(0, 60) || "<end-of-candidates>";
|
|
796
|
+
}
|
|
797
|
+
return "reason" in c && (h.reason = String(c.reason)), p("sdk:sse", h), r.call(this, d);
|
|
798
|
+
};
|
|
799
|
+
}
|
|
800
|
+
} catch {
|
|
801
|
+
}
|
|
802
|
+
const n = Date.now(), a = window.setInterval(() => {
|
|
803
|
+
const o = e, r = o._pc, i = o._dc;
|
|
804
|
+
p("sdk:probe", {
|
|
805
|
+
elapsedMs: Date.now() - n,
|
|
806
|
+
myPeerId: o._peerId ?? null,
|
|
807
|
+
state: o._state ?? null,
|
|
808
|
+
sseAborted: o._sseAbortController?.signal?.aborted ?? null,
|
|
809
|
+
pcState: r?.connectionState ?? null,
|
|
810
|
+
iceState: r?.iceConnectionState ?? null,
|
|
811
|
+
iceGather: r?.iceGatheringState ?? null,
|
|
812
|
+
signalingState: r?.signalingState ?? null,
|
|
813
|
+
dcState: i?.readyState ?? null,
|
|
814
|
+
sessionId: o._sessionId ?? null
|
|
815
|
+
}), Date.now() - n > 3e4 && window.clearInterval(a);
|
|
816
|
+
}, 1500);
|
|
817
|
+
}
|
|
818
|
+
export {
|
|
819
|
+
Re as a,
|
|
820
|
+
Me as c
|
|
821
|
+
};
|