@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.b50d97e → 1.10.0-dev.0.main.c8367cd

package/host/dist/chunks/reachy-mini-CdsdQLIU.js

@@ -1,1523 +0,0 @@
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-async function M(r) {
-  var e, t;
-  if (typeof window > "u")
-    throw new Error("oauthHandleRedirect is only available in the browser");
-  const s = new URLSearchParams(window.location.search), [i, o] = [s.get("error"), s.get("error_description")];
-  if (i)
-    throw new Error(`${i}: ${o}`);
-  const n = s.get("code"), a = localStorage.getItem("huggingface.co:oauth:nonce");
-  if (!n)
-    throw new Error("Missing oauth code from query parameters in redirected URL");
-  if (!a)
-    throw new Error("Missing oauth nonce from localStorage");
-  const c = localStorage.getItem("huggingface.co:oauth:code_verifier");
-  if (!c)
-    throw new Error("Missing oauth code_verifier from localStorage");
-  const l = s.get("state");
-  if (!l)
-    throw new Error("Missing oauth state from query parameters in redirected URL");
-  let h;
-  try {
-    h = JSON.parse(l);
-  } catch {
-    throw new Error("Invalid oauth state in redirected URL, unable to parse JSON: " + l);
-  }
-  if (h.nonce !== a)
-    throw new Error("Invalid oauth state in redirected URL");
-  const d = x, m = `${new URL(d).origin}/.well-known/openid-configuration`, f = await fetch(m, {
-    headers: {
-      Accept: "application/json"
-    }
-  });
-  if (!f.ok)
-    throw await C(f);
-  const p = await f.json(), v = await fetch(p.token_endpoint, {
-    method: "POST",
-    headers: {
-      "Content-Type": "application/x-www-form-urlencoded"
-    },
-    body: new URLSearchParams({
-      grant_type: "authorization_code",
-      code: n,
-      redirect_uri: h.redirectUri,
-      code_verifier: c
-    }).toString()
-  });
-  if (localStorage.removeItem("huggingface.co:oauth:code_verifier"), localStorage.removeItem("huggingface.co:oauth:nonce"), !v.ok)
-    throw await C(v);
-  const g = await v.json(), w = new Date(Date.now() + g.expires_in * 1e3), S = await fetch(p.userinfo_endpoint, {
-    headers: {
-      Authorization: `Bearer ${g.access_token}`
-    }
-  });
-  if (!S.ok)
-    throw await C(S);
-  const u = await S.json();
-  return {
-    accessToken: g.access_token,
-    accessTokenExpiresAt: w,
-    userInfo: {
-      id: u.sub,
-      name: u.name,
-      fullname: u.preferred_username,
-      email: u.email,
-      emailVerified: u.email_verified,
-      avatarUrl: u.picture,
-      websiteUrl: u.website,
-      isPro: u.isPro,
-      orgs: (t = (e = u.orgs) == null ? void 0 : e.map((_) => ({
-        id: _.sub,
-        name: _.name,
-        fullname: _.name,
-        isEnterprise: _.isEnterprise,
-        canPay: _.canPay,
-        avatarUrl: _.picture,
-        roleInOrg: _.roleInOrg
-      }))) != null ? t : []
-    },
-    state: h.state,
-    scope: g.scope
-  };
-}
-async function N(r) {
-  if (typeof window > "u")
-    throw new Error("oauthHandleRedirect is only available in the browser");
-  const e = new URLSearchParams(window.location.search);
-  return e.has("error") ? M() : e.has("code") ? localStorage.getItem("huggingface.co:oauth:nonce") ? M() : (console.warn(
-    "Missing oauth nonce from localStorage. This can happen when the user refreshes the page after logging in, without changing the URL."
-  ), !1) : !1;
-}
-async function V(r) {
-  var e, t;
-  if (typeof window > "u")
-    throw new Error("oauthLogin is only available in the browser");
-  const s = r?.hubUrl || x, i = `${new URL(s).origin}/.well-known/openid-configuration`, o = await fetch(i, {
-    headers: {
-      Accept: "application/json"
-    }
-  });
-  if (!o.ok)
-    throw await C(o);
-  const n = await o.json(), a = globalThis.crypto.randomUUID(), c = globalThis.crypto.randomUUID() + globalThis.crypto.randomUUID();
-  localStorage.setItem("huggingface.co:oauth:nonce", a), localStorage.setItem("huggingface.co:oauth:code_verifier", c);
-  const l = r?.redirectUrl || window.location.href, h = JSON.stringify({
-    nonce: a,
-    redirectUri: l,
-    state: r?.state
-  }), d = (t = (e = window?.huggingface) == null ? void 0 : e.variables) != null ? t : null, m = r?.clientId || d?.OAUTH_CLIENT_ID;
-  if (!m)
-    throw d ? new Error("Missing clientId, please add hf_oauth: true to the README.md's metadata in your static Space") : new Error("Missing clientId");
-  const f = H(
-    new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256", new TextEncoder().encode(c)))
-  ).replace(/[+]/g, "-").replace(/[/]/g, "_").replace(/=/g, "");
-  return `${n.authorization_endpoint}?${new URLSearchParams({
-    client_id: m,
-    scope: r?.scopes || d?.OAUTH_SCOPES || "openid profile",
-    response_type: "code",
-    redirect_uri: l,
-    state: h,
-    code_challenge: f,
-    code_challenge_method: "S256"
-  }).toString()}`;
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-  const r = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
-  let e;
-  try {
-    e = new URLSearchParams(r);
-  } catch {
-    return;
-  }
-  const t = e.get("hf_token");
-  if (!t) return;
-  const s = e.get("hf_username") || "user", i = e.get("hf_token_expires"), o = i && !Number.isNaN(new Date(i).getTime()) ? i : new Date(Date.now() + 365 * 24 * 60 * 60 * 1e3).toISOString();
-  try {
-    sessionStorage.setItem("hf_token", t), sessionStorage.setItem("hf_username", s), sessionStorage.setItem("hf_token_expires", o);
-  } catch (c) {
-    console.warn("[reachy-mini] could not persist pre-seeded HF credentials:", c);
-  }
-  e.delete("hf_token"), e.delete("hf_username"), e.delete("hf_token_expires");
-  const n = e.toString(), a = window.location.pathname + window.location.search + (n ? "#" + n : "");
-  try {
-    window.history.replaceState(null, "", a);
-  } catch {
-  }
-}
-function q() {
-  if (typeof window > "u") return null;
-  if (window.location.hash) {
-    const r = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
-    try {
-      const t = new URLSearchParams(r).get("robot_peer_id");
-      if (t) return t;
-    } catch {
-    }
-  }
-  if (window.location.search)
-    try {
-      const e = new URLSearchParams(window.location.search).get("robot_peer_id");
-      if (e) return e;
-    } catch {
-    }
-  return null;
-}
-function W(r) {
-  const e = r.split(`\r
-`);
-  let t = !1;
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-function L(r) {
-  const e = Math.round(Number(r) || 0);
-  return Math.max(0, Math.min(100, e));
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-function P(r) {
-  switch ((r.type || "").toLowerCase().split(";")[0]?.trim() ?? "") {
-    case "audio/ogg":
-    case "application/ogg":
-      return "ogg-base64";
-    case "audio/opus":
-      return "opus-base64";
-    case "audio/mpeg":
-    case "audio/mp3":
-      return "mp3-base64";
-    case "audio/flac":
-    case "audio/x-flac":
-      return "flac-base64";
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-}
-const j = 3e3, D = 1e3, Y = 6e4;
-class K extends EventTarget {
-  // ─── Config ──────────────────────────────────────────────────────────
-  _signalingUrl;
-  _clientId;
-  _appName;
-  _videoJitterBufferTargetMs;
-  _autoStartFromUrl;
-  _autoStartAttempted;
-  // ─── Public-ish state mirrors ────────────────────────────────────────
-  _state = "disconnected";
-  _robots = [];
-  _robotState = {};
-  _preselectedRobotId;
-  // ─── Auth ────────────────────────────────────────────────────────────
-  _token = null;
-  _username = null;
-  _tokenExpires = null;
-  // ─── Signaling ───────────────────────────────────────────────────────
-  _sseAbortController = null;
-  // ─── WebRTC ──────────────────────────────────────────────────────────
-  _pc = null;
-  _dc = null;
-  _sessionId = null;
-  _selectedRobotId = null;
-  _pendingRemoteIce = [];
-  // ─── Audio ───────────────────────────────────────────────────────────
-  _micStream = null;
-  _micMuted = !0;
-  _audioMuted = !0;
-  _micSupported = !1;
-  // ─── Timers ──────────────────────────────────────────────────────────
-  _latencyMonitorId = null;
-  _stateRefreshInterval = null;
-  // ─── Single-slot promise resolvers ───────────────────────────────────
-  _versionResolve = null;
-  _hardwareIdResolve = null;
-  _volumeResolve = null;
-  _micVolumeResolve = null;
-  _trackedFaceResolve = null;
-  // applyAudioConfig() / readAudioParameter() share the same single-slot
-  // pattern as the volume helpers. Separate slots so the two can be
-  // in-flight concurrently without collision.
-  _applyAudioConfigResolve = null;
-  _readAudioParameterResolve = null;
-  // ─── Log subscribers ─────────────────────────────────────────────────
-  _logSubscribers = /* @__PURE__ */ new Set();
-  _updateProgressSubscribers = /* @__PURE__ */ new Set();
-  // ─── Broadcast waiters (playMove / playUploadedAudio) ────────────────
-  _broadcastWaiters = [];
-  // ─── Active upload ids for no-arg cancels ────────────────────────────
-  _activeMoveUploadId = null;
-  _activeAudioUploadId = null;
-  // ─── Session promise plumbing ────────────────────────────────────────
-  _sessionResolve = null;
-  _sessionReject = null;
-  _iceConnected = !1;
-  _dcOpen = !1;
-  // ─── Resilience: ICE-blip debounce + network awareness ──────────────
-  // Backs `_scheduleIceGrace` / `_armIceGraceOnVisibility` and the
-  // `networkOnline` / `networkOffline` / `networkChange` forwarders.
-  // All three handler slots are scoped to the lifetime of a live
-  // session (installed in `startSession`, cleared in
-  // `stopSession` / `disconnect` / `_handleEndSession` /
-  // `_failSessionRejected`).
-  _iceGraceTimer = null;
-  _iceGraceReason = null;
-  _pendingVisibilityHandler = null;
-  _onlineHandler = null;
-  _offlineHandler = null;
-  _connectionChangeHandler = null;
-  // ─── Motion completion plumbing (wake_up / goto_sleep) ───────────────
-  _pendingMotionCompletions = {
-    wake_up: [],
-    goto_sleep: []
-  };
-  // ─── Video element ───────────────────────────────────────────────────
-  _videoElement = null;
-  constructor(e = {}) {
-    super(), this._signalingUrl = e.signalingUrl || "https://pollen-robotics-reachy-mini-central.hf.space", this._clientId = e.clientId || null, this._appName = e.appName || "unknown", this._videoJitterBufferTargetMs = e.videoJitterBufferTargetMs ?? 0, this._autoStartFromUrl = e.autoStartFromUrl === !0, this._autoStartAttempted = !1, this._preselectedRobotId = q();
-  }
-  // ─── Read-only properties ────────────────────────────────────────────
-  get state() {
-    return this._state;
-  }
-  get robots() {
-    return this._robots;
-  }
-  get robotState() {
-    return this._robotState;
-  }
-  get username() {
-    return this._username;
-  }
-  get isAuthenticated() {
-    return !!this._token;
-  }
-  get micSupported() {
-    return this._micSupported;
-  }
-  get micMuted() {
-    return this._micMuted;
-  }
-  get audioMuted() {
-    return this._audioMuted;
-  }
-  get preselectedRobotId() {
-    return this._preselectedRobotId;
-  }
-  get isEmbedded() {
-    return this._preselectedRobotId !== null;
-  }
-  /**
-   * Internal: try to honour the `autoStartFromUrl` constructor
-   * option. Called from the signaling-message handler after every
-   * `robotsChanged` emit, so a robot that comes online after the
-   * SDK is already `connected` still triggers the auto-start.
-   */
-  _maybeAutoStart() {
-    if (!this._autoStartFromUrl || this._autoStartAttempted || !this._preselectedRobotId || this._state !== "connected" || !this._robots.find((s) => s.id === this._preselectedRobotId)) return;
-    this._autoStartAttempted = !0;
-    const t = this._preselectedRobotId;
-    setTimeout(() => {
-      this._state === "connected" && this.startSession(t).catch((s) => {
-        console.warn("[reachy-mini] autoStartFromUrl: startSession rejected:", s);
-      });
-    }, 0);
-  }
-  // ─── Auth ────────────────────────────────────────────────────────────
-  async authenticate() {
-    try {
-      G();
-      const e = await N();
-      if (e)
-        return this._username = e.userInfo.preferred_username || e.userInfo.name || null, this._token = e.accessToken, this._tokenExpires = e.accessTokenExpiresAt, sessionStorage.setItem("hf_token", this._token), sessionStorage.setItem("hf_username", this._username ?? ""), sessionStorage.setItem(
-          "hf_token_expires",
-          typeof this._tokenExpires == "string" ? this._tokenExpires : this._tokenExpires.toISOString()
-        ), !0;
-      const t = sessionStorage.getItem("hf_token"), s = sessionStorage.getItem("hf_username"), i = sessionStorage.getItem("hf_token_expires");
-      return t && s && i && new Date(i) > /* @__PURE__ */ new Date() ? (this._token = t, this._username = s, this._tokenExpires = i, !0) : !1;
-    } catch (e) {
-      return console.error("Auth error:", e), !1;
-    }
-  }
-  async login() {
-    const e = {};
-    this._clientId && (e.clientId = this._clientId), window.location.href = await V(e);
-  }
-  logout() {
-    sessionStorage.removeItem("hf_token"), sessionStorage.removeItem("hf_username"), sessionStorage.removeItem("hf_token_expires"), this._username = null, this._tokenExpires = null, this.disconnect();
-  }
-  // ─── Lifecycle ───────────────────────────────────────────────────────
-  async connect(e) {
-    if (this._state !== "disconnected") throw new Error("Already connected");
-    if (e && (this._token = e), !this._token) throw new Error("No token — call authenticate() first or pass a token");
-    this._sseAbortController = new AbortController();
-    let t;
-    try {
-      t = await fetch(
-        `${this._signalingUrl}/events`,
-        {
-          signal: this._sseAbortController.signal,
-          headers: { Authorization: `Bearer ${this._token}` }
-        }
-      );
-    } catch (s) {
-      throw this._sseAbortController = null, s;
-    }
-    if (!t.ok)
-      throw this._sseAbortController = null, new Error(`HTTP ${t.status}`);
-    return new Promise((s, i) => {
-      let o = !1;
-      const n = t.body.getReader(), a = new TextDecoder();
-      let c = "";
-      (async () => {
-        try {
-          for (; ; ) {
-            const { done: h, value: d } = await n.read();
-            if (h) break;
-            c += a.decode(d, { stream: !0 });
-            const m = c.split(`
-`);
-            c = m.pop() ?? "";
-            for (const f of m)
-              if (f.startsWith("data:"))
-                try {
-                  const p = JSON.parse(f.slice(5).trim());
-                  !o && p.type === "welcome" && p.peerId && (o = !0, this._state = "connected", await this._sendToServer({
-                    type: "setPeerStatus",
-                    roles: ["listener"],
-                    meta: { name: this._appName }
-                  }), this._emit("connected", { peerId: p.peerId }), s()), this._handleSignalingMessage(p);
-                } catch {
-                }
-          }
-        } catch (h) {
-          if (h.name !== "AbortError" && this._emit("error", { source: "signaling", error: h }), !o) {
-            i(h);
-            return;
-          }
-        }
-        this._state !== "disconnected" && (this._state = "disconnected", this._emit("disconnected", { reason: "SSE closed" })), o || i(new Error("Connection closed before welcome"));
-      })();
-    });
-  }
-  async autoConnect(e = {}) {
-    const {
-      token: t,
-      pickRobot: s,
-      autoPickIfSingle: i = !0,
-      filterBusy: o = !0,
-      wakeOnConnect: n = !0
-    } = e;
-    if (this._state === "streaming") {
-      const c = this._robots?.find((l) => l.id === this._selectedRobotId);
-      return {
-        robotId: this._selectedRobotId,
-        robotName: c?.meta?.name ?? null,
-        isEmbedded: this.isEmbedded,
-        alreadyStreaming: !0
-      };
-    }
-    const a = this._autoStartFromUrl;
-    this._autoStartFromUrl = !1;
-    try {
-      if (t)
-        this._token = t;
-      else if (!this._token && !await this.authenticate())
-        throw new Error("Not authenticated — call login() or pass a token");
-      this._state === "disconnected" && await this.connect();
-      let c, l = null;
-      if (this.isEmbedded) {
-        c = this._preselectedRobotId;
-        try {
-          await this._waitForRobotInList(c, 5e3);
-        } catch {
-        }
-        l = this._robots?.find((d) => d.id === c)?.meta?.name ?? null;
-      } else {
-        const h = await this._fetchOwnedRobots({ filterBusy: o });
-        if (h.length === 0)
-          throw new Error("No reachable robots");
-        if (i && h.length === 1 && !h[0].busy)
-          c = h[0].id, l = h[0].name;
-        else if (s) {
-          const d = await s(h);
-          if (!d) throw new Error("Robot selection cancelled");
-          c = d, l = h.find((m) => m.id === d)?.name ?? null;
-        } else
-          throw new Error(
-            "Multiple robots available — pass a pickRobot callback to autoConnect()"
-          );
-      }
-      if (await this.startSession(c), n && typeof this.ensureAwake == "function")
-        try {
-          await this.ensureAwake();
-        } catch (h) {
-          console.warn("[reachy-mini] autoConnect: ensureAwake failed:", h);
-        }
-      return { robotId: c, robotName: l, isEmbedded: this.isEmbedded };
-    } finally {
-      this._autoStartFromUrl = a;
-    }
-  }
-  async _fetchOwnedRobots({ filterBusy: e = !0 } = {}) {
-    try {
-      const t = await fetch(`${this._signalingUrl}/api/robot-status`, {
-        headers: { Authorization: `Bearer ${this._token}` }
-      });
-      if (!t.ok) throw new Error(`HTTP ${t.status}`);
-      const s = await t.json(), i = /* @__PURE__ */ new Map();
-      for (const o of s.robots || []) {
-        if (e && o.busy) continue;
-        const n = o.meta?.install_id ?? o.meta?.hardware_id ?? o.peerId;
-        i.set(n, {
-          id: o.peerId,
-          name: o.robotName ?? o.meta?.name ?? null,
-          busy: !!o.busy,
-          activeApp: o.activeApp ?? null,
-          meta: o.meta ?? {},
-          lastSeenAgeSeconds: o.last_seen_age_seconds ?? null
-        });
-      }
-      return Array.from(i.values()).sort(
-        (o, n) => (o.lastSeenAgeSeconds ?? 1 / 0) - (n.lastSeenAgeSeconds ?? 1 / 0)
-      );
-    } catch (t) {
-      return console.warn("[reachy-mini] /api/robot-status unavailable, using SSE list:", t), (this._robots || []).map((s) => ({
-        id: s.id,
-        name: s.meta?.name ?? null,
-        busy: !1,
-        activeApp: null,
-        meta: s.meta ?? {},
-        lastSeenAgeSeconds: null
-      }));
-    }
-  }
-  _waitForRobotInList(e, t) {
-    return this._robots?.find((s) => s.id === e) ? Promise.resolve() : new Promise((s, i) => {
-      const o = () => {
-        this._robots?.find((a) => a.id === e) && (this.removeEventListener("robotsChanged", o), clearTimeout(n), s());
-      }, n = setTimeout(() => {
-        this.removeEventListener("robotsChanged", o), i(new Error(`Timeout waiting for robot ${e} in list`));
-      }, t);
-      this.addEventListener("robotsChanged", o);
-    });
-  }
-  async startSession(e) {
-    if (this._state !== "connected") throw new Error("Not connected");
-    this._selectedRobotId = e, this._iceConnected = !1, this._dcOpen = !1, this._micSupported = !1, this._pendingRemoteIce = [];
-    try {
-      const t = window, s = t.AudioContext ?? t.webkitAudioContext;
-      if (!s) throw new Error("AudioContext not supported");
-      const i = new s(), o = i.createMediaStreamDestination(), n = i.createOscillator(), a = i.createGain();
-      a.gain.value = 0, n.connect(a).connect(o), n.start();
-      const c = o.stream;
-      c.getAudioTracks().forEach((l) => {
-        l.enabled = !1;
-      }), this._micStream = c, this._micMuted = !0;
-    } catch (t) {
-      console.warn("Audio sender placeholder setup failed:", t), this._micStream = null;
-    }
-    return this._pc = new RTCPeerConnection({
-      iceServers: [{ urls: "stun:stun.l.google.com:19302" }]
-    }), this._installNetworkListeners(), new Promise((t, s) => {
-      this._sessionResolve = t, this._sessionReject = s, this._pc.ontrack = (i) => {
-        if (i.track.kind === "video") {
-          const o = this._videoJitterBufferTargetMs;
-          try {
-            i.receiver.jitterBufferTarget = o;
-          } catch {
-          }
-          try {
-            i.receiver.playoutDelayHint = o / 1e3;
-          } catch {
-          }
-          this._emit("videoTrack", { track: i.track, stream: i.streams[0] });
-        }
-      }, this._pc.onicecandidate = async (i) => {
-        i.candidate && this._sessionId && await this._sendToServer({
-          type: "peer",
-          sessionId: this._sessionId,
-          ice: {
-            candidate: i.candidate.candidate,
-            sdpMLineIndex: i.candidate.sdpMLineIndex,
-            sdpMid: i.candidate.sdpMid
-          }
-        });
-      }, this._pc.oniceconnectionstatechange = () => {
-        const i = this._pc?.iceConnectionState;
-        if (i) {
-          if (this._emit("iceStateChange", { state: i }), i === "connected" || i === "completed") {
-            this._clearIceGrace(), this._iceConnected = !0, this._checkSessionReady();
-            return;
-          }
-          if (i === "disconnected") {
-            typeof document < "u" && document.hidden ? this._armIceGraceOnVisibility() : this._scheduleIceGrace(j, "disconnected");
-            return;
-          }
-          if (i === "failed") {
-            this._scheduleIceGrace(D, "failed");
-            return;
-          }
-        }
-      }, this._pc.ondatachannel = (i) => {
-        this._dc = i.channel, this._dc.onopen = () => {
-          this._dcOpen = !0, this._checkSessionReady();
-        }, this._dc.onmessage = (o) => this._handleRobotMessage(JSON.parse(o.data));
-      }, this._sendToServer({ type: "startSession", peerId: e }).then((i) => {
-        if (i?.type === "sessionRejected") {
-          this._failSessionRejected(i);
-          return;
-        }
-        i?.sessionId && (this._sessionId = i.sessionId);
-      });
-    });
-  }
-  _failSessionRejected(e) {
-    const t = new Error(
-      e.reason === "robot_busy" ? `Robot is busy: "${e.activeApp || "another app"}" is already connected` : `Session rejected: ${e.reason || "unknown reason"}`
-    );
-    if (t.reason = e.reason ?? null, t.activeApp = e.activeApp ?? null, this._clearIceGrace(), this._uninstallNetworkListeners(), this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((s) => s.stop()), this._micStream = null), this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1, this._emit("sessionRejected", { reason: e.reason, activeApp: e.activeApp }), this._sessionReject) {
-      const s = this._sessionReject;
-      this._sessionResolve = null, this._sessionReject = null, s(t);
-    }
-  }
-  async stopSession() {
-    this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._trackedFaceResolve && (this._trackedFaceResolve(null), this._trackedFaceResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Session stopped")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Session stopped")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && await this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((t) => t.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._iceConnected = !1, this._dcOpen = !1, this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
-  }
-  disconnect() {
-    this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._trackedFaceResolve && (this._trackedFaceResolve(null), this._trackedFaceResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Disconnected")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Disconnected")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && this._token && this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((e) => e.stop()), this._micStream = null), this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._micMuted = !0, this._micSupported = !1, this._iceConnected = !1, this._dcOpen = !1, this._robots = [], this._state = "disconnected", this._emit("disconnected", { reason: "user" });
-  }
-  // ─── Resilience: ICE-blip debounce + network awareness ───────────────
-  //
-  // Both halves below are intentionally generic (they don't know about
-  // motion, audio, or the FSM): they just smooth out browser-level
-  // events so the consumer's own state machine doesn't get torn down
-  // by routine WiFi/4G/screen-off noise.
-  /**
-   * Cancel any pending ICE grace timer and visibility handler. Called
-   * on a healed `connected`/`completed` transition AND from the
-   * lifecycle teardown paths so a callback can't fire after `_pc`
-   * is closed.
-   */
-  _clearIceGrace() {
-    this._iceGraceTimer !== null && (clearTimeout(this._iceGraceTimer), this._iceGraceTimer = null), this._iceGraceReason = null, this._pendingVisibilityHandler && typeof document < "u" && document.removeEventListener("visibilitychange", this._pendingVisibilityHandler), this._pendingVisibilityHandler = null;
-  }
-  /**
-   * Start a grace window. After `ms`, re-check the live ICE state:
-   *   - If we healed back to `connected`/`completed`, the timer was
-   *     already cancelled in `oniceconnectionstatechange`, so we
-   *     never get here.
-   *   - If we're still in the originally-observed bad state (or
-   *     worse), surface the error and reject any pending session
-   *     promise. The original code path is preserved verbatim so
-   *     downstream consumers see the same `error` payload shape.
-   */
-  _scheduleIceGrace(e, t) {
-    if (this._iceGraceTimer !== null) {
-      if (this._iceGraceReason === t) return;
-      clearTimeout(this._iceGraceTimer);
-    }
-    this._iceGraceReason = t, this._iceGraceTimer = setTimeout(() => {
-      this._iceGraceTimer = null;
-      const s = this._iceGraceReason;
-      this._iceGraceReason = null;
-      const i = this._pc?.iceConnectionState;
-      if (!(i === "connected" || i === "completed")) {
-        if (s === "disconnected" && i === "disconnected") {
-          this._emit("error", {
-            source: "webrtc",
-            error: new Error(`ICE stuck in 'disconnected' for > ${e}ms`)
-          });
-          return;
-        }
-        if (s === "failed" || i === "failed") {
-          const o = new Error("ICE connection failed");
-          this._sessionReject && (this._sessionReject(o), this._sessionResolve = null, this._sessionReject = null), this._emit("error", { source: "webrtc", error: o });
-        }
-      }
-    }, e);
-  }
-  /**
-   * `disconnected` while the tab is hidden. JS timers are throttled
-   * in background tabs (Chrome clamps to ~1 Hz, Safari can pause
-   * altogether), so a foreground grace timer would either miss the
-   * window or fire long after the connection healed. Wait for the
-   * tab to come back, then re-evaluate.
-   */
-  _armIceGraceOnVisibility() {
-    if (this._pendingVisibilityHandler) return;
-    const e = Date.now(), t = () => {
-      if (typeof document < "u" && document.hidden || (document.removeEventListener("visibilitychange", t), this._pendingVisibilityHandler = null, !this._pc)) return;
-      const s = this._pc.iceConnectionState;
-      if (!(s === "connected" || s === "completed")) {
-        if (Date.now() - e > Y) {
-          const i = new Error(
-            "Session expired while tab was backgrounded"
-          );
-          this._sessionReject && (this._sessionReject(i), this._sessionResolve = null, this._sessionReject = null), this._emit("error", { source: "webrtc", error: i });
-          return;
-        }
-        if (s === "failed") {
-          this._scheduleIceGrace(D, "failed");
-          return;
-        }
-        this._scheduleIceGrace(j, "disconnected");
-      }
-    };
-    document.addEventListener("visibilitychange", t), this._pendingVisibilityHandler = t;
-  }
-  /**
-   * Install browser-level network listeners and forward them as
-   * public `networkOnline` / `networkOffline` / `networkChange`
-   * events on this instance. Idempotent: called from
-   * `startSession()`, removed by `_uninstallNetworkListeners` on
-   * teardown. Reachable only when there's a live `window`
-   * (defensive guard for SSR / test environments).
-   *
-   * `online` / `offline` are semantically about CONNECTIVITY:
-   * "does the OS think we can reach the internet". They flip
-   * symmetrically.
-   *
-   * `connection.change` (NetworkInformation API, Chrome / Android
-   * WebView only) is semantically about the TRANSPORT: it fires
-   * on Wi-Fi → 4G swaps, AP roams, etc. without necessarily going
-   * through `offline`. We forward it as its own `networkChange`
-   * event rather than aliasing it onto `networkOnline`, so
-   * consumers don't have to guess whether they're seeing a real
-   * connectivity recovery or a silent transport swap.
-   */
-  _installNetworkListeners() {
-    if (this._onlineHandler || typeof window > "u") return;
-    const e = () => this._emit("networkOnline", {}), t = () => this._emit("networkOffline", {});
-    window.addEventListener("online", e), window.addEventListener("offline", t), this._onlineHandler = e, this._offlineHandler = t;
-    const s = navigator.connection;
-    if (s && typeof s.addEventListener == "function") {
-      const i = () => this._emit("networkChange", {
-        effectiveType: s.effectiveType,
-        downlink: s.downlink,
-        rtt: s.rtt,
-        saveData: s.saveData
-      });
-      s.addEventListener("change", i), this._connectionChangeHandler = i;
-    }
-  }
-  /** Counterpart to `_installNetworkListeners`. */
-  _uninstallNetworkListeners() {
-    typeof window < "u" && (this._onlineHandler && window.removeEventListener("online", this._onlineHandler), this._offlineHandler && window.removeEventListener("offline", this._offlineHandler));
-    const e = navigator.connection;
-    e && this._connectionChangeHandler && typeof e.removeEventListener == "function" && e.removeEventListener("change", this._connectionChangeHandler), this._onlineHandler = null, this._offlineHandler = null, this._connectionChangeHandler = null;
-  }
-  // ─── Commands ────────────────────────────────────────────────────────
-  /**
-   * Atomic raw-units pose update over the data channel. Channels you
-   * omit are held at their last commanded value (per-axis, independent).
-   *
-   * **Head pose is in the WORLD frame.** The daemon's IK splits the
-   * requested head world-yaw between body rotation and the stewart
-   * platform, subject to the mechanical limit
-   * `|head_yaw_world − body_yaw| ≤ 65°`.
-   *
-   * **If you want the head to FOLLOW the body** (tank-style rotation):
-   * a `setTarget({ body_yaw })` on its own does NOT rotate the head —
-   * the head's commanded world yaw is unchanged, so its gaze stays
-   * pinned in world frame while the body turns under it. To make the
-   * head turn with the body, include a `head` matrix in the SAME call
-   * with the body-yaw delta added to the head RPY's yaw:
-   *
-   * ```ts
-   * // Body-yaw drag handler: tank-couple the head so it follows.
-   * const delta = newBodyDeg - lastCommandedBodyDeg;
-   * const nextHeadYaw = lastCommandedHeadYawDeg + delta;
-   * robot.setTarget({
-   *   head: rpyToMatrix(headRoll, headPitch, nextHeadYaw).flat(),
-   *   body_yaw: degToRad(newBodyDeg),
-   * });
-   * lastCommandedHeadYawDeg = nextHeadYaw;
-   * lastCommandedBodyDeg    = newBodyDeg;
-   * ```
-   *
-   * **Baseline must be the last COMMANDED value, not telemetry.** For
-   * continuous-input controllers (slider drag, joystick), do not use
-   * `state.head` from the `state` event as the baseline for incremental
-   * commands — telemetry lags one WebRTC round-trip, so cumulative
-   * deltas computed against it stall (every iteration in a rapid drag
-   * adds the same `delta` to the same stale baseline → the head fails
-   * to keep up). Track the last-commanded RPY in your own buffer.
-   *
-   * @param head      Flat row-major 4×4 matrix (16 finite numbers) in
-   *                  the world frame. Omit to hold the previous head target.
-   * @param antennas  `[rightRad, leftRad]` (radians). Omit to hold.
-   * @param body_yaw  Signed radians. Omit to hold.
-   * @returns `true` if the command was queued on the data channel,
-   *          `false` if the channel is not open.
-   */
-  setTarget({ head: e, antennas: t, body_yaw: s } = {}) {
-    const i = { type: "set_full_target" };
-    if (e !== void 0) {
-      if (!Array.isArray(e) || e.length !== 16 || !e.every((o) => Number.isFinite(o)))
-        throw new TypeError(
-          `setTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e) ? `Array(${e.length})` : typeof e}`
-        );
-      i.head = e;
-    }
-    if (t !== void 0) {
-      if (!Array.isArray(t) || t.length !== 2 || !t.every((o) => Number.isFinite(o)))
-        throw new TypeError(
-          `setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t) ? `Array(${t.length})` : typeof t}`
-        );
-      i.antennas = t;
-    }
-    if (s !== void 0) {
-      if (!Number.isFinite(s))
-        throw new TypeError(
-          `setTarget: body_yaw must be a finite number (radians); got ${s}`
-        );
-      i.body_yaw = s;
-    }
-    return this._sendCommand(i);
-  }
-  gotoTarget({ head: e, antennas: t, body_yaw: s, duration: i }) {
-    const o = { type: "goto_target" };
-    if (e !== void 0) {
-      if (!Array.isArray(e) || e.length !== 16 || !e.every((n) => Number.isFinite(n)))
-        throw new TypeError(
-          `gotoTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e) ? `Array(${e.length})` : typeof e}`
-        );
-      o.head = e;
-    }
-    if (t !== void 0) {
-      if (!Array.isArray(t) || t.length !== 2 || !t.every((n) => Number.isFinite(n)))
-        throw new TypeError(
-          `gotoTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t) ? `Array(${t.length})` : typeof t}`
-        );
-      o.antennas = t;
-    }
-    if (s !== void 0) {
-      if (!Number.isFinite(s))
-        throw new TypeError(
-          `gotoTarget: body_yaw must be a finite number (radians); got ${s}`
-        );
-      o.body_yaw = s;
-    }
-    if (!Number.isFinite(i) || i <= 0)
-      throw new TypeError(
-        `gotoTarget: duration must be a positive finite number (seconds); got ${i}`
-      );
-    return o.duration = i, this._sendCommand(o);
-  }
-  setHeadRpyDeg(e, t, s) {
-    return this.setTarget({ head: B(e, t, s).flat() });
-  }
-  setAntennasDeg(e, t) {
-    return this.setTarget({ antennas: [R(e), R(t)] });
-  }
-  setBodyYawDeg(e) {
-    return this.setTarget({ body_yaw: R(e) });
-  }
-  playSound(e) {
-    return this._sendCommand({ type: "play_sound", file: e });
-  }
-  clearIncomingAudio() {
-    return this._sendCommand({ type: "clear_incoming_audio" });
-  }
-  startHeadTracking(e = 1) {
-    if (!Number.isFinite(e))
-      throw new TypeError(`startHeadTracking: weight must be a finite number; got ${e}`);
-    const t = Math.min(Math.max(e, 0), 1);
-    return this._sendCommand({
-      type: "set_head_tracking",
-      enabled: !0,
-      weight: t
-    });
-  }
-  stopHeadTracking() {
-    return this._sendCommand({ type: "set_head_tracking", enabled: !1 });
-  }
-  getTrackedFace() {
-    return this._slotRoundtrip(
-      () => this._trackedFaceResolve,
-      (e) => {
-        this._trackedFaceResolve = e;
-      },
-      { type: "get_tracked_face" }
-    );
-  }
-  /**
-   * Trigger a PyPI update of the daemon over the data channel. Remote
-   * counterpart of `POST /update/start`. The daemon acks then restarts
-   * itself once the install finishes, which tears this session down -
-   * the caller is expected to reconnect afterwards.
-   *
-   * Pass `onProgress` to receive `update_progress` events (one per log
-   * line of the update job). A *successful* update restarts the daemon
-   * before a `done` event can arrive, so treat the session teardown +
-   * a successful reconnect as the success signal; `onProgress` will fire
-   * with `status: 'failed'` if the install errors before the restart.
-   *
-   * Returns `false` if the data channel isn't open.
-   */
-  startDaemonUpdate({ preRelease: e = !1, onProgress: t } = {}) {
-    return t && this._updateProgressSubscribers.add(t), this._sendCommand({ type: "start_update", pre_release: e });
-  }
-  setMotorMode(e) {
-    return this._sendCommand({ type: "set_motor_mode", mode: e });
-  }
-  setMotorTorque(e, t = null) {
-    return this._sendCommand({ type: "set_torque", on: e, ids: t });
-  }
-  wakeUp({ timeoutMs: e = 8e3 } = {}) {
-    return this._sendCommand({ type: "set_motor_mode", mode: "enabled" }), this._sendCommandAwaitCompletion("wake_up", e);
-  }
-  gotoSleep({ timeoutMs: e = 8e3 } = {}) {
-    return this._sendCommandAwaitCompletion("goto_sleep", e);
-  }
-  _sendCommandAwaitCompletion(e, t) {
-    return this._sendCommand({ type: e }) ? new Promise((s, i) => {
-      const o = {
-        resolve: s,
-        reject: i,
-        timer: setTimeout(() => {
-          const n = this._pendingMotionCompletions[e], a = n.indexOf(o);
-          a !== -1 && n.splice(a, 1), i(new Error(`${e} timed out after ${t}ms`));
-        }, t)
-      };
-      this._pendingMotionCompletions[e].push(o);
-    }) : Promise.reject(new Error(`${e}: data channel not open`));
-  }
-  _rejectPendingMotionCompletions(e) {
-    for (const t of Object.keys(this._pendingMotionCompletions)) {
-      const s = this._pendingMotionCompletions[t];
-      for (; s.length; ) {
-        const i = s.shift();
-        clearTimeout(i.timer), i.reject(e);
-      }
-    }
-  }
-  isAwake() {
-    const e = this._robotState?.motor_mode;
-    return e === "enabled" || e === "gravity_compensation";
-  }
-  async ensureAwake(e = 1e3) {
-    return this._robotState?.motor_mode === void 0 && await new Promise((t) => {
-      const s = () => {
-        this.removeEventListener("state", s), clearTimeout(i), t();
-      }, i = setTimeout(s, e);
-      this.addEventListener("state", s), this.requestState();
-    }), this.isAwake() || this.wakeUp().catch(() => {
-    }), !0;
-  }
-  getVersion() {
-    return new Promise((e, t) => {
-      if (!this._dc || this._dc.readyState !== "open") {
-        t(new Error("Data channel not open"));
-        return;
-      }
-      this._versionResolve && this._versionResolve(null), this._versionResolve = e, this._sendCommand({ type: "get_version" });
-    });
-  }
-  getHardwareId() {
-    return new Promise((e, t) => {
-      if (!this._dc || this._dc.readyState !== "open") {
-        t(new Error("Data channel not open"));
-        return;
-      }
-      this._hardwareIdResolve && this._hardwareIdResolve(null), this._hardwareIdResolve = e, this._sendCommand({ type: "get_hardware_id" });
-    });
-  }
-  getVolume() {
-    return this._slotRoundtrip(
-      () => this._volumeResolve,
-      (e) => {
-        this._volumeResolve = e;
-      },
-      { type: "get_volume" }
-    );
-  }
-  setVolume(e) {
-    return this._slotRoundtrip(
-      () => this._volumeResolve,
-      (t) => {
-        this._volumeResolve = t;
-      },
-      { type: "set_volume", volume: L(e) }
-    );
-  }
-  getMicrophoneVolume() {
-    return this._slotRoundtrip(
-      () => this._micVolumeResolve,
-      (e) => {
-        this._micVolumeResolve = e;
-      },
-      { type: "get_microphone_volume" }
-    );
-  }
-  setMicrophoneVolume(e) {
-    return this._slotRoundtrip(
-      () => this._micVolumeResolve,
-      (t) => {
-        this._micVolumeResolve = t;
-      },
-      { type: "set_microphone_volume", volume: L(e) }
-    );
-  }
-  applyAudioConfig(e, { verify: t = !0 } = {}) {
-    return this._slotRoundtrip(
-      () => this._applyAudioConfigResolve,
-      (s) => {
-        this._applyAudioConfigResolve = s;
-      },
-      { type: "apply_audio_config", config: e, verify: t }
-    ).then((s) => s === !0);
-  }
-  readAudioParameter(e) {
-    return this._slotRoundtrip(
-      () => this._readAudioParameterResolve,
-      (t) => {
-        this._readAudioParameterResolve = t;
-      },
-      { type: "read_audio_parameter", name: e }
-    );
-  }
-  /**
-   * Internal: send a command and await the matching daemon response in a
-   * named single-resolver slot. Used by the volume helpers and the
-   * XVF3800 audio-config helpers — every one of them has a strict
-   * request/response shape where a single in-flight call per slot is
-   * sufficient. If a previous request on the same slot is still
-   * pending when a new one comes in, the older promise is resolved to
-   * `null` so its caller doesn't hang forever.
-   *
-   * Slot access is passed in as getter/setter closures rather than a
-   * key into `this`: that keeps the helper fully generic-checked (T is
-   * inferred from the slot's resolver type at each call site) with no
-   * indexed-property casts.
-   */
-  _slotRoundtrip(e, t, s) {
-    return new Promise((i, o) => {
-      if (!this._dc || this._dc.readyState !== "open") {
-        o(new Error("Data channel not open"));
-        return;
-      }
-      const n = e();
-      n && n(null), t(i), this._sendCommand(s);
-    });
-  }
-  sendRaw(e) {
-    return this._sendCommand(e);
-  }
-  subscribeLogs({ onLine: e, onError: t }) {
-    if (typeof e != "function")
-      throw new TypeError("subscribeLogs: onLine callback is required");
-    const s = { onLine: e, onError: t }, i = this._logSubscribers.size === 0;
-    this._logSubscribers.add(s), i && this._sendCommand({ type: "subscribe_logs" });
-    let o = !1;
-    return () => {
-      o || (o = !0, this._logSubscribers.delete(s), this._logSubscribers.size === 0 && this._sendCommand({ type: "unsubscribe_logs" }));
-    };
-  }
-  requestState() {
-    return this._sendCommand({ type: "get_state" });
-  }
-  // ─── Audio ───────────────────────────────────────────────────────────
-  setAudioMuted(e) {
-    this._audioMuted = e, this._videoElement && (this._videoElement.muted = e);
-  }
-  setMicMuted(e) {
-    this._micMuted = e, this._micStream && this._micStream.getAudioTracks().forEach((t) => {
-      t.enabled = !e;
-    });
-  }
-  // ─── Video helper ────────────────────────────────────────────────────
-  attachVideo(e) {
-    this._videoElement = e, e.muted = this._audioMuted;
-    const t = (i) => {
-      const o = i;
-      e.srcObject = o.detail.stream, e.playsInline = !0, "requestVideoFrameCallback" in e && this._startLatencyMonitor(e);
-    }, s = () => {
-      e.srcObject = null;
-    };
-    return this.addEventListener("videoTrack", t), this.addEventListener("sessionStopped", s), () => {
-      this.removeEventListener("videoTrack", t), this.removeEventListener("sessionStopped", s), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), e.srcObject = null, this._videoElement = null;
-    };
-  }
-  // ─── Daemon-side recorded-move playback ──────────────────────────────
-  async playMove(e, {
-    audioBlob: t = null,
-    audioLeadMs: s = -100,
-    description: i = "move",
-    encoding: o = "gzip+base64",
-    playFrequency: n = 100,
-    initialGotoDuration: a = 0,
-    startTimeoutMs: c = 8e3,
-    onProgress: l = () => {
-    },
-    onStarted: h = () => {
-    }
-  } = {}) {
-    if (!this._dc || this._dc.readyState !== "open")
-      throw new Error("data channel not open");
-    if (!e?.time?.length || !e?.set_target_data?.length)
-      throw new Error("playMove: motion must have time + set_target_data");
-    const d = U();
-    this._activeMoveUploadId = d;
-    const m = {
-      description: i,
-      time: e.time,
-      set_target_data: e.set_target_data
-    }, f = JSON.stringify(m);
-    let p, v;
-    o === "gzip+base64" && J() ? (p = await X(f), v = "gzip+base64") : (p = f, v = "json");
-    const g = Math.ceil(p.length / y) || 1;
-    l({
-      phase: "starting",
-      sent: 0,
-      total: g,
-      bytes: p.length,
-      encoding: v
-    }), this._sendCommand({
-      type: "upload_move_start",
-      upload_id: d,
-      total_chunks: g,
-      description: i,
-      encoding: v
-    });
-    for (let u = 0; u < g; u++) {
-      this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
-      const _ = u * y;
-      this._sendCommand({
-        type: "upload_move_chunk",
-        upload_id: d,
-        chunk_index: u,
-        chunk: p.slice(_, _ + y)
-      }), l({ phase: "upload", sent: u + 1, total: g });
-    }
-    if (this._sendCommand({ type: "upload_move_finish", upload_id: d }), l({ phase: "uploaded", sent: g, total: g }), t) {
-      const u = new Uint8Array(await t.arrayBuffer()), _ = E(u), b = Math.ceil(_.length / y) || 1;
-      l({
-        phase: "audio-starting",
-        sent: 0,
-        total: b,
-        bytes: _.length
-      }), this._sendCommand({
-        type: "upload_audio_start",
-        upload_id: d,
-        total_chunks: b,
-        encoding: P(t),
-        description: i
-      });
-      for (let I = 0; I < b; I++) {
-        this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
-        const T = I * y;
-        this._sendCommand({
-          type: "upload_audio_chunk",
-          upload_id: d,
-          chunk_index: I,
-          chunk: _.slice(T, T + y)
-        }), l({ phase: "audio-upload", sent: I + 1, total: b });
-      }
-      this._sendCommand({ type: "upload_audio_finish", upload_id: d }), l({ phase: "audio-uploaded", sent: b, total: b });
-    }
-    this._sendCommand({
-      type: "play_uploaded_move",
-      upload_id: d,
-      play_frequency: n,
-      initial_goto_duration: a,
-      audio_lead_ms: s
-    });
-    let w;
-    try {
-      w = await this._waitForBroadcast(
-        (u) => u?.type === "play_uploaded_move" && u?.upload_id === d && (u.started === !0 || typeof u.error == "string"),
-        { timeoutMs: c, debugLabel: "play_uploaded_move started" }
-      );
-    } catch (u) {
-      throw new Error(
-        `Daemon did not respond to play_uploaded_move (requires the reachy_mini daemon with feature/daemon-side-move-upload). Underlying: ${u.message}`
-      );
-    }
-    if (typeof w.error == "string")
-      throw new Error(`play_uploaded_move: ${w.error}`);
-    try {
-      h({
-        duration_s: w.duration_s,
-        has_audio: w.has_audio === !0
-      });
-    } catch (u) {
-      console.warn("playMove.onStarted threw:", u);
-    }
-    l({ phase: "playing", duration_s: w.duration_s });
-    const S = await this._waitForBroadcast(
-      (u) => u?.type === "play_uploaded_move" && u?.upload_id === d && (u.finished === !0 || u.cancelled === !0 || typeof u.error == "string"),
-      {
-        timeoutMs: (w.duration_s + 30) * 1e3,
-        debugLabel: "play_uploaded_move final"
-      }
-    );
-    return this._activeMoveUploadId === d && (this._activeMoveUploadId = null), S;
-  }
-  cancelMove(e = null) {
-    const t = e ?? this._activeMoveUploadId;
-    return t ? this._sendCommand({ type: "cancel_move", upload_id: t }) : !1;
-  }
-  async uploadAudio(e, { description: t = "audio", onProgress: s = () => {
-  } } = {}) {
-    if (!this._dc || this._dc.readyState !== "open")
-      throw new Error("data channel not open");
-    if (!(e instanceof Blob))
-      throw new TypeError("uploadAudio: expected a Blob");
-    const i = U(), o = new Uint8Array(await e.arrayBuffer()), n = E(o), a = Math.ceil(n.length / y) || 1;
-    s({ phase: "audio-starting", sent: 0, total: a, bytes: n.length }), this._sendCommand({
-      type: "upload_audio_start",
-      upload_id: i,
-      total_chunks: a,
-      encoding: P(e),
-      description: t
-    });
-    for (let c = 0; c < a; c++) {
-      this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
-      const l = c * y;
-      this._sendCommand({
-        type: "upload_audio_chunk",
-        upload_id: i,
-        chunk_index: c,
-        chunk: n.slice(l, l + y)
-      }), s({ phase: "audio-upload", sent: c + 1, total: a });
-    }
-    return this._sendCommand({ type: "upload_audio_finish", upload_id: i }), s({ phase: "audio-uploaded", sent: a, total: a }), i;
-  }
-  async playUploadedAudio(e, { timeoutMs: t = 8e3 } = {}) {
-    if (!this._dc || this._dc.readyState !== "open")
-      throw new Error("data channel not open");
-    const s = this._waitForBroadcast(
-      (o) => o?.type === "play_uploaded_audio" && o?.upload_id === e && (o.started === !0 || typeof o.error == "string"),
-      { timeoutMs: t, debugLabel: "play_uploaded_audio started" }
-    );
-    this._sendCommand({ type: "play_uploaded_audio", upload_id: e });
-    const i = await s;
-    if (typeof i.error == "string") throw new Error(i.error);
-    return this._activeAudioUploadId = e, i;
-  }
-  cancelAudio(e = null) {
-    const t = e ?? this._activeAudioUploadId;
-    return t ? (this._activeAudioUploadId === t && (this._activeAudioUploadId = null), this._sendCommand({ type: "cancel_audio", upload_id: t })) : !1;
-  }
-  // ─── Private ─────────────────────────────────────────────────────────
-  _emit(e, t) {
-    this.dispatchEvent(new CustomEvent(e, { detail: t }));
-  }
-  _waitForBroadcast(e, { timeoutMs: t = 5e3, debugLabel: s = "" } = {}) {
-    return new Promise((i, o) => {
-      const n = {
-        predicate: e,
-        resolve: i,
-        timer: setTimeout(() => {
-          const a = this._broadcastWaiters.indexOf(n);
-          a !== -1 && this._broadcastWaiters.splice(a, 1), o(new Error(`broadcast timeout (${t} ms): ${s}`));
-        }, t)
-      };
-      this._broadcastWaiters.push(n);
-    });
-  }
-  async _awaitDataChannelDrain() {
-    for (; this._dc && this._dc.bufferedAmount > z; )
-      if (await new Promise((e) => setTimeout(e, 30)), !this._dc || this._dc.readyState !== "open")
-        throw new Error("data channel closed mid-upload");
-  }
-  async _sendToServer(e) {
-    if (!this._token) throw new Error("No token — authenticate() first");
-    try {
-      const t = await fetch(`${this._signalingUrl}/send`, {
-        method: "POST",
-        headers: {
-          "Content-Type": "application/json",
-          Authorization: `Bearer ${this._token}`
-        },
-        body: JSON.stringify(e)
-      });
-      if (!t.ok) {
-        let s = "";
-        try {
-          s = await t.text();
-        } catch {
-        }
-        return console.warn(
-          `[reachy-mini] /send rejected (${t.status}) for type=${e?.type}; body=${s || "<empty>"}`
-        ), null;
-      }
-      return await t.json();
-    } catch (t) {
-      return console.error("Send error:", t), null;
-    }
-  }
-  _sendCommand(e) {
-    return !this._dc || this._dc.readyState !== "open" ? !1 : (this._dc.send(JSON.stringify(e)), !0);
-  }
-  _checkSessionReady() {
-    this._iceConnected && this._dcOpen && this._sessionResolve && (this._state = "streaming", this.requestState(), this._stateRefreshInterval = setInterval(() => this.requestState(), 500), this._emit("streaming", { sessionId: this._sessionId, robotId: this._selectedRobotId }), this._sessionResolve(), this._sessionResolve = null, this._sessionReject = null);
-  }
-  async _handleSignalingMessage(e) {
-    switch (e.type) {
-      case "welcome":
-        break;
-      case "list":
-        this._robots = e.producers || [], this._emit("robotsChanged", { robots: this._robots }), this._maybeAutoStart();
-        break;
-      case "peerStatusChanged": {
-        const t = await this._sendToServer({ type: "list" });
-        t?.producers && (this._robots = t.producers, this._emit("robotsChanged", { robots: this._robots }), this._maybeAutoStart());
-        break;
-      }
-      case "sessionStarted":
-        this._sessionId = e.sessionId ?? null;
-        break;
-      case "sessionRejected":
-        this._failSessionRejected(e);
-        break;
-      case "endSession":
-        this._handleEndSession(e);
-        break;
-      case "peer":
-        this._handlePeerMessage(e);
-        break;
-    }
-  }
-  _handleEndSession(e) {
-    const t = e.reason, s = t === "robot_busy_local_app" ? "Robot is busy: a local Python app is running" : t === "local_app_started" ? "Disconnected: a local Python app started on the robot" : t === "robot_busy_local" ? "Robot is busy: another session is already active" : null;
-    if (this._sessionReject) {
-      const i = new Error(
-        s || `Session ended before it could start: ${t || "unknown reason"}`
-      );
-      i.reason = t ?? null, this._emit("sessionRejected", { reason: t, activeApp: null }), this._clearIceGrace(), this._uninstallNetworkListeners(), this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((n) => n.stop()), this._micStream = null), this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1;
-      const o = this._sessionReject;
-      this._sessionResolve = null, this._sessionReject = null, o(i);
-      return;
-    }
-    this._state === "streaming" && (this._emit("sessionStopped", {
-      reason: t || "remote_end",
-      message: s
-    }), this.stopSession().catch(() => {
-    }));
-  }
-  async _handlePeerMessage(e) {
-    if (this._pc)
-      try {
-        if (e.sdp) {
-          const t = e.sdp;
-          if (t.type === "offer") {
-            const i = W(t.sdp);
-            if (this._micSupported = i, this._emit("micSupported", { supported: i }), i && this._micStream)
-              for (const n of this._micStream.getAudioTracks())
-                this._pc.addTrack(n, this._micStream);
-            await this._pc.setRemoteDescription(new RTCSessionDescription(t));
-            const o = await this._pc.createAnswer();
-            await this._pc.setLocalDescription(o), await this._sendToServer({
-              type: "peer",
-              sessionId: this._sessionId,
-              sdp: { type: "answer", sdp: o.sdp }
-            });
-          } else
-            await this._pc.setRemoteDescription(new RTCSessionDescription(t));
-          const s = this._pendingRemoteIce;
-          if (s && s.length) {
-            this._pendingRemoteIce = [];
-            for (const i of s)
-              try {
-                await this._pc.addIceCandidate(new RTCIceCandidate(i));
-              } catch (o) {
-                console.warn("[reachy-mini] buffered ICE candidate rejected:", o);
-              }
-          }
-        }
-        if (e.ice) {
-          if (!e.ice.candidate) return;
-          this._pc.remoteDescription ? await this._pc.addIceCandidate(new RTCIceCandidate(e.ice)) : (this._pendingRemoteIce || (this._pendingRemoteIce = []), this._pendingRemoteIce.push(e.ice));
-        }
-      } catch (t) {
-        console.error("WebRTC error:", t), this._emit("error", { source: "webrtc", error: t });
-      }
-  }
-  _handleRobotMessage(e) {
-    if ("version" in e && this._versionResolve) {
-      this._versionResolve(e.version), this._versionResolve = null;
-      return;
-    }
-    if ("hardware_id" in e && this._hardwareIdResolve) {
-      this._hardwareIdResolve(e.hardware_id), this._hardwareIdResolve = null;
-      return;
-    }
-    if (e.command === "get_volume" || e.command === "set_volume") {
-      this._volumeResolve && (this._volumeResolve(e.status === "error" ? null : e.volume), this._volumeResolve = null);
-      return;
-    }
-    if (e.command === "get_microphone_volume" || e.command === "set_microphone_volume") {
-      this._micVolumeResolve && (this._micVolumeResolve(e.status === "error" ? null : e.volume), this._micVolumeResolve = null);
-      return;
-    }
-    if (e.command === "apply_audio_config") {
-      this._applyAudioConfigResolve && (this._applyAudioConfigResolve(e.error ? !1 : !!e.applied), this._applyAudioConfigResolve = null);
-      return;
-    }
-    if (e.command === "read_audio_parameter") {
-      this._readAudioParameterResolve && (this._readAudioParameterResolve(
-        e.error ? null : e.values ?? null
-      ), this._readAudioParameterResolve = null);
-      return;
-    }
-    if (e.command === "get_tracked_face") {
-      this._trackedFaceResolve && (this._trackedFaceResolve(
-        e.face_target ?? null
-      ), this._trackedFaceResolve = null);
-      return;
-    }
-    if ((e.command === "wake_up" || e.command === "goto_sleep") && this._pendingMotionCompletions && this._pendingMotionCompletions[e.command]) {
-      const t = this._pendingMotionCompletions[e.command];
-      if (e.completed === !0 && t.length > 0) {
-        const s = t.shift();
-        clearTimeout(s.timer), s.resolve();
-        return;
-      }
-      if (e.error && t.length > 0) {
-        const s = t.shift();
-        clearTimeout(s.timer), s.reject(new Error(`${e.command}: ${e.error}`));
-        return;
-      }
-    }
-    if (e.type === "log_line") {
-      for (const t of this._logSubscribers)
-        try {
-          t.onLine({ timestamp: e.timestamp, line: e.line });
-        } catch (s) {
-          console.error("subscribeLogs onLine threw:", s);
-        }
-      return;
-    }
-    if (e.type === "log_stream_error") {
-      for (const t of this._logSubscribers)
-        if (typeof t.onError == "function")
-          try {
-            t.onError(e.error);
-          } catch (s) {
-            console.error("subscribeLogs onError threw:", s);
-          }
-      return;
-    }
-    if (e.command === "start_update") {
-      if (typeof e.error == "string") {
-        const t = { status: "failed", error: e.error };
-        for (const s of this._updateProgressSubscribers)
-          try {
-            s(t);
-          } catch (i) {
-            console.error("startDaemonUpdate onProgress threw:", i);
-          }
-      }
-      return;
-    }
-    if (e.type === "update_progress") {
-      const t = {
-        status: e.status,
-        line: typeof e.line == "string" ? e.line : void 0,
-        error: typeof e.error == "string" ? e.error : void 0
-      };
-      for (const s of this._updateProgressSubscribers)
-        try {
-          s(t);
-        } catch (i) {
-          console.error("startDaemonUpdate onProgress threw:", i);
-        }
-      return;
-    }
-    if (e.state) {
-      const t = e.state;
-      t.head_pose && (this._robotState.head = t.head_pose.flat()), t.antennas && (this._robotState.antennas = [t.antennas[0], t.antennas[1]]), typeof t.body_yaw == "number" && (this._robotState.body_yaw = t.body_yaw), t.motor_mode && (this._robotState.motor_mode = t.motor_mode), typeof t.is_move_running == "boolean" && (this._robotState.is_move_running = t.is_move_running), t.face_target && (this._robotState.face_target = t.face_target), this._emit("state", { ...this._robotState });
-    }
-    if (e.error && this._emit("error", { source: "robot", error: e.error }), this._broadcastWaiters.length > 0)
-      for (let t = this._broadcastWaiters.length - 1; t >= 0; t--) {
-        const s = this._broadcastWaiters[t];
-        if (s.predicate(e)) {
-          this._broadcastWaiters.splice(t, 1), clearTimeout(s.timer), s.resolve(e);
-          return;
-        }
-      }
-  }
-  /** Snap video playback to live edge if buffered lag exceeds 0.5 s. */
-  _startLatencyMonitor(e) {
-    this._latencyMonitorId && clearInterval(this._latencyMonitorId), this._latencyMonitorId = setInterval(() => {
-      if (!e.srcObject || e.paused) return;
-      const t = e.buffered;
-      if (t.length > 0) {
-        const s = t.end(t.length - 1), i = s - e.currentTime;
-        i > 0.5 && (console.log(`Latency correction: was ${i.toFixed(2)}s behind`), e.currentTime = s - 0.1);
-      }
-    }, 2e3);
-  }
-}
-export {
-  K as R
-};