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

package/dist/lib/reachy-mini.d.ts

@@ -3,16 +3,8 @@
  * See `../reachy-mini-sdk.ts` for the package's barrel and the README for
  * a quick-start guide.
  */
-import type { ApplyAudioConfigOptions, AudioConfigEntry, AutoConnectOptions, AutoConnectResult, FaceTarget, MotionAwaitOptions, MoveData, PlayMoveOptions, PlayMoveResult, PlayUploadedAudioOptions, ReachyMiniInstance, ReachyMiniOptions, RobotInfo, RobotState, SubscribeLogsOptions, UploadAudioOptions } from './types.js';
-/** One progress event from an in-flight `startDaemonUpdate()`. */
-export interface UpdateProgressEvent {
-    status: 'in_progress' | 'done' | 'failed';
-    /** A log line of the underlying update job (when `in_progress`). */
-    line?: string;
-    /** Set when `status === 'failed'`. */
-    error?: string;
-}
-type UpdateProgressCallback = (event: UpdateProgressEvent) => void;
+import type { ApplyAudioConfigOptions, AudioConfigEntry, AutoConnectOptions, AutoConnectResult, FaceTarget, ImuData, LoginOptions, MotionAwaitOptions, MoveData, PlayMoveOptions, PlayMoveResult, PlayUploadedAudioOptions, ReachyMiniInstance, ReachyMiniOptions, RequestOptions, RobotInfo, RobotState, StartDaemonUpdateOptions, SubscribeLogsOptions, UpdateProgressEvent, UploadAudioOptions } from './types.js';
+export type { UpdateProgressEvent };
 export declare class ReachyMini extends EventTarget implements ReachyMiniInstance {
     private readonly _signalingUrl;
     private readonly _clientId;
@@ -23,6 +15,9 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _state;
     private _robots;
     private _robotState;
+    private _lastPoseSeq;
+    private _lastPoseFrameAt;
+    private _poseSubRefs;
     private readonly _preselectedRobotId;
     private _token;
     private _username;
@@ -39,29 +34,17 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _micSupported;
     private _latencyMonitorId;
     private _stateRefreshInterval;
-    private _versionResolve;
-    private _hardwareIdResolve;
-    private _volumeResolve;
-    private _micVolumeResolve;
-    private _trackedFaceResolve;
-    private _applyAudioConfigResolve;
-    private _readAudioParameterResolve;
+    private readonly _pending;
     private readonly _logSubscribers;
     private readonly _updateProgressSubscribers;
-    private _broadcastWaiters;
+    private readonly _rpcListeners;
     private _activeMoveUploadId;
     private _activeAudioUploadId;
     private _sessionResolve;
     private _sessionReject;
     private _iceConnected;
     private _dcOpen;
-    private _iceGraceTimer;
-    private _iceGraceReason;
-    private _pendingVisibilityHandler;
-    private _onlineHandler;
-    private _offlineHandler;
-    private _connectionChangeHandler;
-    private readonly _pendingMotionCompletions;
+    private readonly _supervisor;
     private _videoElement;
     constructor(options?: ReachyMiniOptions);
     get state(): 'disconnected' | 'connected' | 'streaming';
@@ -74,6 +57,24 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     get audioMuted(): boolean;
     get preselectedRobotId(): string | null;
     get isEmbedded(): boolean;
+    /**
+     * Live RTCPeerConnection, or `null` between sessions. Read-only escape
+     * hatch for stats sampling (`getStats()`); mutating it is unsupported.
+     * Auto-reconnect re-dials REPLACE this object, so re-read it on every
+     * use — never capture it across ticks.
+     */
+    get peerConnection(): RTCPeerConnection | null;
+    /**
+     * Build version of this SDK (npm package `version`), injected from
+     * package.json at build time. This is the JS SDK's OWN version and is
+     * distinct from `getVersion()`, which asks the DAEMON its version over
+     * the data channel. `0.0.0-managed-by-ci` means an unreleased/branch
+     * build (npm releases carry a real semver).
+     */
+    get sdkVersion(): string;
+    /** Same value as the instance `sdkVersion`, reachable without an
+     *  instance: `ReachyMini.version`. */
+    static get version(): string;
     /**
      * Internal: try to honour the `autoStartFromUrl` constructor
      * option. Called from the signaling-message handler after every
@@ -82,65 +83,55 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
      */
     _maybeAutoStart(): void;
     authenticate(): Promise<boolean>;
-    login(): Promise<void>;
+    login(options?: LoginOptions): Promise<void>;
     logout(): void;
     connect(token?: string): Promise<void>;
     autoConnect(options?: AutoConnectOptions): Promise<AutoConnectResult>;
     private _fetchOwnedRobots;
     private _waitForRobotInList;
     startSession(robotId: string): Promise<void>;
+    private _startSessionInternal;
+    /**
+     * Common transport teardown shared by every session-ending path
+     * (stopSession, disconnect, the auto-redial, a session rejection):
+     * settle the pending-reply ledger and the startSession() resolvers
+     * with `settleErr`, stand the resilience plumbing down, stop the
+     * session-scoped timers, release the mic placeholder and close the
+     * pc/dc. Returns the session id (already cleared on the instance)
+     * so each caller decides whether and how to send `endSession`.
+     * What else differs — events, subscriber wipes, where `_state`
+     * lands — stays with the callers.
+     */
+    private _closeTransport;
     private _failSessionRejected;
     stopSession(): Promise<void>;
     disconnect(): void;
     /**
-     * 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.
-     */
-    private _clearIceGrace;
-    /**
-     * 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.
+     * Enable/disable the automatic session re-dial at runtime.
+     * Disabling also aborts any re-dial already in flight. Used by
+     * flows that EXPECT the transport to die — e.g. the daemon
+     * self-update, whose `systemctl restart` teardown must surface as
+     * `sessionStopped` immediately (it's the "install done, rebooting"
+     * signal), not get absorbed by ~22 s of doomed reconnect attempts
+     * against a robot that is rebooting anyway.
+     *
+     * Sharp edge: cancelling an in-flight re-dial leaves the session
+     * torn down without emitting `sessionStopped` or `error` — the
+     * caller owns the terminal event (see `ReachyMiniInstance`).
      */
-    private _scheduleIceGrace;
+    setAutoReconnect(enabled: boolean): void;
     /**
-     * `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.
+     * Transport-only teardown: everything stopSession() does EXCEPT the
+     * user-facing state flip (`sessionStopped` is not emitted, `_state`
+     * falls back to 'connected' so the re-dial can start a session).
+     * Pending promises that ride the dead channel are settled just like
+     * stopSession() settles them — callers see the same failure shape a
+     * manual stop would produce; that includes a timed-out dial
+     * attempt's own startSession() promise (its resolvers were left
+     * armed, and a late signaling reply could otherwise settle them
+     * against a closed pc).
      */
-    private _armIceGraceOnVisibility;
-    /**
-     * 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.
-     */
-    private _installNetworkListeners;
-    /** Counterpart to `_installNetworkListeners`. */
-    private _uninstallNetworkListeners;
+    private _teardownForRedial;
     /**
      * Atomic raw-units pose update over the data channel. Channels you
      * omit are held at their last commanded value (per-axis, independent).
@@ -199,6 +190,31 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     setAntennasDeg(rightDeg: number, leftDeg: number): boolean;
     setBodyYawDeg(yawDeg: number): boolean;
     playSound(file: string): boolean;
+    playRecordedMove(moveName: string, { dataset, initialGotoDuration, }?: {
+        dataset?: string;
+        initialGotoDuration?: number;
+    }): boolean;
+    /**
+     * Stop whatever move is currently playing on the daemon (recorded move,
+     * uploaded move, goto). Fire-and-forget and idempotent: the daemon acks
+     * ok with `stopped: false` when nothing was running. Returns `false` if
+     * the data channel is not open.
+     */
+    stopMove(): boolean;
+    preloadDataset(dataset: string): boolean;
+    /**
+     * Like `preloadDataset()`, but resolves once the daemon acks the preload
+     * (`{command: "preload_dataset", ...}` on the data channel), i.e. when the
+     * dataset is actually in the local HF cache. Resolves `true` on success,
+     * `false` when the daemon reports a download failure, and `null` on the
+     * fail-open timeout (download slower than `timeoutMs`, or a daemon that
+     * predates the command and never replies) - callers should proceed in all
+     * three cases, `playRecordedMove` still downloads on demand. Rejects when
+     * the data channel isn't open or the session tears down mid-flight.
+     */
+    preloadDatasetAndWait(dataset: string, { timeoutMs }?: {
+        timeoutMs?: number;
+    }): Promise<boolean | null>;
     clearIncomingAudio(): boolean;
     startHeadTracking(weight?: number): boolean;
     stopHeadTracking(): boolean;
@@ -217,44 +233,122 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
      *
      * Returns `false` if the data channel isn't open.
      */
-    startDaemonUpdate({ preRelease, onProgress }?: {
-        preRelease?: boolean;
-        onProgress?: UpdateProgressCallback;
-    }): boolean;
+    startDaemonUpdate({ preRelease, onProgress }?: StartDaemonUpdateOptions): boolean;
     setMotorMode(mode: 'enabled' | 'disabled' | 'gravity_compensation'): boolean;
     setMotorTorque(on: boolean, ids?: string[] | null): boolean;
     wakeUp({ timeoutMs }?: MotionAwaitOptions): Promise<void>;
     gotoSleep({ timeoutMs }?: MotionAwaitOptions): Promise<void>;
     private _sendCommandAwaitCompletion;
-    private _rejectPendingMotionCompletions;
     isAwake(): boolean;
     ensureAwake(timeoutMs?: number): Promise<boolean>;
+    /**
+     * Query the daemon version. Resolves `null` when the daemon predates
+     * `get_version` (fail-open on the shared slot timeout) or the reply is
+     * superseded by session teardown.
+     */
     getVersion(): Promise<string | null>;
     getHardwareId(): Promise<string | null>;
+    /**
+     * One-shot IMU reading (BMI088, wireless version only). Resolves `null`
+     * when the robot has no IMU (Lite, simulation) or the daemon predates
+     * the `get_imu` command (fail-open on the shared slot timeout).
+     */
+    getImu(): Promise<ImuData | null>;
     getVolume(): Promise<number | null>;
     setVolume(volume: number): Promise<number | null>;
     getMicrophoneVolume(): Promise<number | null>;
     setMicrophoneVolume(volume: number): Promise<number | null>;
+    /**
+     * Query whether the first wake-up setup wizard has been completed.
+     * Robot-wide, persisted on the robot. Resolves `false` when pending,
+     * `true` when done, or `null` when the channel isn't open / the daemon
+     * predates the `get_first_wake_up` command (callers should fail-open
+     * and skip the wizard on `null`).
+     */
+    getFirstWakeUp(): Promise<boolean | null>;
+    /**
+     * Persist the first wake-up wizard completion flag on the robot.
+     * Resolves with the stored value (or `null` on channel-closed).
+     */
+    setFirstWakeUp(isCompleted: boolean): Promise<boolean | null>;
+    /**
+     * Query the persisted robot display name. Resolves the stored name,
+     * `null` when none is set / the channel isn't open / the daemon predates
+     * the `get_robot_name` command.
+     */
+    getRobotName(): Promise<string | null>;
+    /**
+     * Set and persist the robot display name on the robot. Resolves with the
+     * stored (trimmed) name, or `null` on error / channel-closed. Applied live
+     * by the daemon (status + central relay + mDNS), so it takes effect right
+     * away without a restart; the persisted name also overrides --robot-name
+     * on the next start.
+     */
+    setRobotName(name: string): Promise<string | null>;
+    /**
+     * Sign this robot out of Hugging Face: asks the daemon to delete its
+     * stored HF token, which de-registers the robot from the central
+     * signaling relay (it disappears from its owner's robot list until it
+     * is set up again). Works over the WebRTC data channel, so it reaches
+     * the robot remotely (no LAN HTTP path required).
+     *
+     * Resolves `true` when the daemon acked success, `false` on a daemon
+     * error, or `null` when no ack arrives before the timeout (e.g. a
+     * daemon that predates the `delete_hf_token` command silently drops
+     * it). Rejects if the data channel isn't open. Note the sign-out
+     * drops the central relay, so the session may tear down right after
+     * the ack - callers should treat a post-call session drop as expected,
+     * and a successful sign-out may surface as `null` if teardown races
+     * ahead of the ack.
+     */
+    signOut(): Promise<boolean | null>;
     applyAudioConfig(config: AudioConfigEntry[], { verify }?: ApplyAudioConfigOptions): Promise<boolean>;
     readAudioParameter(name: string): Promise<number[] | null>;
     /**
      * 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.
+     * named single-resolver slot (see `PendingReplies.slotRoundtrip`).
+     * Every caller has a strict request/response shape where a single
+     * in-flight call per slot is sufficient.
      */
     private _slotRoundtrip;
     sendRaw(data: unknown): boolean;
+    /**
+     * Generic command round-trip for daemon commands the SDK has no typed
+     * wrapper for (yet). Escape hatch so an app can use a newer daemon
+     * feature without waiting for an SDK release: sends `command` and
+     * resolves with the first robot message whose `command` field equals
+     * the sent `type` - the daemon's reply convention - or with `null` on
+     * the fail-open timeout (daemon predates the command, or the command
+     * is fire-and-forget and never replies).
+     *
+     * Rejects when the data channel isn't open or the session tears down
+     * mid-flight, mirroring the typed wrappers.
+     *
+     * Replies the SDK already consumes internally (`get_imu`,
+     * `get_volume`, ...) are swallowed by their own handlers and never
+     * reach this matcher - use the typed wrappers for those. Pass `match`
+     * for replies that don't follow the `command` echo convention.
+     */
+    request(command: {
+        type: string;
+    } & Record<string, unknown>, { timeoutMs, match }?: RequestOptions): Promise<Record<string, unknown> | null>;
     subscribeLogs({ onLine, onError }: SubscribeLogsOptions): () => void;
     requestState(): boolean;
+    /**
+     * Ask the daemon to *push* the robot state (~30 Hz) over the dedicated
+     * unreliable/unordered `pose` data channel instead of polling get_state.
+     * Fires `state` events as frames arrive. No-op against an older daemon (no
+     * pose channel) - fall back to `requestState()` polling there.
+     *
+     * Refcounted: pair every `subscribePose()` with exactly one
+     * `unsubscribePose()`. Multiple consumers share a single daemon-side
+     * subscription; the daemon only stops pushing once the last one releases.
+     * If the channel isn't open yet (or the session later reconnects), the
+     * subscription is (re-)asserted from `_checkSessionReady`.
+     */
+    subscribePose(): boolean;
+    /** Release one pose-stream consumer; sends `unsubscribe_pose` on the last. */
+    unsubscribePose(): boolean;
     setAudioMuted(muted: boolean): void;
     setMicMuted(muted: boolean): void;
     attachVideo(videoElement: HTMLVideoElement): () => void;
@@ -270,13 +364,33 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _awaitDataChannelDrain;
     private _sendToServer;
     private _sendCommand;
+    /**
+     * Call a JSON-RPC method on the robot/app over the DataChannel and await
+     * its result. This is the one way to drive an on-robot app (start/stop it
+     * via `apps.*`, or drive a running app via its own namespace, e.g.
+     * `conversation.say`). Rejects on the JSON-RPC error, a closed channel, or
+     * timeout.
+     */
+    rpcCall<T = unknown>(method: string, params?: Record<string, unknown>, opts?: {
+        timeoutMs?: number;
+    }): Promise<T>;
+    /**
+     * Subscribe to a JSON-RPC notification (one-way event) pushed by the
+     * robot/app, e.g. `conversation.turn`. Returns an unsubscribe function.
+     */
+    onNotification(method: string, cb: (params: Record<string, unknown>) => void): () => void;
+    private _handleRpcMessage;
     private _checkSessionReady;
     private _handleSignalingMessage;
     private _handleEndSession;
     private _handlePeerMessage;
+    /**
+     * @param fromPoseStream Frame came from the pushed `pose` channel rather
+     *   than the reliable control channel. Only those may refresh the state
+     *   mirror while the stream is live (see the `data.state` branch).
+     */
     private _handleRobotMessage;
     /** Snap video playback to live edge if buffered lag exceeds 0.5 s. */
     private _startLatencyMonitor;
 }
-export {};
 //# sourceMappingURL=reachy-mini.d.ts.map

package/dist/lib/reachy-mini.d.ts.map

@@ -1 +1 @@
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