@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.b50d97e → 1.10.0-dev.0.main.e7f2273

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

@@ -23,6 +23,9 @@ 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;
@@ -44,10 +47,15 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _volumeResolve;
     private _micVolumeResolve;
     private _trackedFaceResolve;
+    private _robotNameResolve;
+    private _deleteHfTokenResolve;
     private _applyAudioConfigResolve;
     private _readAudioParameterResolve;
     private readonly _logSubscribers;
     private readonly _updateProgressSubscribers;
+    private _rpcCounter;
+    private readonly _pendingRpc;
+    private readonly _rpcListeners;
     private _broadcastWaiters;
     private _activeMoveUploadId;
     private _activeAudioUploadId;
@@ -235,6 +243,37 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     setVolume(volume: number): Promise<number | null>;
     getMicrophoneVolume(): Promise<number | null>;
     setMicrophoneVolume(volume: number): Promise<number | 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>;
     /**
@@ -255,6 +294,21 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     sendRaw(data: unknown): boolean;
     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;
@@ -270,10 +324,32 @@ 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 _rejectPendingRpc;
+    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;

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

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package/dist/lib/reachy-mini.js

@@ -40,6 +40,35 @@ const ICE_FAILED_GRACE_MS = 1000;
  * to be honest with the user.
  */
 const MAX_VISIBILITY_DEFER_MS = 60_000;
+/**
+ * How long a pushed pose frame keeps the periodic `get_state` poll on hold -
+ * both on the way out (no request is sent) and on the way back (a reply that
+ * arrives anyway doesn't touch the state mirror).
+ *
+ * Poll replies carry no `seq`, so they slip past the stale-frame guard: a
+ * reply that crosses a fresher pushed frame would rewind the very mirror the
+ * stream exists to smooth. While frames flow at ~30 Hz there is nothing left
+ * for the poll to add, so it stands down. Keying that on frame arrival rather
+ * than on `_poseSubRefs` keeps the poll running against a daemon that doesn't
+ * know `subscribe_pose`, and brings it back on its own if the stream stalls.
+ * A little over one 500 ms poll period, so a couple of dropped frames don't
+ * flip it back and forth.
+ */
+const POSE_STREAM_FRESH_MS = 750;
+/**
+ * Fail-open ceiling for a single `_slotRoundtrip` request/response.
+ * Every slot command has a strict "one reply per request" contract, so
+ * a missing reply means the daemon either never got it or - crucially -
+ * predates that command entirely: an older daemon silently drops an
+ * unknown `type` and sends nothing back, which would otherwise leave the
+ * caller's promise pending forever (e.g. a newer SDK calling a command a
+ * 1.8.x daemon doesn't implement). Resolving `null` on timeout maps
+ * cleanly onto the "unsupported / failed" value every slot caller already
+ * handles. 4 s is comfortably above a WebRTC data-channel round trip on a
+ * congested phone link while still failing fast enough that a gated UI
+ * doesn't feel hung.
+ */
+const SLOT_ROUNDTRIP_TIMEOUT_MS = 4000;
 export class ReachyMini extends EventTarget {
     // ─── Config ──────────────────────────────────────────────────────────
     _signalingUrl;
@@ -52,6 +81,19 @@ export class ReachyMini extends EventTarget {
     _state = 'disconnected';
     _robots = [];
     _robotState = {};
+    // Highest `seq` seen on the unordered `pose` channel. Frames that arrive
+    // out of order (older seq) are dropped so a late packet can't rewind the
+    // live mirror. `null` until the first pose frame.
+    _lastPoseSeq = null;
+    // When the last pushed pose frame was applied, used to park the periodic
+    // `get_state` poll while the stream is live (see POSE_STREAM_FRESH_MS).
+    _lastPoseFrameAt = 0;
+    // Local refcount of pose-stream consumers (the 3D mirror, the wizard's
+    // move-end watcher, ...). The daemon's subscription is a per-peer boolean
+    // (not refcounted), so we only send `unsubscribe_pose` once the LAST local
+    // consumer releases - otherwise one consumer's cleanup would kill the
+    // stream for the others.
+    _poseSubRefs = 0;
     _preselectedRobotId;
     // ─── Auth ────────────────────────────────────────────────────────────
     _token = null;
@@ -79,6 +121,8 @@ export class ReachyMini extends EventTarget {
     _volumeResolve = null;
     _micVolumeResolve = null;
     _trackedFaceResolve = null;
+    _robotNameResolve = null;
+    _deleteHfTokenResolve = 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.
@@ -87,6 +131,13 @@ export class ReachyMini extends EventTarget {
     // ─── Log subscribers ─────────────────────────────────────────────────
     _logSubscribers = new Set();
     _updateProgressSubscribers = new Set();
+    // ─── JSON-RPC app control (over the same DataChannel) ────────────────
+    // rpcCall() sends {jsonrpc,id,method,params} and awaits the matching
+    // response; onNotification() subscribes to one-way events (no id) the
+    // robot/app pushes (conversation.phase/turn/transcript, ...).
+    _rpcCounter = 0;
+    _pendingRpc = new Map();
+    _rpcListeners = new Map();
     // ─── Broadcast waiters (playMove / playUploadedAudio) ────────────────
     _broadcastWaiters = [];
     // ─── Active upload ids for no-arg cancels ────────────────────────────
@@ -540,7 +591,35 @@ export class ReachyMini extends EventTarget {
                 }
             };
             this._pc.ondatachannel = (e) => {
-                this._dc = e.channel;
+                const ch = e.channel;
+                // On `subscribe_pose` the daemon opens a second,
+                // unreliable/unordered channel labelled "pose" that *pushes*
+                // the robot state at ~30 Hz (see media_server
+                // `_setup_pose_channel`), so this can fire mid-session. It
+                // carries the same `{state:{...}}` envelope as a get_state
+                // reply, so we route it through the same handler - but it
+                // must NOT gate session readiness (that's the reliable
+                // control channel's job) nor become `_dc` (commands must
+                // never ride the lossy channel).
+                if (ch.label === 'pose') {
+                    // Fresh channel (new session or daemon restart): the
+                    // daemon's seq counter may have reset, so forget the old
+                    // high-water mark or we'd drop every new frame.
+                    this._lastPoseSeq = null;
+                    ch.onmessage = (ev) => {
+                        const msg = JSON.parse(ev.data);
+                        // Drop stale/reordered frames (unordered channel).
+                        if (typeof msg.seq === 'number') {
+                            if (this._lastPoseSeq !== null && msg.seq <= this._lastPoseSeq)
+                                return;
+                            this._lastPoseSeq = msg.seq;
+                        }
+                        this._lastPoseFrameAt = Date.now();
+                        this._handleRobotMessage(msg, true);
+                    };
+                    return;
+                }
+                this._dc = ch;
                 this._dc.onopen = () => {
                     this._dcOpen = true;
                     this._checkSessionReady();
@@ -616,9 +695,18 @@ export class ReachyMini extends EventTarget {
             this._readAudioParameterResolve(null);
             this._readAudioParameterResolve = null;
         }
+        if (this._robotNameResolve) {
+            this._robotNameResolve(null);
+            this._robotNameResolve = null;
+        }
+        if (this._deleteHfTokenResolve) {
+            this._deleteHfTokenResolve(null);
+            this._deleteHfTokenResolve = null;
+        }
         this._logSubscribers.clear();
         this._updateProgressSubscribers.clear();
         this._rejectPendingMotionCompletions(new Error('Session stopped'));
+        this._rejectPendingRpc(new Error('Session stopped'));
         // Tear down resilience plumbing BEFORE closing `_pc` so a
         // queued grace callback can't dereference a dead handle.
         this._clearIceGrace();
@@ -695,6 +783,14 @@ export class ReachyMini extends EventTarget {
             this._readAudioParameterResolve(null);
             this._readAudioParameterResolve = null;
         }
+        if (this._robotNameResolve) {
+            this._robotNameResolve(null);
+            this._robotNameResolve = null;
+        }
+        if (this._deleteHfTokenResolve) {
+            this._deleteHfTokenResolve(null);
+            this._deleteHfTokenResolve = null;
+        }
         this._logSubscribers.clear();
         this._updateProgressSubscribers.clear();
         this._rejectPendingMotionCompletions(new Error('Disconnected'));
@@ -1170,6 +1266,43 @@ export class ReachyMini extends EventTarget {
     setMicrophoneVolume(volume) {
         return this._slotRoundtrip(() => this._micVolumeResolve, (next) => { this._micVolumeResolve = next; }, { type: 'set_microphone_volume', volume: clampVolume(volume) });
     }
+    /**
+     * 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() {
+        return this._slotRoundtrip(() => this._robotNameResolve, (next) => { this._robotNameResolve = next; }, { type: 'get_robot_name' });
+    }
+    /**
+     * 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) {
+        return this._slotRoundtrip(() => this._robotNameResolve, (next) => { this._robotNameResolve = next; }, { type: 'set_robot_name', name });
+    }
+    /**
+     * 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() {
+        return this._slotRoundtrip(() => this._deleteHfTokenResolve, (next) => { this._deleteHfTokenResolve = next; }, { type: 'delete_hf_token' });
+    }
     applyAudioConfig(config, { verify = true } = {}) {
         return this._slotRoundtrip(() => this._applyAudioConfigResolve, (next) => { this._applyAudioConfigResolve = next; }, { type: 'apply_audio_config', config, verify }).then((v) => v === true);
     }
@@ -1199,7 +1332,29 @@ export class ReachyMini extends EventTarget {
             const prev = getSlot();
             if (prev)
                 prev(null);
-            setSlot(resolve);
+            let timer;
+            // Single settle path shared by the daemon response, supersession
+            // by a newer call, and the fail-open timeout below. It clears the
+            // timer once and detaches itself from the slot only if it's still
+            // the current occupant, so a stale settle (timed-out or superseded)
+            // can't clear a newer call's slot registration. The message handler
+            // stores `settle` (not `resolve`), so every response route funnels
+            // through here.
+            // Note: slots are keyed by command type, not request id, so this
+            // does not prevent a genuinely late daemon reply from being routed
+            // to a newer same-command caller — that cross-talk is inherent to
+            // the single-flight slot design and unchanged here.
+            const settle = (v) => {
+                if (timer !== undefined) {
+                    clearTimeout(timer);
+                    timer = undefined;
+                }
+                if (getSlot() === settle)
+                    setSlot(null);
+                resolve(v);
+            };
+            setSlot(settle);
+            timer = setTimeout(() => settle(null), SLOT_ROUNDTRIP_TIMEOUT_MS);
             this._sendCommand(command);
         });
     }
@@ -1229,6 +1384,30 @@ export class ReachyMini extends EventTarget {
     requestState() {
         return this._sendCommand({ type: 'get_state' });
     }
+    /**
+     * 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() {
+        this._poseSubRefs++;
+        return this._sendCommand({ type: 'subscribe_pose' });
+    }
+    /** Release one pose-stream consumer; sends `unsubscribe_pose` on the last. */
+    unsubscribePose() {
+        if (this._poseSubRefs > 0)
+            this._poseSubRefs--;
+        if (this._poseSubRefs > 0)
+            return true; // still wanted by another consumer
+        return this._sendCommand({ type: 'unsubscribe_pose' });
+    }
     // ─── Audio ───────────────────────────────────────────────────────────
     setAudioMuted(muted) {
         this._audioMuted = muted;
@@ -1526,11 +1705,105 @@ export class ReachyMini extends EventTarget {
         this._dc.send(JSON.stringify(cmd));
         return true;
     }
+    /**
+     * 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(method, params = {}, opts = {}) {
+        const timeoutMs = opts.timeoutMs ?? 20000;
+        const id = `rpc-${++this._rpcCounter}`;
+        if (!this._sendCommand({ jsonrpc: '2.0', id, method, params })) {
+            return Promise.reject(new Error(`rpcCall(${method}): data channel not open`));
+        }
+        return new Promise((resolve, reject) => {
+            const timer = setTimeout(() => {
+                this._pendingRpc.delete(id);
+                reject(new Error(`rpcCall(${method}) timed out after ${timeoutMs}ms`));
+            }, timeoutMs);
+            this._pendingRpc.set(id, {
+                resolve: (v) => resolve(v),
+                reject,
+                timer,
+            });
+        });
+    }
+    /**
+     * Subscribe to a JSON-RPC notification (one-way event) pushed by the
+     * robot/app, e.g. `conversation.turn`. Returns an unsubscribe function.
+     */
+    onNotification(method, cb) {
+        let set = this._rpcListeners.get(method);
+        if (!set) {
+            set = new Set();
+            this._rpcListeners.set(method, set);
+        }
+        set.add(cb);
+        return () => {
+            this._rpcListeners.get(method)?.delete(cb);
+        };
+    }
+    _rejectPendingRpc(err) {
+        for (const pending of this._pendingRpc.values()) {
+            clearTimeout(pending.timer);
+            pending.reject(err);
+        }
+        this._pendingRpc.clear();
+    }
+    _handleRpcMessage(data) {
+        // Response to an rpcCall (correlated by id)...
+        if ('id' in data && data.id != null && ('result' in data || 'error' in data)) {
+            const pending = this._pendingRpc.get(data.id);
+            if (!pending)
+                return;
+            this._pendingRpc.delete(data.id);
+            clearTimeout(pending.timer);
+            if ('error' in data && data.error) {
+                const err = data.error;
+                const e = new Error(err.message ?? 'rpc error');
+                e.reason = err.data?.reason;
+                pending.reject(e);
+            }
+            else {
+                pending.resolve(data.result);
+            }
+            return;
+        }
+        // ...or a one-way notification (event): dispatch to listeners.
+        if (typeof data.method === 'string') {
+            const params = data.params ?? {};
+            for (const cb of this._rpcListeners.get(data.method) ?? []) {
+                try {
+                    cb(params);
+                }
+                catch (e) {
+                    console.error(`onNotification(${data.method}) threw:`, e);
+                }
+            }
+        }
+    }
     _checkSessionReady() {
         if (this._iceConnected && this._dcOpen && this._sessionResolve) {
             this._state = 'streaming';
             this.requestState();
-            this._stateRefreshInterval = setInterval(() => this.requestState(), 500);
+            // Re-assert a pose subscription that was requested before the data
+            // channel was open, or lost on reconnect (a fresh peer starts
+            // unsubscribed on the daemon). Sent raw so it doesn't touch the
+            // local refcount, which already reflects the live consumer count.
+            if (this._poseSubRefs > 0)
+                this._sendCommand({ type: 'subscribe_pose' });
+            // A fresh session has received no pose frame yet, so a timestamp
+            // left over from the previous one must not hold off the poll.
+            this._lastPoseFrameAt = 0;
+            this._stateRefreshInterval = setInterval(() => {
+                // Skip while the pose stream is already feeding state; see
+                // POSE_STREAM_FRESH_MS.
+                if (Date.now() - this._lastPoseFrameAt < POSE_STREAM_FRESH_MS)
+                    return;
+                this.requestState();
+            }, 500);
             this._emit('streaming', { sessionId: this._sessionId, robotId: this._selectedRobotId });
             this._sessionResolve();
             this._sessionResolve = null;
@@ -1674,7 +1947,18 @@ export class ReachyMini extends EventTarget {
             this._emit('error', { source: 'webrtc', error: e });
         }
     }
-    _handleRobotMessage(data) {
+    /**
+     * @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).
+     */
+    _handleRobotMessage(data, fromPoseStream = false) {
+        // JSON-RPC frames (app control surface) are handled separately from
+        // the legacy {command|type} robot messages that share this channel.
+        if (data.jsonrpc === '2.0') {
+            this._handleRpcMessage(data);
+            return;
+        }
         if ('version' in data && this._versionResolve) {
             this._versionResolve(data.version);
             this._versionResolve = null;
@@ -1699,6 +1983,20 @@ export class ReachyMini extends EventTarget {
             }
             return;
         }
+        if (data.command === 'get_robot_name' || data.command === 'set_robot_name') {
+            if (this._robotNameResolve) {
+                this._robotNameResolve(data.status === 'error' ? null : (data.name ?? null));
+                this._robotNameResolve = null;
+            }
+            return;
+        }
+        if (data.command === 'delete_hf_token') {
+            if (this._deleteHfTokenResolve) {
+                this._deleteHfTokenResolve(data.status === 'error' ? false : true);
+                this._deleteHfTokenResolve = null;
+            }
+            return;
+        }
         if (data.command === 'apply_audio_config') {
             if (this._applyAudioConfigResolve) {
                 this._applyAudioConfigResolve(data.error ? false : !!data.applied);
@@ -1795,7 +2093,18 @@ export class ReachyMini extends EventTarget {
             }
             return;
         }
-        if (data.state) {
+        // Only the stream may write the mirror while the stream is live. The
+        // poll stands down in that case (see POSE_STREAM_FRESH_MS), but it
+        // can't unsend a request already in flight: `get_state` rides the
+        // reliable channel, so its reply queues behind whatever else is on it
+        // - a `upload_move_*` burst, typically - and can land hundreds of ms
+        // after the snapshot it carries. Having no `seq`, it slips past the
+        // stale-frame guard and rewinds every consumer to a pose from before
+        // the upload, until the next pushed frame puts them back. That reads
+        // as a one-frame flick to the pre-move pose right as an animation
+        // starts. Nothing is lost by dropping it: pushed frames carry the same
+        // fields (daemon-side `build_state_dict` feeds both).
+        if (data.state && (fromPoseStream || Date.now() - this._lastPoseFrameAt >= POSE_STREAM_FRESH_MS)) {
             const s = data.state;
             if (s.head_pose)
                 this._robotState.head = s.head_pose.flat();