@pollen-robotics/reachy-mini-sdk 1.11.0 → 1.12.0-dev.0.main.2f2e2ba

package/host/dist/chunks/{centralRest-vcOOpQK6.js → centralRest-K3a9U_Sk.js}

@@ -195,10 +195,27 @@ function ue(s, e, t) {
     [0, 0, 0, 1]
   ];
 }
+const he = 4096;
+class _e {
+  _partials = /* @__PURE__ */ new Map();
+  /**
+   * Feed one parsed frame. Returns the message to handle: the frame itself
+   * when it is not a chunk, the reassembled message when this chunk
+   * completes one, or `null` while a message is still arriving.
+   */
+  accept(e) {
+    if (e.type !== "message_chunk") return e;
+    const { id: t, index: n, count: r, data: i } = e;
+    if (typeof t != "string" || typeof n != "number" || typeof r != "number" || typeof i != "string" || r < 1 || r > he)
+      return null;
+    let o = this._partials.get(t);
+    return n === 0 && (o = [], this._partials.set(t, o)), !o || n !== o.length ? (this._partials.delete(t), null) : (o.push(i), o.length < r ? null : (this._partials.delete(t), JSON.parse(o.join(""))));
+  }
+}
 const ee = 4e3;
 class P extends Error {
 }
-class he {
+class pe {
   _replySlots = /* @__PURE__ */ new Map();
   _rpcCounter = 0;
   _pendingRpc = /* @__PURE__ */ new Map();
@@ -356,8 +373,8 @@ class he {
     this._broadcastWaiters = [];
   }
 }
-const M = O("session"), q = 3e3, G = 1e3, _e = 6e4, V = [0, 2e3, 4e3, 8e3, 8e3], pe = 15e3, J = 1e3, fe = 2500, me = 8e3;
-class ge {
+const M = O("session"), q = 3e3, G = 1e3, fe = 6e4, V = [0, 2e3, 4e3, 8e3, 8e3], me = 15e3, J = 1e3, ge = 2500, we = 8e3;
+class be {
   _deps;
   // ICE-blip debounce. All handler slots are scoped to the lifetime
   // of a live session (armed from the pc's state handler, cleared by
@@ -487,7 +504,7 @@ class ge {
       if (typeof document < "u" && document.hidden || (document.removeEventListener("visibilitychange", t), this._pendingVisibilityHandler = null, !this._deps.hasPc())) return;
       const n = this._deps.iceState();
       if (!(n === "connected" || n === "completed")) {
-        if (Date.now() - e > _e) {
+        if (Date.now() - e > fe) {
           const r = new Error("Session expired while tab was backgrounded");
           if (this._deps.rejectPendingSession(r)) {
             this._redialing || this._emitError(r);
@@ -580,9 +597,9 @@ class ge {
     for (let i = 1; i <= n; i++) {
       if (!this._redialing || (this._deps.emit("sessionReconnecting", { attempt: i, maxAttempts: n, cause: t }), await this._redialSleep(V[i - 1]), !this._redialing)) return;
       try {
-        if (this._deps.isSignalingDown() && await this._deps.reconnectSignaling(), !this._redialing || (await we(
+        if (this._deps.isSignalingDown() && await this._deps.reconnectSignaling(), !this._redialing || (await ye(
           this._deps.dial(e),
-          pe,
+          me,
           "auto-reconnect dial timed out"
         ), !this._redialing)) return;
         this._redialing = !1, M.info(`auto-reconnect: recovered on attempt ${i}`), this._deps.emit("sessionReconnected", { attempt: i });
@@ -651,25 +668,25 @@ class ge {
       return;
     }
     const n = e - this._lastDcInboundAt;
-    if (n < fe) return;
+    if (n < ge) return;
     if (!this._dcSilenceNudged) {
       this._dcSilenceNudged = !0, this._deps.nudgeState();
       return;
     }
-    if (n < me) return;
+    if (n < we) return;
     this._dcSilenceNudged = !1;
     const r = `No data-channel traffic for ${n}ms`;
     this.maybeBeginRedial(r) || (this.stopDcWatchdog(), this._emitError(new Error(r)));
   }
 }
-function we(s, e, t) {
+function ye(s, e, t) {
   return Promise.race([
     s,
     new Promise((n, r) => setTimeout(() => r(new Error(t)), e))
   ]);
 }
-const z = "0.0.0-managed-by-ci", be = O("sdk");
-function ye() {
+const z = "0.0.0-managed-by-ci", Se = O("sdk");
+function ve() {
   if (typeof window > "u" || !window.location.hash) return;
   const s = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
   let e;
@@ -684,7 +701,7 @@ function ye() {
   try {
     sessionStorage.setItem("hf_token", t), sessionStorage.setItem("hf_username", n), sessionStorage.setItem("hf_token_expires", i);
   } catch (c) {
-    be.warn("could not persist pre-seeded HF credentials:", c);
+    Se.warn("could not persist pre-seeded HF credentials:", c);
   }
   e.delete("hf_token"), e.delete("hf_username"), e.delete("hf_token_expires");
   const o = e.toString(), a = window.location.pathname + window.location.search + (o ? "#" + o : "");
@@ -693,7 +710,7 @@ function ye() {
   } catch {
   }
 }
-function Se() {
+function Re() {
   if (typeof window > "u") return null;
   if (window.location.hash) {
     const s = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
@@ -711,7 +728,7 @@ function Se() {
     }
   return null;
 }
-function ve(s) {
+function Ie(s) {
   const e = s.split(`\r
 `);
   let t = !1;
@@ -719,58 +736,58 @@ function ve(s) {
     if (n.startsWith("m=audio") ? t = !0 : n.startsWith("m=") && (t = !1), t && n === "a=sendrecv") return !0;
   return !1;
 }
-const j = "hf_token", F = "hf_username", x = "hf_token_expires", L = "hf_token_last_seen", Re = 1440 * 60 * 1e3;
-function Ie(s) {
+const j = "hf_token", x = "hf_username", F = "hf_token_expires", U = "hf_token_last_seen", ke = 1440 * 60 * 1e3;
+function Ee(s) {
   try {
-    sessionStorage.setItem(j, s.token), sessionStorage.setItem(F, s.username), sessionStorage.setItem(x, s.expires), sessionStorage.setItem(L, (/* @__PURE__ */ new Date()).toISOString());
+    sessionStorage.setItem(j, s.token), sessionStorage.setItem(x, s.username), sessionStorage.setItem(F, s.expires), sessionStorage.setItem(U, (/* @__PURE__ */ new Date()).toISOString());
   } catch {
   }
 }
-function ke(s = Date.now()) {
+function Te(s = Date.now()) {
   try {
-    const e = sessionStorage.getItem(j), t = sessionStorage.getItem(F), n = sessionStorage.getItem(x);
+    const e = sessionStorage.getItem(j), t = sessionStorage.getItem(x), n = sessionStorage.getItem(F);
     if (!e || !n) return null;
     if (new Date(n).getTime() <= s)
-      return $(), null;
-    const r = sessionStorage.getItem(L);
+      return N(), null;
+    const r = sessionStorage.getItem(U);
     if (r !== null) {
       const i = new Date(r).getTime();
-      if (!Number.isFinite(i) || s - i > Re)
-        return $(), null;
+      if (!Number.isFinite(i) || s - i > ke)
+        return N(), null;
     }
-    return sessionStorage.setItem(L, new Date(s).toISOString()), { token: e, username: t ?? "", expires: n };
+    return sessionStorage.setItem(U, new Date(s).toISOString()), { token: e, username: t ?? "", expires: n };
   } catch {
     return null;
   }
 }
-function $() {
+function N() {
   try {
-    sessionStorage.removeItem(j), sessionStorage.removeItem(F), sessionStorage.removeItem(x), sessionStorage.removeItem(L);
+    sessionStorage.removeItem(j), sessionStorage.removeItem(x), sessionStorage.removeItem(F), sessionStorage.removeItem(U);
   } catch {
   }
 }
-const Ee = /* @__PURE__ */ new Set([
+const Ae = /* @__PURE__ */ new Set([
   "login_required",
   "consent_required",
   "interaction_required",
   "access_denied"
 ]);
-function Te() {
+function Ce() {
   try {
     const s = new URL(window.location.href), e = s.searchParams.get("error");
-    return e === null || !Ee.has(e) ? null : (s.searchParams.delete("error"), s.searchParams.delete("error_description"), s.searchParams.delete("state"), window.history.replaceState(null, "", s.toString()), e);
+    return e === null || !Ae.has(e) ? null : (s.searchParams.delete("error"), s.searchParams.delete("error_description"), s.searchParams.delete("state"), window.history.replaceState(null, "", s.toString()), e);
   } catch {
     return null;
   }
 }
-const y = 12 * 1024, U = 1 * 1024 * 1024, Ae = 512 * 1024;
-function Ce() {
+const y = 12 * 1024, L = 1 * 1024 * 1024, Me = 512 * 1024;
+function De() {
   return typeof CompressionStream < "u";
 }
 function K() {
   return "u" + Math.random().toString(36).slice(2, 11) + Date.now().toString(36);
 }
-function N(s) {
+function $(s) {
   let e = "";
   for (let n = 0; n < s.length; n += 32768)
     e += String.fromCharCode.apply(
@@ -779,11 +796,11 @@ function N(s) {
     );
   return btoa(e);
 }
-async function Me(s) {
+async function Ue(s) {
   const e = new TextEncoder().encode(s), t = await new Response(
     new Blob([e]).stream().pipeThrough(new CompressionStream("gzip"))
   ).arrayBuffer();
-  return N(new Uint8Array(t));
+  return $(new Uint8Array(t));
 }
 function Y(s) {
   const e = Math.round(Number(s) || 0);
@@ -812,8 +829,8 @@ function X(s) {
       return "wav-base64";
   }
 }
-const _ = O("sdk"), Q = 750, De = 5e3;
-class He extends EventTarget {
+const _ = O("sdk"), Q = 750, Le = 5e3;
+class Be extends EventTarget {
   // ─── Config ──────────────────────────────────────────────────────────
   _signalingUrl;
   _clientId;
@@ -862,7 +879,7 @@ class He extends EventTarget {
   // ─── Pending replies (reply slots / JSON-RPC / motion / broadcast) ───
   // All request/response waiters on the data channel live in one
   // ledger so every teardown path settles them in a single call.
-  _pending = new he();
+  _pending = new pe();
   // ─── Log subscribers ─────────────────────────────────────────────────
   _logSubscribers = /* @__PURE__ */ new Set();
   _updateProgressSubscribers = /* @__PURE__ */ new Set();
@@ -887,7 +904,7 @@ class He extends EventTarget {
   // ─── 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 = Se(), this._supervisor = new ge({
+    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 = Re(), this._supervisor = new be({
       iceState: () => this._pc?.iceConnectionState ?? null,
       hasPc: () => !!this._pc,
       isStreaming: () => this._state === "streaming",
@@ -984,17 +1001,17 @@ class He extends EventTarget {
   // ─── Auth ────────────────────────────────────────────────────────────
   async authenticate() {
     try {
-      ye();
-      const e = Te();
+      ve();
+      const e = Ce();
       e && _.info("silent sign-in declined:", e);
       const t = await ae();
       if (t)
-        return this._username = t.userInfo.preferred_username || t.userInfo.name || null, this._token = t.accessToken, this._tokenExpires = t.accessTokenExpiresAt, Ie({
+        return this._username = t.userInfo.preferred_username || t.userInfo.name || null, this._token = t.accessToken, this._tokenExpires = t.accessTokenExpiresAt, Ee({
           token: this._token,
           username: this._username ?? "",
           expires: typeof this._tokenExpires == "string" ? this._tokenExpires : this._tokenExpires.toISOString()
         }), !0;
-      const n = ke();
+      const n = Te();
       return n && n.username ? (this._token = n.token, this._username = n.username, this._tokenExpires = n.expires, !0) : !1;
     } catch (e) {
       return _.error("authenticate failed:", e), !1;
@@ -1011,7 +1028,7 @@ class He extends EventTarget {
     window.location.href = n;
   }
   logout() {
-    $(), this._username = null, this._tokenExpires = null, this.disconnect();
+    N(), this._username = null, this._tokenExpires = null, this.disconnect();
   }
   // ─── Lifecycle ───────────────────────────────────────────────────────
   async connect(e) {
@@ -1232,19 +1249,24 @@ class He extends EventTarget {
       }, this._pc.ondatachannel = (r) => {
         const i = r.channel;
         if (i.label === "pose") {
-          this._lastPoseSeq = null, i.onmessage = (o) => {
-            const a = JSON.parse(o.data);
-            if (typeof a.seq == "number") {
-              if (this._lastPoseSeq !== null && a.seq <= this._lastPoseSeq) return;
-              this._lastPoseSeq = a.seq;
+          this._lastPoseSeq = null, i.onmessage = (a) => {
+            const c = JSON.parse(a.data);
+            if (typeof c.seq == "number") {
+              if (this._lastPoseSeq !== null && c.seq <= this._lastPoseSeq) return;
+              this._lastPoseSeq = c.seq;
             }
-            this._lastPoseFrameAt = Date.now(), this._handleRobotMessage(a, !0);
+            this._lastPoseFrameAt = Date.now(), this._handleRobotMessage(c, !0);
           };
           return;
         }
         this._dc = i, this._dc.onopen = () => {
           this._dcOpen = !0, this._checkSessionReady();
-        }, this._dc.onmessage = (o) => this._handleRobotMessage(JSON.parse(o.data));
+        };
+        const o = new _e();
+        this._dc.onmessage = (a) => {
+          const c = o.accept(JSON.parse(a.data));
+          c && this._handleRobotMessage(c);
+        };
       }, this._sendToServer({ type: "startSession", peerId: e }).then((r) => {
         if (r?.type === "sessionRejected") {
           this._failSessionRejected(r);
@@ -1545,7 +1567,7 @@ class He extends EventTarget {
     _.info(`ensureAwake: robot asleep (motor_mode=${this._robotState?.motor_mode ?? "unknown"}), playing wake-up`);
     const t = Date.now();
     try {
-      await this.wakeUp({ timeoutMs: De }), _.info(`ensureAwake: wake-up trajectory done in ${Date.now() - t}ms`);
+      await this.wakeUp({ timeoutMs: Le }), _.info(`ensureAwake: wake-up trajectory done in ${Date.now() - t}ms`);
     } catch (n) {
       _.warn(`ensureAwake: wake-up not confirmed after ${Date.now() - t}ms (continuing):`, n);
     }
@@ -1762,7 +1784,7 @@ class He extends EventTarget {
       set_target_data: e.set_target_data
     }, g = JSON.stringify(m);
     let f, v;
-    i === "gzip+base64" && Ce() ? (f = await Me(g), v = "gzip+base64") : (f = g, v = "json");
+    i === "gzip+base64" && De() ? (f = await Ue(g), v = "gzip+base64") : (f = g, v = "json");
     const w = Math.ceil(f.length / y) || 1;
     d({
       phase: "starting",
@@ -1778,7 +1800,7 @@ class He extends EventTarget {
       encoding: v
     });
     for (let h = 0; h < w; h++) {
-      this._dc.bufferedAmount > U && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > L && await this._awaitDataChannelDrain();
       const p = h * y;
       this._sendCommand({
         type: "upload_move_chunk",
@@ -1788,7 +1810,7 @@ class He extends EventTarget {
       }), d({ phase: "upload", sent: h + 1, total: w });
     }
     if (this._sendCommand({ type: "upload_move_finish", upload_id: l }), d({ phase: "uploaded", sent: w, total: w }), t) {
-      const h = new Uint8Array(await t.arrayBuffer()), p = N(h), R = Math.ceil(p.length / y) || 1;
+      const h = new Uint8Array(await t.arrayBuffer()), p = $(h), R = Math.ceil(p.length / y) || 1;
       d({
         phase: "audio-starting",
         sent: 0,
@@ -1802,7 +1824,7 @@ class He extends EventTarget {
         description: r
       });
       for (let T = 0; T < R; T++) {
-        this._dc.bufferedAmount > U && await this._awaitDataChannelDrain();
+        this._dc.bufferedAmount > L && await this._awaitDataChannelDrain();
         const W = T * y;
         this._sendCommand({
           type: "upload_audio_chunk",
@@ -1861,7 +1883,7 @@ class He extends EventTarget {
       throw new Error("data channel not open");
     if (!(e instanceof Blob))
       throw new TypeError("uploadAudio: expected a Blob");
-    const r = K(), i = new Uint8Array(await e.arrayBuffer()), o = N(i), a = Math.ceil(o.length / y) || 1;
+    const r = K(), i = new Uint8Array(await e.arrayBuffer()), o = $(i), a = Math.ceil(o.length / y) || 1;
     n({ phase: "audio-starting", sent: 0, total: a, bytes: o.length }), this._sendCommand({
       type: "upload_audio_start",
       upload_id: r,
@@ -1870,7 +1892,7 @@ class He extends EventTarget {
       description: t
     });
     for (let c = 0; c < a; c++) {
-      this._dc.bufferedAmount > U && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > L && await this._awaitDataChannelDrain();
       const d = c * y;
       this._sendCommand({
         type: "upload_audio_chunk",
@@ -1905,7 +1927,7 @@ class He extends EventTarget {
     return this._pending.awaitBroadcast(e, t);
   }
   async _awaitDataChannelDrain() {
-    for (; this._dc && this._dc.bufferedAmount > Ae; )
+    for (; this._dc && this._dc.bufferedAmount > Me; )
       if (await new Promise((e) => setTimeout(e, 30)), !this._dc || this._dc.readyState !== "open")
         throw new Error("data channel closed mid-upload");
   }
@@ -2028,7 +2050,7 @@ class He extends EventTarget {
         if (e.sdp) {
           const t = e.sdp;
           if (t.type === "offer") {
-            const r = ve(t.sdp);
+            const r = Ie(t.sdp);
             if (this._micSupported = r, this._emit("micSupported", { supported: r }), r && this._micStream)
               for (const o of this._micStream.getAudioTracks())
                 this._pc.addTrack(o, this._micStream);
@@ -2182,7 +2204,7 @@ class He extends EventTarget {
     }, 2e3);
   }
 }
-const Le = "pollen-robotics/reachy_mini", Ue = `https://api.github.com/repos/${Le}/releases/latest`, te = "reachy.daemonLatestRelease.v1", Pe = 360 * 60 * 1e3, ne = "1.8.2";
+const Pe = "pollen-robotics/reachy_mini", Ne = `https://api.github.com/repos/${Pe}/releases/latest`, te = "reachy.daemonLatestRelease.v1", $e = 360 * 60 * 1e3, ne = "1.8.2";
 function k(s) {
   if (typeof s != "string") return null;
   const e = s.trim().replace(/^v/i, "").match(/^(\d+)\.(\d+)\.(\d+)/);
@@ -2195,21 +2217,21 @@ function k(s) {
 function H(s, e) {
   return s.major - e.major || s.minor - e.minor || s.patch - e.patch;
 }
-function $e(s, e) {
+function Oe(s, e) {
   const t = k(s), n = k(e);
   return !t || !n ? !1 : H(t, n) < 0;
 }
-function We(s, e) {
+function qe(s, e) {
   const t = k(s);
   if (!t) return null;
   const n = k(ne);
-  return n && H(t, n) < 0 ? "block" : $e(s, e) ? "notice" : null;
+  return n && H(t, n) < 0 ? "block" : Oe(s, e) ? "notice" : null;
 }
-function Be(s) {
+function Ge(s) {
   const e = k(s), t = k(ne);
   return !!e && !!t && H(e, t) >= 0;
 }
-function Ne() {
+function je() {
   try {
     const s = localStorage.getItem(te);
     if (!s) return null;
@@ -2222,11 +2244,11 @@ function Ne() {
     return null;
   }
 }
-async function qe() {
-  const s = Ne();
-  if (s && Date.now() - s.at < Pe) return s.value;
+async function Ve() {
+  const s = je();
+  if (s && Date.now() - s.at < $e) return s.value;
   try {
-    const e = await fetch(Ue, {
+    const e = await fetch(Ne, {
       headers: { Accept: "application/vnd.github+json" }
     });
     if (!e.ok)
@@ -2241,14 +2263,14 @@ async function qe() {
     return s?.value ?? null;
   }
 }
-const Oe = 8e3;
-function je(s) {
+const xe = 8e3;
+function Fe(s) {
   if (!s) return null;
   const e = s.id ?? s.peerId ?? s.peer_id;
   return typeof e == "string" && e.length > 0 ? e : null;
 }
-function Fe(s) {
-  const e = je(s);
+function He(s) {
+  const e = Fe(s);
   if (!e) return null;
   const t = s.meta?.name ?? s.name, n = typeof s.meta?.transport == "string" && s.meta.transport.length > 0 ? s.meta.transport : null, r = typeof s.meta?.hardware_id == "string" && s.meta.hardware_id.length > 0 ? s.meta.hardware_id : null;
   return {
@@ -2260,12 +2282,12 @@ function Fe(s) {
     hardwareId: r
   };
 }
-async function Ge(s) {
+async function Je(s) {
   const { signalingUrl: e, hfToken: t } = s;
   if (!t) return { ok: !1, robots: [], reason: "No HF token" };
   if (!e)
     return { ok: !1, robots: [], reason: "No signaling URL" };
-  const n = `${e.replace(/\/$/, "")}/api/robot-status`, r = new AbortController(), i = setTimeout(() => r.abort(), Oe), o = s.signal ? xe([r.signal, s.signal]) : r.signal;
+  const n = `${e.replace(/\/$/, "")}/api/robot-status`, r = new AbortController(), i = setTimeout(() => r.abort(), xe), o = s.signal ? We([r.signal, s.signal]) : r.signal;
   try {
     const a = await fetch(n, {
       method: "GET",
@@ -2284,7 +2306,7 @@ async function Ge(s) {
         reason: `Central returned HTTP ${a.status}`
       };
     const c = await a.json();
-    return { ok: !0, robots: (Array.isArray(c.robots) ? c.robots : []).map(Fe).filter((l) => l != null) };
+    return { ok: !0, robots: (Array.isArray(c.robots) ? c.robots : []).map(He).filter((l) => l != null) };
   } catch (a) {
     if (a instanceof DOMException && a.name === "AbortError")
       return { ok: !1, robots: [], reason: "Central request timed out" };
@@ -2294,7 +2316,7 @@ async function Ge(s) {
     clearTimeout(i);
   }
 }
-function xe(s) {
+function We(s) {
   const e = new AbortController();
   for (const t of s) {
     if (t.aborted)
@@ -2305,11 +2327,11 @@ function xe(s) {
 }
 export {
   ne as M,
-  He as R,
-  Ge as a,
+  Be as R,
+  Je as a,
   O as c,
-  We as d,
-  qe as f,
+  qe as d,
+  Ve as f,
   k as p,
-  Be as s
+  Ge as s
 };

package/host/dist/chunks/{index-BrKBhTE0.js → index-B79tSfbK.js}

@@ -1,5 +1,5 @@
 import { decodeCredsFromHash as $, PROTOCOL_VERSION as y, PROTOCOL_SOURCE as b, isProtocolMessage as D } from "../lib/protocol.js";
-import { p as L, a as J, c as G } from "./centralRest-vcOOpQK6.js";
+import { p as L, a as J, c as G } from "./centralRest-K3a9U_Sk.js";
 const Y = "@pollen-robotics/reachy-mini-sdk", Z = `https://registry.npmjs.org/${Y}/latest`, V = "reachy.sdkLatestRelease.v1", F = "reachy.sdkStalenessDismissed.v1", Q = 360 * 60 * 1e3, v = "reachy-sdk-outdated-overlay";
 function X() {
   try {