@pollen-robotics/reachy-mini-sdk 1.13.0-dev.0.main.55a68f6 → 1.13.0-dev.0.main.57898f1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/lib/ice-grace.test.js +1 -0
- package/dist/lib/ice-grace.test.js.map +1 -1
- package/dist/lib/peer-link-liveness.test.d.ts +2 -0
- package/dist/lib/peer-link-liveness.test.d.ts.map +1 -0
- package/dist/lib/peer-link-liveness.test.js +97 -0
- package/dist/lib/peer-link-liveness.test.js.map +1 -0
- package/dist/lib/pending-replies.d.ts +3 -1
- package/dist/lib/pending-replies.d.ts.map +1 -1
- package/dist/lib/pending-replies.js.map +1 -1
- package/dist/lib/reachy-mini.d.ts +59 -1
- package/dist/lib/reachy-mini.d.ts.map +1 -1
- package/dist/lib/reachy-mini.js +240 -20
- package/dist/lib/reachy-mini.js.map +1 -1
- package/dist/lib/redial.test.js +59 -0
- package/dist/lib/redial.test.js.map +1 -1
- package/dist/lib/session-supervisor.d.ts +10 -0
- package/dist/lib/session-supervisor.d.ts.map +1 -1
- package/dist/lib/session-supervisor.js +12 -1
- package/dist/lib/session-supervisor.js.map +1 -1
- package/dist/lib/types.d.ts +34 -0
- package/dist/lib/types.d.ts.map +1 -1
- package/dist/lib/version.d.ts +1 -1
- package/dist/lib/version.js +1 -1
- package/dist/reachy-mini-sdk.d.ts +1 -1
- package/dist/reachy-mini-sdk.d.ts.map +1 -1
- package/dist/reachy-mini-sdk.js.map +1 -1
- package/host/dist/chunks/{centralRest-Bf6BR9KA.js → centralRest-DP58F2yc.js} +754 -630
- package/host/dist/chunks/{index-B5svCSPt.js → index-BuWJ3EPU.js} +1 -1
- package/host/dist/chunks/{mountHost-B2Eh6aMK.js → mountHost-C5yH3vnI.js} +1 -1
- package/host/dist/entry/auto.js +2 -2
- package/host/dist/entry/embed.js +2 -2
- package/host/dist/index.js +3 -3
- package/package.json +1 -1
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@@ -31,6 +31,7 @@ function makeSupervisor(overrides = {}, options = { autoReconnect: true }) {
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rejectPendingSession: vi.fn().mockReturnValue(false),
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reconnectSignaling: vi.fn().mockResolvedValue(undefined),
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dial: vi.fn().mockResolvedValue(undefined),
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+
redialTargetResolver: vi.fn((id) => () => id),
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teardownForRedial: vi.fn(),
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nudgeState: vi.fn(),
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emit: vi.fn(),
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@@ -1 +1 @@
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1
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-
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+
{"version":3,"file":"ice-grace.test.js","sourceRoot":"","sources":["../../lib/ice-grace.test.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;GAmBG;AACH,OAAO,EAAE,SAAS,EAAE,UAAU,EAAE,QAAQ,EAAE,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,MAAM,QAAQ,CAAC;AAEzE,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAK5D,SAAS,cAAc,CACnB,YAAiC,EAAE,EACnC,UAAsC,EAAE,aAAa,EAAE,IAAI,EAAE;IAE7D,MAAM,IAAI,GAAe;QACrB,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,cAAc,CAAC;QACjD,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,IAAI,CAAC;QACpC,WAAW,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,IAAI,CAAC;QAC1C,UAAU,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,KAAK,CAAC;QAC1C,eAAe,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,KAAK,CAAC;QAC/C,eAAe,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,SAAS,CAAC;QACnD,oBAAoB,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,KAAK,CAAC;QACpD,kBAAkB,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CAAC,SAAS,CAAC;QACxD,IAAI,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CAAC,SAAS,CAAC;QAC1C,oBAAoB,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,EAAU,EAAE,EAAE,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC;QACrD,iBAAiB,EAAE,EAAE,CAAC,EAAE,EAAE;QAC1B,UAAU,EAAE,EAAE,CAAC,EAAE,EAAE;QACnB,IAAI,EAAE,EAAE,CAAC,EAAE,EAAE;QACb,GAAG,SAAS;KACf,CAAC;IACF,OAAO,EAAE,GAAG,EAAE,IAAI,iBAAiB,CAAC,IAAwC,EAAE,OAAO,CAAC,EAAE,IAAI,EAAE,CAAC;AACnG,CAAC;AAED,uDAAuD;AACvD,SAAS,OAAO,CAAC,IAAgB,EAAE,IAAY;IAC3C,OAAO,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,KAAK,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAC9E,CAAC;AAED,4DAA4D;AAC5D,SAAS,aAAa,CAAC,IAAgB;IACnC,OAAQ,OAAO,CAAC,IAAI,EAAE,OAAO,CAA6B,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC;AACnF,CAAC;AAED,2EAA2E;AAC3E,IAAI,MAAM,GAAG,KAAK,CAAC;AACnB,UAAU,CAAC,GAAG,EAAE;IACZ,EAAE,CAAC,aAAa,EAAE,CAAC;IACnB,MAAM,GAAG,KAAK,CAAC;IACf,MAAM,CAAC,cAAc,CAAC,QAAQ,EAAE,QAAQ,EAAE;QACtC,YAAY,EAAE,IAAI;QAClB,GAAG,EAAE,GAAG,EAAE,CAAC,MAAM;KACpB,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAEH,SAAS,CAAC,GAAG,EAAE;IACX,EAAE,CAAC,aAAa,EAAE,CAAC;AACvB,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,iCAAiC,EAAE,GAAG,EAAE;IAC7C,EAAE,CAAC,4DAA4D,EAAE,KAAK,IAAI,EAAE;QACxE,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,aAAa,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,GAAG,CAAC,iBAAiB,EAAE,CAAC;QAExB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAE5C,MAAM,EAAE,CAAC,wBAAwB,CAAC,CAAC,CAAC,CAAC;QACrC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAC5C,MAAM,CAAC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,6BAA6B,CAAC,CAAC;IAClF,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,wEAAwE,EAAE,KAAK,IAAI,EAAE;QACpF,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,EAAE,CAAC;QACvC,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,iBAAiB,EAAE,CAAC;QAE7B,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAC5C,MAAM,CAAC,IAAI,CAAC,iBAAiB,CAAC,CAAC,gBAAgB,EAAE,CAAC;QAClD,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,oBAAoB,CAAC,SAAS,CAAC,CAAC;QAClD,MAAM,CAAC,OAAO,CAAC,IAAI,EAAE,oBAAoB,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,qDAAqD,EAAE,KAAK,IAAI,EAAE;QACjE,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,aAAa,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,GAAG,CAAC,WAAW,EAAE,CAAC;QAClB,MAAM,EAAE,CAAC,iBAAiB,EAAE,CAAC;QAC7B,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;IAChD,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,8DAA8D,EAAE,KAAK,IAAI,EAAE;QAC1E,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAChC,EAAE,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,WAAW,CAAC,EAAE,EAClD,EAAE,aAAa,EAAE,KAAK,EAAE,CAC3B,CAAC;QACF,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,iBAAiB,EAAE,CAAC;QAC7B,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;IAChD,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,kEAAkE,EAAE,KAAK,IAAI,EAAE;QAC9E,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,aAAa,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,6DAA6D;QAC7D,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,sDAAsD;QACtD,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;IAChD,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,cAAc,EAAE,GAAG,EAAE;IAC1B,EAAE,CAAC,4CAA4C,EAAE,KAAK,IAAI,EAAE;QACxD,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAChC,EAAE,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,QAAQ,CAAC,EAAE,EAC/C,EAAE,aAAa,EAAE,KAAK,EAAE,CAC3B,CAAC;QACF,GAAG,CAAC,WAAW,EAAE,CAAC;QAClB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAC5C,MAAM,CAAC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,uBAAuB,CAAC,CAAC;IAC5E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,+DAA+D,EAAE,KAAK,IAAI,EAAE;QAC3E,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAChC,EAAE,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,QAAQ,CAAC,EAAE,EAC/C,EAAE,aAAa,EAAE,KAAK,EAAE,CAC3B,CAAC;QACF,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,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|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"peer-link-liveness.test.d.ts","sourceRoot":"","sources":["../../lib/peer-link-liveness.test.ts"],"names":[],"mappings":""}
|
|
@@ -0,0 +1,97 @@
|
|
|
1
|
+
/**
|
|
2
|
+
* Session liveness follows the peer-to-peer link, not central's signaling.
|
|
3
|
+
*
|
|
4
|
+
* The properties that must hold:
|
|
5
|
+
* - a reason-less endSession from central (its own eviction after our
|
|
6
|
+
* signaling timed out) is advisory while the peer link is live;
|
|
7
|
+
* - an endSession with a reason, or one arriving on an idle link, still
|
|
8
|
+
* ends the session;
|
|
9
|
+
* - losing signaling while streaming keeps the session (state stays
|
|
10
|
+
* `streaming`) and reconnects signaling in the background.
|
|
11
|
+
*/
|
|
12
|
+
import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
|
|
13
|
+
import { ReachyMini } from './reachy-mini.js';
|
|
14
|
+
function liveSession() {
|
|
15
|
+
const r = new ReachyMini();
|
|
16
|
+
const s = r;
|
|
17
|
+
s._state = 'streaming';
|
|
18
|
+
s._sessionId = 'central-1';
|
|
19
|
+
s._dcOpen = true;
|
|
20
|
+
s._dc = { readyState: 'open', close: vi.fn() };
|
|
21
|
+
s._pc = { iceConnectionState: 'connected', close: vi.fn() };
|
|
22
|
+
s._token = 'hf_test';
|
|
23
|
+
s._sendToServer = vi.fn().mockResolvedValue(null);
|
|
24
|
+
s._supervisor.stampDcInbound();
|
|
25
|
+
return { r, s };
|
|
26
|
+
}
|
|
27
|
+
function events(r, name) {
|
|
28
|
+
const seen = [];
|
|
29
|
+
r.addEventListener(name, (e) => seen.push(e.detail));
|
|
30
|
+
return seen;
|
|
31
|
+
}
|
|
32
|
+
beforeEach(() => {
|
|
33
|
+
vi.useFakeTimers();
|
|
34
|
+
});
|
|
35
|
+
afterEach(() => {
|
|
36
|
+
vi.useRealTimers();
|
|
37
|
+
vi.unstubAllGlobals();
|
|
38
|
+
});
|
|
39
|
+
describe('central endSession on a streaming session', () => {
|
|
40
|
+
it('is advisory without a reason while the peer link is live', () => {
|
|
41
|
+
const { r, s } = liveSession();
|
|
42
|
+
const stopped = events(r, 'sessionStopped');
|
|
43
|
+
const advisory = events(r, 'signalingSessionEnded');
|
|
44
|
+
s._handleEndSession({ type: 'endSession', sessionId: 'central-1' });
|
|
45
|
+
expect(stopped).toEqual([]);
|
|
46
|
+
expect(advisory).toEqual([{ reason: null }]);
|
|
47
|
+
expect(s._state).toBe('streaming');
|
|
48
|
+
expect(s._sessionId).toBeNull(); // stale on central now
|
|
49
|
+
});
|
|
50
|
+
it('ends the session when it carries a reason', () => {
|
|
51
|
+
const { r, s } = liveSession();
|
|
52
|
+
const stopped = events(r, 'sessionStopped');
|
|
53
|
+
s._handleEndSession({ type: 'endSession', sessionId: 'central-1', reason: 'local_app_started' });
|
|
54
|
+
// Exactly one event, with the robot's reason (no extra `user` one).
|
|
55
|
+
expect(stopped).toEqual([{ reason: 'local_app_started', message: 'Disconnected: a local Python app started on the robot' }]);
|
|
56
|
+
expect(s._state).toBe('connected');
|
|
57
|
+
});
|
|
58
|
+
it('ends the session when the peer link has gone quiet', () => {
|
|
59
|
+
const { r, s } = liveSession();
|
|
60
|
+
const stopped = events(r, 'sessionStopped');
|
|
61
|
+
vi.advanceTimersByTime(10_000); // nothing heard from the robot
|
|
62
|
+
s._handleEndSession({ type: 'endSession', sessionId: 'central-1' });
|
|
63
|
+
expect(stopped[0]).toMatchObject({ reason: 'remote_end' });
|
|
64
|
+
});
|
|
65
|
+
});
|
|
66
|
+
describe('signaling loss while streaming', () => {
|
|
67
|
+
function sseResponse(lines) {
|
|
68
|
+
const body = new ReadableStream({
|
|
69
|
+
start(controller) {
|
|
70
|
+
for (const l of lines)
|
|
71
|
+
controller.enqueue(new TextEncoder().encode(l));
|
|
72
|
+
controller.close();
|
|
73
|
+
},
|
|
74
|
+
});
|
|
75
|
+
return new Response(body, { status: 200 });
|
|
76
|
+
}
|
|
77
|
+
it('keeps the session and reconnects signaling in the background', async () => {
|
|
78
|
+
const { r, s } = liveSession();
|
|
79
|
+
const lost = events(r, 'signalingLost');
|
|
80
|
+
const restored = events(r, 'signalingRestored');
|
|
81
|
+
const disconnected = events(r, 'disconnected');
|
|
82
|
+
const fetchMock = vi.fn().mockResolvedValue(sseResponse(['data: {"type":"welcome","peerId":"me"}\n']));
|
|
83
|
+
vi.stubGlobal('fetch', fetchMock);
|
|
84
|
+
// A stream that welcomes us and then ends: the drop happens mid-session.
|
|
85
|
+
await s._openSignaling();
|
|
86
|
+
await vi.advanceTimersByTimeAsync(0);
|
|
87
|
+
expect(restored).toEqual([{ peerId: 'me' }]);
|
|
88
|
+
expect(lost).toEqual([{ reason: 'SSE closed' }]);
|
|
89
|
+
expect(disconnected).toEqual([]);
|
|
90
|
+
expect(s._state).toBe('streaming');
|
|
91
|
+
expect(s._signalingDown).toBe(true);
|
|
92
|
+
// The background retry dials central again after a short backoff.
|
|
93
|
+
await vi.advanceTimersByTimeAsync(1_000);
|
|
94
|
+
expect(fetchMock).toHaveBeenCalledTimes(2);
|
|
95
|
+
});
|
|
96
|
+
});
|
|
97
|
+
//# sourceMappingURL=peer-link-liveness.test.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"peer-link-liveness.test.js","sourceRoot":"","sources":["../../lib/peer-link-liveness.test.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AACH,OAAO,EAAE,SAAS,EAAE,UAAU,EAAE,QAAQ,EAAE,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,MAAM,QAAQ,CAAC;AAEzE,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAiB9C,SAAS,WAAW;IAChB,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;IAC3B,MAAM,CAAC,GAAG,CAAyB,CAAC;IACpC,CAAC,CAAC,MAAM,GAAG,WAAW,CAAC;IACvB,CAAC,CAAC,UAAU,GAAG,WAAW,CAAC;IAC3B,CAAC,CAAC,OAAO,GAAG,IAAI,CAAC;IACjB,CAAC,CAAC,GAAG,GAAG,EAAE,UAAU,EAAE,MAAM,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC;IAC/C,CAAC,CAAC,GAAG,GAAG,EAAE,kBAAkB,EAAE,WAAW,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC;IAC5D,CAAC,CAAC,MAAM,GAAG,SAAS,CAAC;IACrB,CAAC,CAAC,aAAa,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IAClD,CAAC,CAAC,WAAW,CAAC,cAAc,EAAE,CAAC;IAC/B,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;AACpB,CAAC;AAED,SAAS,MAAM,CAAC,CAAa,EAAE,IAAY;IACvC,MAAM,IAAI,GAAc,EAAE,CAAC;IAC3B,CAAC,CAAC,gBAAgB,CAAC,IAAI,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,IAAI,CAAC,IAAI,CAAE,CAAiB,CAAC,MAAM,CAAC,CAAC,CAAC;IACtE,OAAO,IAAI,CAAC;AAChB,CAAC;AAED,UAAU,CAAC,GAAG,EAAE;IACZ,EAAE,CAAC,aAAa,EAAE,CAAC;AACvB,CAAC,CAAC,CAAC;AAEH,SAAS,CAAC,GAAG,EAAE;IACX,EAAE,CAAC,aAAa,EAAE,CAAC;IACnB,EAAE,CAAC,gBAAgB,EAAE,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,2CAA2C,EAAE,GAAG,EAAE;IACvD,EAAE,CAAC,0DAA0D,EAAE,GAAG,EAAE;QAChE,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,EAAE,gBAAgB,CAAC,CAAC;QAC5C,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,EAAE,uBAAuB,CAAC,CAAC;QAEpD,CAAC,CAAC,iBAAiB,CAAC,EAAE,IAAI,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,CAAC,CAAC;QAEpE,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;QAC5B,MAAM,CAAC,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;QAC7C,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;QACnC,MAAM,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,QAAQ,EAAE,CAAC,CAAC,uBAAuB;IAC5D,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,2CAA2C,EAAE,GAAG,EAAE;QACjD,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,EAAE,gBAAgB,CAAC,CAAC;QAE5C,CAAC,CAAC,iBAAiB,CAAC,EAAE,IAAI,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,EAAE,mBAAmB,EAAE,CAAC,CAAC;QAEjG,oEAAoE;QACpE,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,mBAAmB,EAAE,OAAO,EAAE,uDAAuD,EAAE,CAAC,CAAC,CAAC;QAC7H,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;IACvC,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,oDAAoD,EAAE,GAAG,EAAE;QAC1D,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,EAAE,gBAAgB,CAAC,CAAC;QAC5C,EAAE,CAAC,mBAAmB,CAAC,MAAM,CAAC,CAAC,CAAC,+BAA+B;QAE/D,CAAC,CAAC,iBAAiB,CAAC,EAAE,IAAI,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,CAAC,CAAC;QAEpE,MAAM,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,aAAa,CAAC,EAAE,MAAM,EAAE,YAAY,EAAE,CAAC,CAAC;IAC/D,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,gCAAgC,EAAE,GAAG,EAAE;IAC5C,SAAS,WAAW,CAAC,KAAe;QAChC,MAAM,IAAI,GAAG,IAAI,cAAc,CAAa;YACxC,KAAK,CAAC,UAAU;gBACZ,KAAK,MAAM,CAAC,IAAI,KAAK;oBAAE,UAAU,CAAC,OAAO,CAAC,IAAI,WAAW,EAAE,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;gBACvE,UAAU,CAAC,KAAK,EAAE,CAAC;YACvB,CAAC;SACJ,CAAC,CAAC;QACH,OAAO,IAAI,QAAQ,CAAC,IAAI,EAAE,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC;IAC/C,CAAC;IAED,EAAE,CAAC,8DAA8D,EAAE,KAAK,IAAI,EAAE;QAC1E,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,IAAI,GAAG,MAAM,CAAC,CAAC,EAAE,eAAe,CAAC,CAAC;QACxC,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,EAAE,mBAAmB,CAAC,CAAC;QAChD,MAAM,YAAY,GAAG,MAAM,CAAC,CAAC,EAAE,cAAc,CAAC,CAAC;QAC/C,MAAM,SAAS,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CACvC,WAAW,CAAC,CAAC,0CAA0C,CAAC,CAAC,CAC5D,CAAC;QACF,EAAE,CAAC,UAAU,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;QAElC,yEAAyE;QACzE,MAAM,CAAC,CAAC,cAAc,EAAE,CAAC;QACzB,MAAM,EAAE,CAAC,wBAAwB,CAAC,CAAC,CAAC,CAAC;QAErC,MAAM,CAAC,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;QAC7C,MAAM,CAAC,IAAI,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC;QACjD,MAAM,CAAC,YAAY,CAAC,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;QACjC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;QACnC,MAAM,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAEpC,kEAAkE;QAClE,MAAM,EAAE,CAAC,wBAAwB,CAAC,KAAK,CAAC,CAAC;QACzC,MAAM,CAAC,SAAS,CAAC,CAAC,qBAAqB,CAAC,CAAC,CAAC,CAAC;IAC/C,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC"}
|
|
@@ -20,7 +20,7 @@
|
|
|
20
20
|
* channel — and no future mechanism can be forgotten on a teardown
|
|
21
21
|
* path, because there is only one.
|
|
22
22
|
*/
|
|
23
|
-
import type { FaceTarget, ImuData } from './types.js';
|
|
23
|
+
import type { FaceTarget, ImuData, TelemetryStatus } from './types.js';
|
|
24
24
|
/**
|
|
25
25
|
* Fail-open ceiling for a single reply-slot request/response.
|
|
26
26
|
* Every slot command has a strict "one reply per request" contract, so
|
|
@@ -48,6 +48,8 @@ export interface ReplySlotValues {
|
|
|
48
48
|
first_wake_up: boolean | null;
|
|
49
49
|
tracked_face: FaceTarget | null;
|
|
50
50
|
robot_name: string | null;
|
|
51
|
+
telemetry: TelemetryStatus | null;
|
|
52
|
+
set_telemetry: TelemetryStatus | null;
|
|
51
53
|
delete_hf_token: boolean | null;
|
|
52
54
|
apply_audio_config: boolean | null;
|
|
53
55
|
read_audio_parameter: number[] | null;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"pending-replies.d.ts","sourceRoot":"","sources":["../../lib/pending-replies.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;GAqBG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,OAAO,EAAE,MAAM,YAAY,CAAC;
|
|
1
|
+
{"version":3,"file":"pending-replies.d.ts","sourceRoot":"","sources":["../../lib/pending-replies.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;GAqBG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,OAAO,EAAE,eAAe,EAAE,MAAM,YAAY,CAAC;AAEvE;;;;;;;;;;;;GAYG;AACH,eAAO,MAAM,yBAAyB,OAAO,CAAC;AAE9C;;;;GAIG;AACH,MAAM,WAAW,eAAe;IAC5B,OAAO,EAAE,MAAM,GAAG,IAAI,CAAC;IACvB,WAAW,EAAE,MAAM,GAAG,IAAI,CAAC;IAC3B,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC;IACtB,UAAU,EAAE,MAAM,GAAG,IAAI,CAAC;IAC1B,aAAa,EAAE,OAAO,GAAG,IAAI,CAAC;IAC9B,YAAY,EAAE,UAAU,GAAG,IAAI,CAAC;IAChC,UAAU,EAAE,MAAM,GAAG,IAAI,CAAC;IAC1B,SAAS,EAAE,eAAe,GAAG,IAAI,CAAC;IAElC,aAAa,EAAE,eAAe,GAAG,IAAI,CAAC;IACtC,eAAe,EAAE,OAAO,GAAG,IAAI,CAAC;IAChC,kBAAkB,EAAE,OAAO,GAAG,IAAI,CAAC;IACnC,oBAAoB,EAAE,MAAM,EAAE,GAAG,IAAI,CAAC;IACtC,GAAG,EAAE,OAAO,GAAG,IAAI,CAAC;CACvB;AACD,MAAM,MAAM,YAAY,GAAG,MAAM,eAAe,CAAC;AAEjD,MAAM,MAAM,aAAa,GAAG,SAAS,GAAG,YAAY,CAAC;AAErD;;;;;GAKG;AACH,qBAAa,qBAAsB,SAAQ,KAAK;CAAG;AAqBnD,qBAAa,cAAc;IACvB,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAiD;IAC7E,OAAO,CAAC,WAAW,CAAK;IACxB,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAiC;IAC7D,OAAO,CAAC,QAAQ,CAAC,cAAc,CAG7B;IACF,OAAO,CAAC,iBAAiB,CAAyB;IAIlD;;;;;OAKG;IACH,aAAa,CAAC,CAAC,SAAS,YAAY,EAChC,IAAI,EAAE,CAAC,EACP,IAAI,EAAE,MAAM,IAAI,GACjB,OAAO,CAAC,eAAe,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC;IA4BrC;;;;OAIG;IACH,eAAe,CAAC,CAAC,SAAS,YAAY,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,eAAe,CAAC,CAAC,CAAC,GAAG,OAAO;IASpF;;;;;OAKG;IACH,YAAY,CACR,MAAM,EAAE,MAAM,EACd,SAAS,EAAE,MAAM,EACjB,IAAI,EAAE,CAAC,EAAE,EAAE,MAAM,KAAK,OAAO,GAC9B,OAAO,CAAC,OAAO,CAAC;IAcnB;;;;;OAKG;IACH,iBAAiB,CAAC,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,OAAO;IAqBzD,4EAA4E;IAC5E,WAAW,CAAC,OAAO,EAAE,aAAa,EAAE,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAgBrE;;;;;OAKG;IACH,YAAY,CAAC,OAAO,EAAE,aAAa,EAAE,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,OAAO;IAmB5E,0EAA0E;IAC1E,cAAc,CACV,SAAS,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,KAAK,OAAO,EAClD,EAAE,SAAgB,EAAE,UAAe,EAAE,GAAE;QAAE,SAAS,CAAC,EAAE,MAAM,CAAC;QAAC,UAAU,CAAC,EAAE,MAAM,CAAA;KAAO,GACxF,OAAO,CAAC,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAgBnC;;;OAGG;IACH,cAAc,CAAC,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,OAAO;IAetD;;;;;;OAMG;IACH,SAAS,CAAC,GAAG,EAAE,KAAK,GAAG,IAAI;CA2B9B"}
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"pending-replies.js","sourceRoot":"","sources":["../../lib/pending-replies.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;GAqBG;AAIH;;;;;;;;;;;;GAYG;AACH,MAAM,CAAC,MAAM,yBAAyB,GAAG,IAAI,CAAC;
|
|
1
|
+
{"version":3,"file":"pending-replies.js","sourceRoot":"","sources":["../../lib/pending-replies.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;GAqBG;AAIH;;;;;;;;;;;;GAYG;AACH,MAAM,CAAC,MAAM,yBAAyB,GAAG,IAAI,CAAC;AA2B9C;;;;;GAKG;AACH,MAAM,OAAO,qBAAsB,SAAQ,KAAK;CAAG;AAqBnD,MAAM,OAAO,cAAc;IACN,WAAW,GAAG,IAAI,GAAG,EAAsC,CAAC;IACrE,WAAW,GAAG,CAAC,CAAC;IACP,WAAW,GAAG,IAAI,GAAG,EAAsB,CAAC;IAC5C,cAAc,GAA2C;QACtE,OAAO,EAAE,EAAE;QACX,UAAU,EAAE,EAAE;KACjB,CAAC;IACM,iBAAiB,GAAsB,EAAE,CAAC;IAElD,wEAAwE;IAExE;;;;;OAKG;IACH,aAAa,CACT,IAAO,EACP,IAAgB;QAEhB,OAAO,IAAI,OAAO,CAA4B,CAAC,OAAO,EAAE,EAAE;YACtD,MAAM,IAAI,GAAG,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;YACxC,IAAI,IAAI;gBAAE,IAAI,CAAC,IAAI,CAAC,CAAC;YACrB,IAAI,KAAgD,CAAC;YACrD,iEAAiE;YACjE,kEAAkE;YAClE,kEAAkE;YAClE,oEAAoE;YACpE,gDAAgD;YAChD,iEAAiE;YACjE,mEAAmE;YACnE,kEAAkE;YAClE,iCAAiC;YACjC,MAAM,MAAM,GAAG,CAAC,CAAU,EAAQ,EAAE;gBAChC,IAAI,KAAK,KAAK,SAAS,EAAE,CAAC;oBACtB,YAAY,CAAC,KAAK,CAAC,CAAC;oBACpB,KAAK,GAAG,SAAS,CAAC;gBACtB,CAAC;gBACD,IAAI,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,MAAM;oBAAE,IAAI,CAAC,WAAW,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;gBACzE,OAAO,CAAC,CAA8B,CAAC,CAAC;YAC5C,CAAC,CAAC;YACF,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;YACnC,KAAK,GAAG,UAAU,CAAC,GAAG,EAAE,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,yBAAyB,CAAC,CAAC;YAClE,IAAI,EAAE,CAAC;QACX,CAAC,CAAC,CAAC;IACP,CAAC;IAED;;;;OAIG;IACH,eAAe,CAAyB,IAAO,EAAE,KAAyB;QACtE,MAAM,MAAM,GAAG,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QAC1C,IAAI,CAAC,MAAM;YAAE,OAAO,KAAK,CAAC;QAC1B,MAAM,CAAC,KAAK,CAAC,CAAC;QACd,OAAO,IAAI,CAAC;IAChB,CAAC;IAED,wEAAwE;IAExE;;;;;OAKG;IACH,YAAY,CACR,MAAc,EACd,SAAiB,EACjB,IAA6B;QAE7B,MAAM,EAAE,GAAG,OAAO,EAAE,IAAI,CAAC,WAAW,EAAE,CAAC;QACvC,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC;YACZ,OAAO,OAAO,CAAC,MAAM,CAAC,IAAI,KAAK,CAAC,WAAW,MAAM,0BAA0B,CAAC,CAAC,CAAC;QAClF,CAAC;QACD,OAAO,IAAI,OAAO,CAAU,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE;YAC5C,MAAM,KAAK,GAAG,UAAU,CAAC,GAAG,EAAE;gBAC1B,IAAI,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;gBAC5B,MAAM,CAAC,IAAI,KAAK,CAAC,WAAW,MAAM,qBAAqB,SAAS,IAAI,CAAC,CAAC,CAAC;YAC3E,CAAC,EAAE,SAAS,CAAC,CAAC;YACd,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,CAAC,CAAC;QACzD,CAAC,CAAC,CAAC;IACP,CAAC;IAED;;;;;OAKG;IACH,iBAAiB,CAAC,IAA6B;QAC3C,IAAI,CAAC,CAAC,IAAI,IAAI,IAAI,CAAC,IAAI,IAAI,CAAC,EAAE,IAAI,IAAI,IAAI,CAAC,CAAC,QAAQ,IAAI,IAAI,IAAI,OAAO,IAAI,IAAI,CAAC,EAAE,CAAC;YAC/E,OAAO,KAAK,CAAC;QACjB,CAAC;QACD,MAAM,OAAO,GAAG,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,CAAC,EAAY,CAAC,CAAC;QACxD,IAAI,CAAC,OAAO;YAAE,OAAO,IAAI,CAAC,CAAC,iCAAiC;QAC5D,IAAI,CAAC,WAAW,CAAC,MAAM,CAAC,IAAI,CAAC,EAAY,CAAC,CAAC;QAC3C,YAAY,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QAC5B,IAAI,OAAO,IAAI,IAAI,IAAI,IAAI,CAAC,KAAK,EAAE,CAAC;YAChC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAyD,CAAC;YAC3E,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,GAAG,CAAC,OAAO,IAAI,WAAW,CAAC,CAAC;YAC/C,CAAiC,CAAC,MAAM,GAAG,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC;YAC7D,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QACtB,CAAC;aAAM,CAAC;YACJ,OAAO,CAAC,OAAO,CAAE,IAA6B,CAAC,MAAM,CAAC,CAAC;QAC3D,CAAC;QACD,OAAO,IAAI,CAAC;IAChB,CAAC;IAED,wEAAwE;IAExE,4EAA4E;IAC5E,WAAW,CAAC,OAAsB,EAAE,SAAiB;QACjD,OAAO,IAAI,OAAO,CAAO,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE;YACzC,MAAM,KAAK,GAAkB;gBACzB,OAAO;gBACP,MAAM;gBACN,KAAK,EAAE,UAAU,CAAC,GAAG,EAAE;oBACnB,MAAM,KAAK,GAAG,IAAI,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC;oBAC3C,MAAM,GAAG,GAAG,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;oBACjC,IAAI,GAAG,KAAK,CAAC,CAAC;wBAAE,KAAK,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC;oBACrC,MAAM,CAAC,IAAI,KAAK,CAAC,GAAG,OAAO,oBAAoB,SAAS,IAAI,CAAC,CAAC,CAAC;gBACnE,CAAC,EAAE,SAAS,CAAC;aAChB,CAAC;YACF,IAAI,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAC7C,CAAC,CAAC,CAAC;IACP,CAAC;IAED;;;;;OAKG;IACH,YAAY,CAAC,OAAsB,EAAE,IAA6B;QAC9D,MAAM,KAAK,GAAG,IAAI,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC;QAC3C,IAAI,IAAI,CAAC,SAAS,KAAK,IAAI,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YAC9C,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,EAAG,CAAC;YAC7B,YAAY,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;YAC1B,KAAK,CAAC,OAAO,EAAE,CAAC;YAChB,OAAO,IAAI,CAAC;QAChB,CAAC;QACD,IAAI,IAAI,CAAC,KAAK,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YACjC,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,EAAG,CAAC;YAC7B,YAAY,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;YAC1B,KAAK,CAAC,MAAM,CAAC,IAAI,KAAK,CAAC,GAAG,OAAO,KAAK,IAAI,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;YACrD,OAAO,IAAI,CAAC;QAChB,CAAC;QACD,OAAO,KAAK,CAAC;IACjB,CAAC;IAED,wEAAwE;IAExE,0EAA0E;IAC1E,cAAc,CACV,SAAkD,EAClD,EAAE,SAAS,GAAG,IAAI,EAAE,UAAU,GAAG,EAAE,KAAkD,EAAE;QAEvF,OAAO,IAAI,OAAO,CAA0B,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE;YAC5D,MAAM,IAAI,GAAoB;gBAC1B,SAAS;gBACT,OAAO;gBACP,MAAM;gBACN,KAAK,EAAE,UAAU,CAAC,GAAG,EAAE;oBACnB,MAAM,CAAC,GAAG,IAAI,CAAC,iBAAiB,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;oBAC/C,IAAI,CAAC,KAAK,CAAC,CAAC;wBAAE,IAAI,CAAC,iBAAiB,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;oBAClD,MAAM,CAAC,IAAI,qBAAqB,CAAC,sBAAsB,SAAS,SAAS,UAAU,EAAE,CAAC,CAAC,CAAC;gBAC5F,CAAC,EAAE,SAAS,CAAC;aAChB,CAAC;YACF,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QACtC,CAAC,CAAC,CAAC;IACP,CAAC;IAED;;;OAGG;IACH,cAAc,CAAC,IAA6B;QACxC,KAAK,IAAI,CAAC,GAAG,IAAI,CAAC,iBAAiB,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,EAAE,CAA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@@ -3,7 +3,7 @@
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3
3
|
* See `../reachy-mini-sdk.ts` for the package's barrel and the README for
|
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4
4
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* a quick-start guide.
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5
5
|
*/
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6
|
-
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';
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6
|
+
import type { ApplyAudioConfigOptions, AudioConfigEntry, AutoConnectOptions, AutoConnectResult, FaceTarget, ImuData, LoginOptions, MotionAwaitOptions, MoveData, PlayMoveOptions, PlayMoveResult, PlayUploadedAudioOptions, ReachyMiniInstance, ReachyMiniOptions, RequestOptions, RobotInfo, RobotState, TelemetryStatus, StartDaemonUpdateOptions, SubscribeLogsOptions, UpdateProgressEvent, UploadAudioOptions } from './types.js';
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7
7
|
export type { UpdateProgressEvent };
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8
8
|
export declare class ReachyMini extends EventTarget implements ReachyMiniInstance {
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9
9
|
private readonly _signalingUrl;
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@@ -31,6 +31,15 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
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31
31
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_micStream: MediaStream | null;
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32
32
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private _robotAudioTrack;
|
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33
33
|
private _outgoingAudioTrack;
|
|
34
|
+
/** Context driving the silent placeholder track; closed with it. */
|
|
35
|
+
private _micCtx;
|
|
36
|
+
/** Robot dialed last and its stable identity (see `_redialTargetResolver`). */
|
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37
|
+
private _dialedRobotId;
|
|
38
|
+
private _dialedRobotIdentity;
|
|
39
|
+
/** Signaling (SSE) dropped while streaming; reconnecting in the background. */
|
|
40
|
+
private _signalingDown;
|
|
41
|
+
private _signalingRetryTimer;
|
|
42
|
+
private _signalingRetryAttempt;
|
|
34
43
|
private _micMuted;
|
|
35
44
|
private _audioMuted;
|
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36
45
|
private _micSupported;
|
|
@@ -94,6 +103,12 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
|
|
|
94
103
|
login(options?: LoginOptions): Promise<void>;
|
|
95
104
|
logout(): void;
|
|
96
105
|
connect(token?: string): Promise<void>;
|
|
106
|
+
/**
|
|
107
|
+
* Open the signaling SSE stream and resolve on central's `welcome`.
|
|
108
|
+
* Shared by `connect()` and the background reconnect that runs while a
|
|
109
|
+
* session keeps streaming without signaling (see `signalingLost`).
|
|
110
|
+
*/
|
|
111
|
+
private _openSignaling;
|
|
97
112
|
autoConnect(options?: AutoConnectOptions): Promise<AutoConnectResult>;
|
|
98
113
|
private _fetchOwnedRobots;
|
|
99
114
|
private _waitForRobotInList;
|
|
@@ -139,7 +154,40 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
|
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|
139
154
|
* armed, and a late signaling reply could otherwise settle them
|
|
140
155
|
* against a closed pc).
|
|
141
156
|
*/
|
|
157
|
+
/**
|
|
158
|
+
* Resolver for the redial loop. Matches on the robot's stable
|
|
159
|
+
* identity (`install_id`, else `hardware_id`; never the name, which
|
|
160
|
+
* users often leave at the default and share across robots). A
|
|
161
|
+
* listed robot with that identity under a NEW id is the same robot,
|
|
162
|
+
* re-registered; otherwise keep dialing the original id.
|
|
163
|
+
*/
|
|
164
|
+
private _redialTargetResolver;
|
|
165
|
+
/**
|
|
166
|
+
* Stop the placeholder sender track AND close its AudioContext.
|
|
167
|
+
* Stopping the track alone left the context (and its oscillator)
|
|
168
|
+
* running: one leaked context per dial, and browsers cap open audio
|
|
169
|
+
* outputs (Chromium: 10 per page), so after a few re-dials every
|
|
170
|
+
* new AudioContext in the host app fails silently.
|
|
171
|
+
*/
|
|
172
|
+
private _releaseMicPlaceholder;
|
|
142
173
|
private _teardownForRedial;
|
|
174
|
+
/**
|
|
175
|
+
* The robot (or central on its behalf) ended a streaming session:
|
|
176
|
+
* tear our side down and emit ONE `sessionStopped` carrying the
|
|
177
|
+
* robot's reason (`stopSession()` would add a second, `user`, one).
|
|
178
|
+
* No endSession goes back: the other side already ended it.
|
|
179
|
+
*/
|
|
180
|
+
private _endedByRobot;
|
|
181
|
+
/** Session over while signaling is down: surface the real state. */
|
|
182
|
+
private _dropToDisconnectedIfSignalingDown;
|
|
183
|
+
private _clearSignalingRetry;
|
|
184
|
+
/** Background signaling reconnect while a session keeps streaming. */
|
|
185
|
+
private _scheduleSignalingRetry;
|
|
186
|
+
/**
|
|
187
|
+
* Liveness of the peer link itself: data channel open, ICE up, and the
|
|
188
|
+
* robot heard from recently (it answers the ~500 ms state poll).
|
|
189
|
+
*/
|
|
190
|
+
private _peerLinkLive;
|
|
143
191
|
/**
|
|
144
192
|
* Atomic raw-units pose update over the data channel. Channels you
|
|
145
193
|
* omit are held at their last commanded value (per-axis, independent).
|
|
@@ -293,6 +341,16 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
|
|
|
293
341
|
* on the next start.
|
|
294
342
|
*/
|
|
295
343
|
setRobotName(name: string): Promise<string | null>;
|
|
344
|
+
/**
|
|
345
|
+
* Read the robot's anonymous telemetry choice. Resolves `null` when the
|
|
346
|
+
* channel isn't open or the daemon predates the `get_telemetry` command.
|
|
347
|
+
*/
|
|
348
|
+
getTelemetry(): Promise<TelemetryStatus | null>;
|
|
349
|
+
/**
|
|
350
|
+
* Enable or disable telemetry on the robot, applied live. Disabling also
|
|
351
|
+
* forgets the robot id. Resolves the stored choice, or `null` on error.
|
|
352
|
+
*/
|
|
353
|
+
setTelemetry(enabled: boolean): Promise<TelemetryStatus | null>;
|
|
296
354
|
/**
|
|
297
355
|
* Sign this robot out of Hugging Face: asks the daemon to delete its
|
|
298
356
|
* stored HF token, which de-registers the robot from the central
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"reachy-mini.d.ts","sourceRoot":"","sources":["../../lib/reachy-mini.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAoCH,OAAO,KAAK,EACR,uBAAuB,EACvB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EAEjB,UAAU,EACV,OAAO,EACP,YAAY,EACZ,kBAAkB,EAClB,QAAQ,EACR,eAAe,EACf,cAAc,EACd,wBAAwB,EAExB,kBAAkB,EAClB,iBAAiB,EACjB,cAAc,EACd,SAAS,EACT,UAAU,
|
|
1
|
+
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