@pollen-robotics/reachy-mini-sdk 1.7.3 → 1.8.0-main.54c2dcd

package/dist/lib/reachy-mini.js.map

@@ -0,0 +1 @@
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package/dist/lib/types.d.ts

@@ -0,0 +1,384 @@
+/**
+ * Public type surface for the ReachyMini SDK.
+ *
+ * These types are exported from the package barrel
+ * (`reachy-mini-sdk.ts`) and re-exported by the host shell via
+ * `host/src/lib/sdk-types.ts`.
+ */
+/** Robot summary returned by the central via `robots`/`robotsChanged`. */
+export interface RobotInfo {
+    id: string;
+    meta?: {
+        name?: string;
+    };
+    /**
+     * `true` when the central reports an active session held by
+     * another consumer. Older centrals omit it; default `false`.
+     */
+    busy?: boolean;
+    /**
+     * Friendly name of the app currently holding the session, when
+     * the busy consumer advertised one. Pure UX hint, never trust
+     * for security decisions. `null` / undefined when the robot is
+     * free.
+     */
+    activeApp?: string | null;
+    /**
+     * Network transport reported by the daemon (`wifi` / `usb` /
+     * arbitrary string). Surfaced as a chip on the discovery card.
+     * Older centrals or non-conformant daemons may omit it.
+     */
+    transport?: string | null;
+    /**
+     * Hardware id reported by the daemon (e.g. serial number).
+     * When present, the picker shows it in place of the (longer,
+     * less human-friendly) peer id. Optional.
+     */
+    hardwareId?: string | null;
+}
+/** Latest robot telemetry mirrored on `robot.robotState` (wire shape). */
+export interface RobotState {
+    /** Flat row-major 4×4 head pose (16 numbers). */
+    head?: number[];
+    /** [rightRad, leftRad]. */
+    antennas?: number[];
+    /** Radians. */
+    body_yaw?: number;
+    motor_mode?: 'enabled' | 'disabled' | 'gravity_compensation';
+    is_move_running?: boolean;
+}
+/** SDK constructor options. */
+export interface ReachyMiniOptions {
+    signalingUrl?: string;
+    /**
+     * @deprecated The SDK no longer acquires the user's microphone. A silent
+     * placeholder audio sender is always set up so apps can `replaceTrack`
+     * their own audio (TTS, files, or — for teleop — the user's mic) onto
+     * it. This option is parsed for backward compatibility but has no
+     * effect.
+     */
+    enableMicrophone?: boolean;
+    clientId?: string;
+    appName?: string;
+    /**
+     * Hint to the receiver's WebRTC jitter buffer (ms). 0 = "render
+     * ASAP", appropriate for teleop. Spec range [0, 4000]. Browsers
+     * that don't implement `RTCRtpReceiver.jitterBufferTarget` fall
+     * back to default buffering (~150-200 ms).
+     */
+    videoJitterBufferTargetMs?: number;
+    /**
+     * When true AND the URL carries a `robot_peer_id` hint, the SDK
+     * auto-calls `startSession(preselectedRobotId)` once that robot
+     * appears in the central's list after `connect()` resolves. One-shot
+     * per page load; the host iframe relies on this to skip the picker.
+     */
+    autoStartFromUrl?: boolean;
+}
+/** Options accepted by `autoConnect()`. */
+export interface AutoConnectOptions {
+    /** Skip `authenticate()`; use this raw HF token. */
+    token?: string;
+    /**
+     * Called in the standalone, multi-robot case to let the consumer
+     * pick a robot from the live list. Return the robot id, or `null`
+     * to cancel.
+     */
+    pickRobot?: (robots: AutoConnectRobotChoice[]) => Promise<string | null>;
+    /** Skip `pickRobot` when exactly one robot is free. Default `true`. */
+    autoPickIfSingle?: boolean;
+    /** Hide busy robots from the picker. Default `true`. */
+    filterBusy?: boolean;
+    /** Call `ensureAwake()` after `startSession()`. Default `true`. */
+    wakeOnConnect?: boolean;
+}
+/** Robot row passed to `pickRobot` callback (richer than `RobotInfo`). */
+export interface AutoConnectRobotChoice {
+    id: string;
+    name: string | null;
+    busy: boolean;
+    activeApp: string | null;
+    meta: Record<string, unknown>;
+    lastSeenAgeSeconds: number | null;
+}
+/** Resolution payload of `autoConnect()`. */
+export interface AutoConnectResult {
+    robotId: string;
+    robotName: string | null;
+    isEmbedded: boolean;
+    /** Set when `autoConnect()` short-circuited on an already-streaming session. */
+    alreadyStreaming?: boolean;
+}
+/** Options for the awaitable motion helpers (`wakeUp`, `gotoSleep`). */
+export interface MotionAwaitOptions {
+    /**
+     * Hard upper bound for the trajectory completion response from the
+     * daemon. Defaults to 8000 ms (typical wake_up is ~1-3 s, but
+     * deeply offset poses can take longer). The returned promise
+     * rejects with a `${command} timed out after ${timeoutMs}ms` error
+     * if the daemon goes silent.
+     */
+    timeoutMs?: number;
+}
+/** `subscribeLogs()` argument. */
+export interface SubscribeLogsOptions {
+    onLine: (entry: {
+        timestamp: string;
+        line: string;
+    }) => void;
+    onError?: (error: string) => void;
+}
+/** Single XVF3800 parameter write. */
+export interface AudioConfigEntry {
+    name: string;
+    values: number[];
+}
+export interface ApplyAudioConfigOptions {
+    /** Read each parameter back after writing. Default `true`. */
+    verify?: boolean;
+}
+export interface MoveData {
+    time: number[];
+    set_target_data: object[];
+}
+export interface PlayMoveProgress {
+    phase: string;
+    sent?: number;
+    total?: number;
+    bytes?: number;
+    encoding?: string;
+    duration_s?: number;
+}
+export interface PlayMoveStartedInfo {
+    duration_s: number;
+    has_audio: boolean;
+}
+export interface PlayMoveOptions {
+    audioBlob?: Blob | null;
+    audioLeadMs?: number;
+    description?: string;
+    encoding?: 'gzip+base64' | 'json';
+    playFrequency?: number;
+    initialGotoDuration?: number;
+    startTimeoutMs?: number;
+    onProgress?: (p: PlayMoveProgress) => void;
+    onStarted?: (s: PlayMoveStartedInfo) => void;
+}
+export interface PlayMoveResult {
+    finished?: boolean;
+    cancelled?: boolean;
+    error?: string;
+    has_audio?: boolean;
+    /** Daemon may attach extra fields; tolerate them. */
+    [key: string]: unknown;
+}
+export interface UploadAudioProgress {
+    phase: string;
+    sent?: number;
+    total?: number;
+    bytes?: number;
+}
+export interface UploadAudioOptions {
+    description?: string;
+    onProgress?: (p: UploadAudioProgress) => void;
+}
+export interface PlayUploadedAudioOptions {
+    timeoutMs?: number;
+}
+export interface ConnectedEventDetail {
+    peerId: string;
+}
+export interface DisconnectedEventDetail {
+    reason: string;
+}
+export interface RobotsChangedEventDetail {
+    robots: RobotInfo[];
+}
+export interface StreamingEventDetail {
+    sessionId: string;
+    robotId: string;
+}
+export interface SessionStoppedEventDetail {
+    reason: string;
+    message?: string | null;
+}
+export interface SessionRejectedEventDetail {
+    reason: string | undefined;
+    activeApp: string | null | undefined;
+}
+export type StateEventDetail = RobotState;
+export interface VideoTrackEventDetail {
+    track: MediaStreamTrack;
+    stream: MediaStream;
+}
+export interface MicSupportedEventDetail {
+    supported: boolean;
+}
+export interface ErrorEventDetail {
+    source: 'signaling' | 'webrtc' | 'robot';
+    error: Error | string;
+}
+/** Map of event names to their detail shapes. */
+export interface ReachyMiniEventMap {
+    connected: CustomEvent<ConnectedEventDetail>;
+    disconnected: CustomEvent<DisconnectedEventDetail>;
+    robotsChanged: CustomEvent<RobotsChangedEventDetail>;
+    streaming: CustomEvent<StreamingEventDetail>;
+    sessionStopped: CustomEvent<SessionStoppedEventDetail>;
+    sessionRejected: CustomEvent<SessionRejectedEventDetail>;
+    state: CustomEvent<StateEventDetail>;
+    videoTrack: CustomEvent<VideoTrackEventDetail>;
+    micSupported: CustomEvent<MicSupportedEventDetail>;
+    error: CustomEvent<ErrorEventDetail>;
+}
+/** Public surface of a ReachyMini SDK instance. */
+export interface ReachyMiniInstance extends EventTarget {
+    readonly state: 'disconnected' | 'connected' | 'streaming';
+    readonly robots: RobotInfo[];
+    /**
+     * Mirror of the latest "state" event detail. Fields appear only once
+     * the daemon has sent the corresponding source field.
+     */
+    readonly robotState: RobotState;
+    readonly username: string | null;
+    readonly isAuthenticated: boolean;
+    readonly micSupported: boolean;
+    readonly micMuted: boolean;
+    readonly audioMuted: boolean;
+    /** Set by the SDK from `?robot_peer_id=` / `#robot_peer_id=`. */
+    readonly preselectedRobotId: string | null;
+    /** `true` iff `preselectedRobotId !== null`. UX branching helper. */
+    readonly isEmbedded: boolean;
+    /** Underlying RTCPeerConnection. Apps can read it to inspect
+     *  audio / video transceivers. */
+    _pc: RTCPeerConnection | null;
+    /** Silent placeholder MediaStream the SDK feeds the WebRTC audio
+     *  sender so robot-speaker output can negotiate sendrecv. Apps inject
+     *  their own audio (TTS, files, the user's mic for teleop) by calling
+     *  `replaceTrack()` on the audio sender from `_pc.getSenders()`. */
+    _micStream: MediaStream | null;
+    authenticate(): Promise<boolean>;
+    login(): Promise<void>;
+    logout(): void;
+    connect(token?: string): Promise<void>;
+    /**
+     * One-shot bring-up: auth → SSE connect → robot selection → session →
+     * wake up. The all-in-one entry point that captures the common
+     * "embed *or* standalone, just get me streaming" flow.
+     */
+    autoConnect(options?: AutoConnectOptions): Promise<AutoConnectResult>;
+    disconnect(): void;
+    startSession(robotId: string): Promise<void>;
+    stopSession(): Promise<void>;
+    attachVideo(el: HTMLVideoElement): () => void;
+    setHeadRpyDeg(roll: number, pitch: number, yaw: number): boolean;
+    setAntennasDeg(right: number, left: number): boolean;
+    setBodyYawDeg(yawDeg: number): boolean;
+    /**
+     * Streaming variant for the trajectory player: sets the full
+     * target frame at 50-100 Hz. Unspecified joints keep their
+     * previous target. Returns `false` if the data channel is not
+     * open.
+     */
+    setTarget(args: {
+        head?: number[];
+        antennas?: number[];
+        body_yaw?: number;
+    }): boolean;
+    /**
+     * Smooth daemon-side interpolation to a target pose over `duration`
+     * seconds. Mirrors `setTarget`'s wire shape and adds a required
+     * `duration` field. Throws `TypeError` on invalid input.
+     */
+    gotoTarget(args: {
+        head?: number[];
+        antennas?: number[];
+        body_yaw?: number;
+        duration: number;
+    }): boolean;
+    /** Send an arbitrary JSON message on the data channel. */
+    sendRaw(data: unknown): boolean;
+    /** Play a sound file on the robot's speakers (basename). */
+    playSound(file: string): boolean;
+    setAudioMuted(muted: boolean): void;
+    setMicMuted(muted: boolean): void;
+    getVolume(): Promise<number | null>;
+    setVolume(volume: number): Promise<number | null>;
+    getMicrophoneVolume(): Promise<number | null>;
+    setMicrophoneVolume(volume: number): Promise<number | null>;
+    /**
+     * Apply a batch of XVF3800 audio-board parameters on the robot.
+     * Mirrors the on-robot `AudioBase.apply_audio_config()` SDK call.
+     * Resolves `true` when every parameter was written (and, when
+     * `verify` is `true`, read back successfully); `false` when the
+     * audio board is unavailable.
+     */
+    applyAudioConfig(config: AudioConfigEntry[], opts?: ApplyAudioConfigOptions): Promise<boolean>;
+    /**
+     * Read a single XVF3800 parameter by name. Mirrors the on-robot
+     * `ReSpeaker.read_values()` SDK call. Resolves the decoded
+     * numeric values, or `null` when the parameter is unknown /
+     * unreadable / the audio board is unavailable.
+     */
+    readAudioParameter(name: string): Promise<number[] | null>;
+    /** Daemon version string, or `null` when unavailable. */
+    getVersion(): Promise<string | null>;
+    /** Hardware ID (USB serial), or `null` on developer machines. */
+    getHardwareId(): Promise<string | null>;
+    /** Force a `state` event right now (background poll runs at 500 ms). */
+    requestState(): boolean;
+    /** Subscribe to daemon `journalctl` logs over the data channel. */
+    subscribeLogs(options: SubscribeLogsOptions): () => void;
+    /**
+     * Motor torque mode: `enabled` (position control), `disabled`
+     * (limp), `gravity_compensation` (float-by-hand). Returns
+     * `false` if the data channel is not open.
+     */
+    setMotorMode(mode: 'enabled' | 'disabled' | 'gravity_compensation'): boolean;
+    /**
+     * Per-motor torque toggle. When `ids` is omitted, applies globally
+     * (equivalent to `setMotorMode("enabled" | "disabled")`).
+     */
+    setMotorTorque(on: boolean, ids?: string[] | null): boolean;
+    /**
+     * Play the wake-up trajectory (enables motors first). Resolves on
+     * the daemon's `{command: "wake_up", completed: true}` response,
+     * rejects on `timeoutMs` elapsed or on session teardown.
+     */
+    wakeUp(options?: MotionAwaitOptions): Promise<void>;
+    /**
+     * Play the goto-sleep trajectory. Resolves when the daemon reports
+     * completion. Does NOT touch motor mode; caller manages it.
+     */
+    gotoSleep(options?: MotionAwaitOptions): Promise<void>;
+    /** Read the awake state from the cached `motor_mode`. */
+    isAwake(): boolean;
+    /**
+     * Idempotent wakeUp: noop when already awake. Resolves with
+     * the post-call awake state. Does NOT await the trajectory.
+     */
+    ensureAwake(timeoutMs?: number): Promise<boolean>;
+    /** Upload a recorded move (and optional audio) and play it on the daemon's local clock. */
+    playMove(motion: MoveData, opts?: PlayMoveOptions): Promise<PlayMoveResult>;
+    /** Cancel an in-flight `playMove`. */
+    cancelMove(uploadId?: string | null): boolean;
+    /** Upload audio as a standalone slot (no motion attached). */
+    uploadAudio(audioBlob: Blob, opts?: UploadAudioOptions): Promise<string>;
+    /** Trigger daemon-side playback of a previously-uploaded audio. */
+    playUploadedAudio(uploadId: string, opts?: PlayUploadedAudioOptions): Promise<{
+        started: true;
+    }>;
+    /** Cancel an in-flight `playUploadedAudio`. */
+    cancelAudio(uploadId?: string | null): boolean;
+}
+export type ReachyMiniConstructor = new (options?: ReachyMiniOptions) => ReachyMiniInstance;
+/**
+ * Internal "session reject" error shape. Surfaced by `startSession()`
+ * rejections; consumers can downcast a caught `Error` to read the
+ * structured fields.
+ */
+export interface SessionRejectError extends Error {
+    reason?: string | null;
+    activeApp?: string | null;
+}
+//# sourceMappingURL=types.d.ts.map

package/dist/lib/types.d.ts.map

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package/dist/lib/types.js

@@ -0,0 +1,9 @@
+/**
+ * Public type surface for the ReachyMini SDK.
+ *
+ * These types are exported from the package barrel
+ * (`reachy-mini-sdk.ts`) and re-exported by the host shell via
+ * `host/src/lib/sdk-types.ts`.
+ */
+export {};
+//# sourceMappingURL=types.js.map

package/dist/lib/types.js.map

@@ -0,0 +1 @@
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package/dist/lib/upload-helpers.d.ts

@@ -0,0 +1,18 @@
+/**
+ * Wire-level constants and pure helpers used by playMove / uploadAudio /
+ * playUploadedAudio. Private to the SDK — apps call the public methods.
+ */
+export declare const UPLOAD_CHUNK_SIZE: number;
+export declare const UPLOAD_BUFFERED_HIGH_WATER: number;
+export declare const UPLOAD_BUFFERED_LOW_WATER: number;
+export declare function hasCompressionStream(): boolean;
+/** Cheap unique upload id; collision odds within a session are negligible. */
+export declare function makeUploadId(): string;
+/** Base64-encode a Uint8Array, chunking to avoid call-stack overflow on multi-MB blobs. */
+export declare function bytesToBase64(bytes: Uint8Array): string;
+/** Base64(gzip(utf8(s))) via the browser CompressionStream API. */
+export declare function gzipBase64(jsonStr: string): Promise<string>;
+/** Clamp a volume to [0, 100] and round to integer — mirrors the server-side
+ *  Field(..., ge=0, le=100) validator so calling setVolume(150) doesn't 400. */
+export declare function clampVolume(v: number): number;
+//# sourceMappingURL=upload-helpers.d.ts.map

package/dist/lib/upload-helpers.d.ts.map

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package/dist/lib/upload-helpers.js

@@ -0,0 +1,44 @@
+/**
+ * Wire-level constants and pure helpers used by playMove / uploadAudio /
+ * playUploadedAudio. Private to the SDK — apps call the public methods.
+ */
+// Conservative per-message size for the data channel. 16 KB is the cross-
+// browser safe ceiling; we slice payloads at 12 KB and let the JSON envelope
+// add ~80 bytes.
+export const UPLOAD_CHUNK_SIZE = 12 * 1024;
+// Backpressure thresholds: pause sending if `bufferedAmount` climbs over the
+// high watermark; resume once it drains below the low watermark. WebRTC's
+// SCTP can buffer plenty, but spiking it to tens of megabytes degrades every
+// other channel on the same peer connection.
+export const UPLOAD_BUFFERED_HIGH_WATER = 1 * 1024 * 1024;
+export const UPLOAD_BUFFERED_LOW_WATER = 512 * 1024;
+export function hasCompressionStream() {
+    return typeof CompressionStream !== 'undefined';
+}
+/** Cheap unique upload id; collision odds within a session are negligible. */
+export function makeUploadId() {
+    return 'u' + Math.random().toString(36).slice(2, 11)
+        + Date.now().toString(36);
+}
+/** Base64-encode a Uint8Array, chunking to avoid call-stack overflow on multi-MB blobs. */
+export function bytesToBase64(bytes) {
+    let str = '';
+    const STEP = 0x8000;
+    for (let i = 0; i < bytes.length; i += STEP) {
+        str += String.fromCharCode.apply(null, Array.from(bytes.subarray(i, i + STEP)));
+    }
+    return btoa(str);
+}
+/** Base64(gzip(utf8(s))) via the browser CompressionStream API. */
+export async function gzipBase64(jsonStr) {
+    const enc = new TextEncoder().encode(jsonStr);
+    const compressed = await new Response(new Blob([enc]).stream().pipeThrough(new CompressionStream('gzip'))).arrayBuffer();
+    return bytesToBase64(new Uint8Array(compressed));
+}
+/** Clamp a volume to [0, 100] and round to integer — mirrors the server-side
+ *  Field(..., ge=0, le=100) validator so calling setVolume(150) doesn't 400. */
+export function clampVolume(v) {
+    const n = Math.round(Number(v) || 0);
+    return Math.max(0, Math.min(100, n));
+}
+//# sourceMappingURL=upload-helpers.js.map

package/dist/lib/upload-helpers.js.map

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