@pollen-robotics/reachy-mini-sdk 1.8.0 → 1.8.1

package/dist/animation/safe-return.d.ts

@@ -0,0 +1,90 @@
+/**
+ * Exit-handler helpers.
+ *
+ * Two thin convenience functions on top of the SDK's existing motion
+ * primitives (`setMotorMode`, `gotoTarget`) + the lib's pose math
+ * (`scaledDuration`). They exist so that:
+ *
+ *   1. App authors get a one-liner for the "return to safe pose on
+ *      exit" pattern instead of copy-pasting the three-call sequence.
+ *   2. The pattern is consistent across apps (same target, same
+ *      scaled-duration tuning, same error handling for closed
+ *      channels).
+ *
+ * No daemon-side primitive is introduced; everything routes through
+ * existing data-channel commands.
+ */
+import type { PartialPose } from "./pose.js";
+import { type ScaledDurationPreset } from "./presets.js";
+import { type ScaledDurationResult } from "./distance.js";
+import type { ReachyMiniInstance } from "../lib/types.js";
+/** Options for `safelyReturnToPose`. */
+export interface SafelyReturnOptions {
+    /** Where to return to. Defaults to `INIT_POSE`. */
+    target?: PartialPose;
+    /** Scaled-duration tuning. Defaults to `DEFAULT_SCALED_DURATION_PRESET`. */
+    preset?: ScaledDurationPreset;
+}
+/**
+ * Smooth, distance-scaled return to a target pose. Routes through the
+ * existing SDK primitives:
+ *
+ *   1. `reachy.setMotorMode("enabled")` — safe by construction since
+ *      daemon PR #1138 (the daemon pins all targets to the present
+ *      pose before flipping torque on).
+ *   2. Read `reachy.robotState` for the current pose snapshot.
+ *   3. Compute `scaledDuration(current, target, preset)`.
+ *   4. Call `reachy.gotoTarget({ ...target, duration })`.
+ *
+ * Returns **synchronously after dispatching** the goto — does NOT
+ * await completion. Callers who want to await the move should
+ * subscribe to the `state` event or
+ * `await sleep(result.duration * 1000)`.
+ *
+ * Safe to call when the data channel is closed: every SDK call
+ * swallows the "channel closed" error silently, and the planned
+ * duration is still returned for log lines.
+ *
+ * The returned `ScaledDurationResult` carries the diagnostic data
+ * (which channel was the slowest, per-channel candidate durations)
+ * so apps can log "why does the home return take 1.2 s?".
+ *
+ * @example
+ * // Host-shell embedded app:
+ * onLeave(() => safelyReturnToPose(reachy));
+ *
+ * // Custom target:
+ * safelyReturnToPose(reachy, {
+ *   target: { head: customHeadMatrix, antennas: [0, 0], body_yaw: 0 },
+ * });
+ */
+export declare function safelyReturnToPose(reachy: ReachyMiniInstance, options?: SafelyReturnOptions): ScaledDurationResult;
+/** Options for `installShutdownHandler`. */
+export interface InstallShutdownHandlerOptions extends SafelyReturnOptions {
+    /**
+     * Skip when `reachy.state !== "streaming"`. Defaults to `true` —
+     * the handler only fires when a session is actually live, so a
+     * stale tab where the user never picked a robot doesn't try to
+     * command anything on close.
+     */
+    onlyWhenStreaming?: boolean;
+}
+/**
+ * Wire `pagehide` + `beforeunload` so the robot returns to its safe-rest
+ * pose when the app closes.
+ *
+ * Use case: **standalone apps** (test benches, custom dashboards)
+ * that don't have a host shell to manage their lifecycle. Host-shell
+ * embedded apps should use the `onLeave` callback from
+ * `connectToHost()` instead — it integrates with the host's
+ * leave-protocol budget and avoids double-firing.
+ *
+ * @example
+ * const reachy = new ReachyMini(...);
+ * await reachy.authenticate();
+ * await reachy.connect();
+ * // ...pick robot, startSession...
+ * installShutdownHandler(reachy);
+ */
+export declare function installShutdownHandler(reachy: ReachyMiniInstance, options?: InstallShutdownHandlerOptions): void;
+//# sourceMappingURL=safe-return.d.ts.map

package/dist/animation/safe-return.d.ts.map

@@ -0,0 +1 @@
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package/dist/animation/safe-return.js

@@ -0,0 +1,123 @@
+/**
+ * Exit-handler helpers.
+ *
+ * Two thin convenience functions on top of the SDK's existing motion
+ * primitives (`setMotorMode`, `gotoTarget`) + the lib's pose math
+ * (`scaledDuration`). They exist so that:
+ *
+ *   1. App authors get a one-liner for the "return to safe pose on
+ *      exit" pattern instead of copy-pasting the three-call sequence.
+ *   2. The pattern is consistent across apps (same target, same
+ *      scaled-duration tuning, same error handling for closed
+ *      channels).
+ *
+ * No daemon-side primitive is introduced; everything routes through
+ * existing data-channel commands.
+ */
+import { DEFAULT_SCALED_DURATION_PRESET, INIT_POSE, } from "./presets.js";
+import { scaledDuration } from "./distance.js";
+/**
+ * Smooth, distance-scaled return to a target pose. Routes through the
+ * existing SDK primitives:
+ *
+ *   1. `reachy.setMotorMode("enabled")` — safe by construction since
+ *      daemon PR #1138 (the daemon pins all targets to the present
+ *      pose before flipping torque on).
+ *   2. Read `reachy.robotState` for the current pose snapshot.
+ *   3. Compute `scaledDuration(current, target, preset)`.
+ *   4. Call `reachy.gotoTarget({ ...target, duration })`.
+ *
+ * Returns **synchronously after dispatching** the goto — does NOT
+ * await completion. Callers who want to await the move should
+ * subscribe to the `state` event or
+ * `await sleep(result.duration * 1000)`.
+ *
+ * Safe to call when the data channel is closed: every SDK call
+ * swallows the "channel closed" error silently, and the planned
+ * duration is still returned for log lines.
+ *
+ * The returned `ScaledDurationResult` carries the diagnostic data
+ * (which channel was the slowest, per-channel candidate durations)
+ * so apps can log "why does the home return take 1.2 s?".
+ *
+ * @example
+ * // Host-shell embedded app:
+ * onLeave(() => safelyReturnToPose(reachy));
+ *
+ * // Custom target:
+ * safelyReturnToPose(reachy, {
+ *   target: { head: customHeadMatrix, antennas: [0, 0], body_yaw: 0 },
+ * });
+ */
+export function safelyReturnToPose(reachy, options = {}) {
+    const target = options.target ?? INIT_POSE;
+    const preset = options.preset ?? DEFAULT_SCALED_DURATION_PRESET;
+    try {
+        reachy.setMotorMode("enabled");
+    }
+    catch {
+        // Already in the right mode, or data channel closed; both are
+        // benign here — we still compute and emit the goto.
+    }
+    const current = reachy.robotState;
+    const plan = scaledDuration(current, target, preset);
+    const args = {
+        duration: plan.duration,
+    };
+    if (target.head !== undefined)
+        args.head = target.head.slice();
+    if (target.antennas !== undefined) {
+        args.antennas = [target.antennas[0] ?? 0, target.antennas[1] ?? 0];
+    }
+    if (target.body_yaw !== undefined)
+        args.body_yaw = target.body_yaw;
+    try {
+        reachy.gotoTarget(args);
+    }
+    catch {
+        // Closed channel / shutting down / session torn down between
+        // the read and the send. The plan is still useful for logs.
+    }
+    return plan;
+}
+/**
+ * Wire `pagehide` + `beforeunload` so the robot returns to its safe-rest
+ * pose when the app closes.
+ *
+ * Use case: **standalone apps** (test benches, custom dashboards)
+ * that don't have a host shell to manage their lifecycle. Host-shell
+ * embedded apps should use the `onLeave` callback from
+ * `connectToHost()` instead — it integrates with the host's
+ * leave-protocol budget and avoids double-firing.
+ *
+ * @example
+ * const reachy = new ReachyMini(...);
+ * await reachy.authenticate();
+ * await reachy.connect();
+ * // ...pick robot, startSession...
+ * installShutdownHandler(reachy);
+ */
+export function installShutdownHandler(reachy, options = {}) {
+    const onlyWhenStreaming = options.onlyWhenStreaming ?? true;
+    // Reentry guard: `pagehide` and `beforeunload` both fire on a real
+    // tab close, so without this flag `safelyReturnToPose` would dispatch
+    // twice (idempotent in practice — the second goto overrides the first
+    // with the same duration — but wasteful and noisy in the daemon log).
+    // Matches the `shuttingDown` boolean in Rémi's `reachy-mini-js-practices`
+    // bench, which is the reference behaviour for this helper.
+    let shuttingDown = false;
+    const fire = () => {
+        if (shuttingDown)
+            return;
+        shuttingDown = true;
+        if (onlyWhenStreaming && reachy.state !== "streaming")
+            return;
+        safelyReturnToPose(reachy, {
+            target: options.target,
+            preset: options.preset,
+        });
+    };
+    window.addEventListener("pagehide", fire);
+    window.addEventListener("beforeunload", fire);
+}
+//# sourceMappingURL=safe-return.js.map

package/dist/animation/safe-return.js.map

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

@@ -44,6 +44,12 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _sessionReject;
     private _iceConnected;
     private _dcOpen;
+    private _iceGraceTimer;
+    private _iceGraceReason;
+    private _pendingVisibilityHandler;
+    private _onlineHandler;
+    private _offlineHandler;
+    private _connectionChangeHandler;
     private readonly _pendingMotionCompletions;
     private _videoElement;
     constructor(options?: ReachyMiniOptions);
@@ -75,6 +81,98 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _failSessionRejected;
     stopSession(): Promise<void>;
     disconnect(): void;
+    /**
+     * Cancel any pending ICE grace timer and visibility handler. Called
+     * on a healed `connected`/`completed` transition AND from the
+     * lifecycle teardown paths so a callback can't fire after `_pc`
+     * is closed.
+     */
+    private _clearIceGrace;
+    /**
+     * Start a grace window. After `ms`, re-check the live ICE state:
+     *   - If we healed back to `connected`/`completed`, the timer was
+     *     already cancelled in `oniceconnectionstatechange`, so we
+     *     never get here.
+     *   - If we're still in the originally-observed bad state (or
+     *     worse), surface the error and reject any pending session
+     *     promise. The original code path is preserved verbatim so
+     *     downstream consumers see the same `error` payload shape.
+     */
+    private _scheduleIceGrace;
+    /**
+     * `disconnected` while the tab is hidden. JS timers are throttled
+     * in background tabs (Chrome clamps to ~1 Hz, Safari can pause
+     * altogether), so a foreground grace timer would either miss the
+     * window or fire long after the connection healed. Wait for the
+     * tab to come back, then re-evaluate.
+     */
+    private _armIceGraceOnVisibility;
+    /**
+     * Install browser-level network listeners and forward them as
+     * public `networkOnline` / `networkOffline` / `networkChange`
+     * events on this instance. Idempotent: called from
+     * `startSession()`, removed by `_uninstallNetworkListeners` on
+     * teardown. Reachable only when there's a live `window`
+     * (defensive guard for SSR / test environments).
+     *
+     * `online` / `offline` are semantically about CONNECTIVITY:
+     * "does the OS think we can reach the internet". They flip
+     * symmetrically.
+     *
+     * `connection.change` (NetworkInformation API, Chrome / Android
+     * WebView only) is semantically about the TRANSPORT: it fires
+     * on Wi-Fi → 4G swaps, AP roams, etc. without necessarily going
+     * through `offline`. We forward it as its own `networkChange`
+     * event rather than aliasing it onto `networkOnline`, so
+     * consumers don't have to guess whether they're seeing a real
+     * connectivity recovery or a silent transport swap.
+     */
+    private _installNetworkListeners;
+    /** Counterpart to `_installNetworkListeners`. */
+    private _uninstallNetworkListeners;
+    /**
+     * Atomic raw-units pose update over the data channel. Channels you
+     * omit are held at their last commanded value (per-axis, independent).
+     *
+     * **Head pose is in the WORLD frame.** The daemon's IK splits the
+     * requested head world-yaw between body rotation and the stewart
+     * platform, subject to the mechanical limit
+     * `|head_yaw_world − body_yaw| ≤ 65°`.
+     *
+     * **If you want the head to FOLLOW the body** (tank-style rotation):
+     * a `setTarget({ body_yaw })` on its own does NOT rotate the head —
+     * the head's commanded world yaw is unchanged, so its gaze stays
+     * pinned in world frame while the body turns under it. To make the
+     * head turn with the body, include a `head` matrix in the SAME call
+     * with the body-yaw delta added to the head RPY's yaw:
+     *
+     * ```ts
+     * // Body-yaw drag handler: tank-couple the head so it follows.
+     * const delta = newBodyDeg - lastCommandedBodyDeg;
+     * const nextHeadYaw = lastCommandedHeadYawDeg + delta;
+     * robot.setTarget({
+     *   head: rpyToMatrix(headRoll, headPitch, nextHeadYaw).flat(),
+     *   body_yaw: degToRad(newBodyDeg),
+     * });
+     * lastCommandedHeadYawDeg = nextHeadYaw;
+     * lastCommandedBodyDeg    = newBodyDeg;
+     * ```
+     *
+     * **Baseline must be the last COMMANDED value, not telemetry.** For
+     * continuous-input controllers (slider drag, joystick), do not use
+     * `state.head` from the `state` event as the baseline for incremental
+     * commands — telemetry lags one WebRTC round-trip, so cumulative
+     * deltas computed against it stall (every iteration in a rapid drag
+     * adds the same `delta` to the same stale baseline → the head fails
+     * to keep up). Track the last-commanded RPY in your own buffer.
+     *
+     * @param head      Flat row-major 4×4 matrix (16 finite numbers) in
+     *                  the world frame. Omit to hold the previous head target.
+     * @param antennas  `[rightRad, leftRad]` (radians). Omit to hold.
+     * @param body_yaw  Signed radians. Omit to hold.
+     * @returns `true` if the command was queued on the data channel,
+     *          `false` if the channel is not open.
+     */
     setTarget({ head, antennas, body_yaw }?: {
         head?: number[];
         antennas?: number[];
@@ -90,6 +188,7 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     setAntennasDeg(rightDeg: number, leftDeg: number): boolean;
     setBodyYawDeg(yawDeg: number): boolean;
     playSound(file: string): boolean;
+    clearIncomingAudio(): boolean;
     setMotorMode(mode: 'enabled' | 'disabled' | 'gravity_compensation'): boolean;
     setMotorTorque(on: boolean, ids?: string[] | null): boolean;
     wakeUp({ timeoutMs }?: MotionAwaitOptions): Promise<void>;

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

@@ -1 +1 @@
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