npm - @pollen-robotics/reachy-mini-sdk - Versions diffs - 1.9.0 → 1.10.0-dev.0.main.8855786 - Mend

@pollen-robotics/reachy-mini-sdk 1.9.0 → 1.10.0-dev.0.main.8855786

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.

Files changed (9) hide show

package/dist/lib/reachy-mini.d.ts +20 -0
package/dist/lib/reachy-mini.d.ts.map +1 -1
package/dist/lib/reachy-mini.js +93 -0
package/dist/lib/reachy-mini.js.map +1 -1
package/host/dist/chunks/{reachy-mini-CdsdQLIU.js → reachy-mini-DwiuAr8T.js} +89 -22
package/host/dist/entry/auto.js +1 -1
package/host/dist/entry/embed.js +1 -1
package/host/dist/index.js +1 -1
package/package.json +1 -1

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

@@ -48,6 +48,9 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _readAudioParameterResolve;
     private readonly _logSubscribers;
     private readonly _updateProgressSubscribers;
+    private _rpcCounter;
+    private readonly _pendingRpc;
+    private readonly _rpcListeners;
     private _broadcastWaiters;
     private _activeMoveUploadId;
     private _activeAudioUploadId;
@@ -270,6 +273,23 @@ 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;

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

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package/dist/lib/reachy-mini.js CHANGED Viewed

@@ -87,6 +87,13 @@ 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 ────────────────────────────
@@ -619,6 +626,7 @@ export class ReachyMini extends EventTarget {
         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();
@@ -1526,6 +1534,85 @@ 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';
@@ -1675,6 +1762,12 @@ export class ReachyMini extends EventTarget {
         }
     }
     _handleRobotMessage(data) {
+        // 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;

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

	@@ -1 +1 @@
1	- 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package/host/dist/chunks/{reachy-mini-CdsdQLIU.js → reachy-mini-DwiuAr8T.js} RENAMED Viewed

@@ -1,5 +1,5 @@
-var $ = Object.defineProperty, F = (r, e, t) => e in r ? $(r, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : r[e] = t, k = (r, e, t) => (F(r, typeof e != "symbol" ? e + "" : e, t), t), x = "https://huggingface.co";
-async function C(r, e) {
+var x = Object.defineProperty, F = (r, e, t) => e in r ? x(r, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : r[e] = t, C = (r, e, t) => (F(r, typeof e != "symbol" ? e + "" : e, t), t), $ = "https://huggingface.co";
+async function k(r, e) {
   var t, s;
   const i = new O(r.url, r.status, (t = r.headers.get("X-Request-Id")) != null ? t : void 0);
   i.message = `Api error with status ${i.statusCode}`;
@@ -13,12 +13,12 @@ async function C(r, e) {
 }
 var O = class extends Error {
   constructor(r, e, t, s) {
-    super(s), k(this, "statusCode"), k(this, "url"), k(this, "requestId"), k(this, "data"), this.statusCode = e, this.requestId = t, this.url = r;
+    super(s), C(this, "statusCode"), C(this, "url"), C(this, "requestId"), C(this, "data"), this.statusCode = e, this.requestId = t, this.url = r;
   }
 };
 new Promise((r) => {
 });
-function H(r) {
+function N(r) {
   if (globalThis.Buffer)
     return globalThis.Buffer.from(r).toString("base64");
   {
@@ -54,13 +54,13 @@ async function M(r) {
   }
   if (h.nonce !== a)
     throw new Error("Invalid oauth state in redirected URL");
-  const d = x, m = `${new URL(d).origin}/.well-known/openid-configuration`, f = await fetch(m, {
+  const d = $, m = `${new URL(d).origin}/.well-known/openid-configuration`, f = await fetch(m, {
     headers: {
       Accept: "application/json"
     }
   });
   if (!f.ok)
-    throw await C(f);
+    throw await k(f);
   const p = await f.json(), v = await fetch(p.token_endpoint, {
     method: "POST",
     headers: {
@@ -74,14 +74,14 @@ async function M(r) {
     }).toString()
   });
   if (localStorage.removeItem("huggingface.co:oauth:code_verifier"), localStorage.removeItem("huggingface.co:oauth:nonce"), !v.ok)
-    throw await C(v);
+    throw await k(v);
   const g = await v.json(), w = new Date(Date.now() + g.expires_in * 1e3), S = await fetch(p.userinfo_endpoint, {
     headers: {
       Authorization: `Bearer ${g.access_token}`
     }
   });
   if (!S.ok)
-    throw await C(S);
+    throw await k(S);
   const u = await S.json();
   return {
     accessToken: g.access_token,
@@ -109,7 +109,7 @@ async function M(r) {
     scope: g.scope
   };
 }
-async function N(r) {
+async function H(r) {
   if (typeof window > "u")
     throw new Error("oauthHandleRedirect is only available in the browser");
   const e = new URLSearchParams(window.location.search);
@@ -121,13 +121,13 @@ async function V(r) {
   var e, t;
   if (typeof window > "u")
     throw new Error("oauthLogin is only available in the browser");
-  const s = r?.hubUrl || x, i = `${new URL(s).origin}/.well-known/openid-configuration`, o = await fetch(i, {
+  const s = r?.hubUrl || $, i = `${new URL(s).origin}/.well-known/openid-configuration`, o = await fetch(i, {
     headers: {
       Accept: "application/json"
     }
   });
   if (!o.ok)
-    throw await C(o);
+    throw await k(o);
   const n = await o.json(), a = globalThis.crypto.randomUUID(), c = globalThis.crypto.randomUUID() + globalThis.crypto.randomUUID();
   localStorage.setItem("huggingface.co:oauth:nonce", a), localStorage.setItem("huggingface.co:oauth:code_verifier", c);
   const l = r?.redirectUrl || window.location.href, h = JSON.stringify({
@@ -137,7 +137,7 @@ async function V(r) {
   }), d = (t = (e = window?.huggingface) == null ? void 0 : e.variables) != null ? t : null, m = r?.clientId || d?.OAUTH_CLIENT_ID;
   if (!m)
     throw d ? new Error("Missing clientId, please add hf_oauth: true to the README.md's metadata in your static Space") : new Error("Missing clientId");
-  const f = H(
+  const f = N(
     new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256", new TextEncoder().encode(c)))
   ).replace(/[+]/g, "-").replace(/[/]/g, "_").replace(/=/g, "");
   return `${n.authorization_endpoint}?${new URLSearchParams({
@@ -212,14 +212,14 @@ function W(r) {
     if (s.startsWith("m=audio") ? t = !0 : s.startsWith("m=") && (t = !1), t && s === "a=sendrecv") return !0;
   return !1;
 }
-const y = 12 * 1024, A = 1 * 1024 * 1024, z = 512 * 1024;
+const y = 12 * 1024, E = 1 * 1024 * 1024, z = 512 * 1024;
 function J() {
   return typeof CompressionStream < "u";
 }
 function U() {
   return "u" + Math.random().toString(36).slice(2, 11) + Date.now().toString(36);
 }
-function E(r) {
+function A(r) {
   let e = "";
   for (let s = 0; s < r.length; s += 32768)
     e += String.fromCharCode.apply(
@@ -232,7 +232,7 @@ async function X(r) {
   const e = new TextEncoder().encode(r), t = await new Response(
     new Blob([e]).stream().pipeThrough(new CompressionStream("gzip"))
   ).arrayBuffer();
-  return E(new Uint8Array(t));
+  return A(new Uint8Array(t));
 }
 function L(r) {
   const e = Math.round(Number(r) || 0);
@@ -309,6 +309,13 @@ class K extends EventTarget {
   // ─── Log subscribers ─────────────────────────────────────────────────
   _logSubscribers = /* @__PURE__ */ new Set();
   _updateProgressSubscribers = /* @__PURE__ */ 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 = /* @__PURE__ */ new Map();
+  _rpcListeners = /* @__PURE__ */ new Map();
   // ─── Broadcast waiters (playMove / playUploadedAudio) ────────────────
   _broadcastWaiters = [];
   // ─── Active upload ids for no-arg cancels ────────────────────────────
@@ -393,7 +400,7 @@ class K extends EventTarget {
   async authenticate() {
     try {
       G();
-      const e = await N();
+      const e = await H();
       if (e)
         return this._username = e.userInfo.preferred_username || e.userInfo.name || null, this._token = e.accessToken, this._tokenExpires = e.accessTokenExpiresAt, sessionStorage.setItem("hf_token", this._token), sessionStorage.setItem("hf_username", this._username ?? ""), sessionStorage.setItem(
           "hf_token_expires",
@@ -648,7 +655,7 @@ class K extends EventTarget {
     }
   }
   async stopSession() {
-    this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._trackedFaceResolve && (this._trackedFaceResolve(null), this._trackedFaceResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Session stopped")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Session stopped")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && await this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((t) => t.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._iceConnected = !1, this._dcOpen = !1, this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
+    this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._trackedFaceResolve && (this._trackedFaceResolve(null), this._trackedFaceResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Session stopped")), this._rejectPendingRpc(new Error("Session stopped")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Session stopped")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && await this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((t) => t.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._iceConnected = !1, this._dcOpen = !1, this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
   }
   disconnect() {
     this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._trackedFaceResolve && (this._trackedFaceResolve(null), this._trackedFaceResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Disconnected")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Disconnected")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && this._token && this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((e) => e.stop()), this._micStream = null), this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._micMuted = !0, this._micSupported = !1, this._iceConnected = !1, this._dcOpen = !1, this._robots = [], this._state = "disconnected", this._emit("disconnected", { reason: "user" });
@@ -1148,7 +1155,7 @@ class K extends EventTarget {
       encoding: v
     });
     for (let u = 0; u < g; u++) {
-      this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
       const _ = u * y;
       this._sendCommand({
         type: "upload_move_chunk",
@@ -1158,7 +1165,7 @@ class K extends EventTarget {
       }), l({ phase: "upload", sent: u + 1, total: g });
     }
     if (this._sendCommand({ type: "upload_move_finish", upload_id: d }), l({ phase: "uploaded", sent: g, total: g }), t) {
-      const u = new Uint8Array(await t.arrayBuffer()), _ = E(u), b = Math.ceil(_.length / y) || 1;
+      const u = new Uint8Array(await t.arrayBuffer()), _ = A(u), b = Math.ceil(_.length / y) || 1;
       l({
         phase: "audio-starting",
         sent: 0,
@@ -1172,7 +1179,7 @@ class K extends EventTarget {
         description: i
       });
       for (let I = 0; I < b; I++) {
-        this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
+        this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
         const T = I * y;
         this._sendCommand({
           type: "upload_audio_chunk",
@@ -1231,7 +1238,7 @@ class K extends EventTarget {
       throw new Error("data channel not open");
     if (!(e instanceof Blob))
       throw new TypeError("uploadAudio: expected a Blob");
-    const i = U(), o = new Uint8Array(await e.arrayBuffer()), n = E(o), a = Math.ceil(n.length / y) || 1;
+    const i = U(), o = new Uint8Array(await e.arrayBuffer()), n = A(o), a = Math.ceil(n.length / y) || 1;
     s({ phase: "audio-starting", sent: 0, total: a, bytes: n.length }), this._sendCommand({
       type: "upload_audio_start",
       upload_id: i,
@@ -1240,7 +1247,7 @@ class K extends EventTarget {
       description: t
     });
     for (let c = 0; c < a; c++) {
-      this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
       const l = c * y;
       this._sendCommand({
         type: "upload_audio_chunk",
@@ -1318,6 +1325,62 @@ class K extends EventTarget {
   _sendCommand(e) {
     return !this._dc || this._dc.readyState !== "open" ? !1 : (this._dc.send(JSON.stringify(e)), !0);
   }
+  /**
+   * 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(e, t = {}, s = {}) {
+    const i = s.timeoutMs ?? 2e4, o = `rpc-${++this._rpcCounter}`;
+    return this._sendCommand({ jsonrpc: "2.0", id: o, method: e, params: t }) ? new Promise((n, a) => {
+      const c = setTimeout(() => {
+        this._pendingRpc.delete(o), a(new Error(`rpcCall(${e}) timed out after ${i}ms`));
+      }, i);
+      this._pendingRpc.set(o, {
+        resolve: (l) => n(l),
+        reject: a,
+        timer: c
+      });
+    }) : Promise.reject(new Error(`rpcCall(${e}): data channel not open`));
+  }
+  /**
+   * Subscribe to a JSON-RPC notification (one-way event) pushed by the
+   * robot/app, e.g. `conversation.turn`. Returns an unsubscribe function.
+   */
+  onNotification(e, t) {
+    let s = this._rpcListeners.get(e);
+    return s || (s = /* @__PURE__ */ new Set(), this._rpcListeners.set(e, s)), s.add(t), () => {
+      this._rpcListeners.get(e)?.delete(t);
+    };
+  }
+  _rejectPendingRpc(e) {
+    for (const t of this._pendingRpc.values())
+      clearTimeout(t.timer), t.reject(e);
+    this._pendingRpc.clear();
+  }
+  _handleRpcMessage(e) {
+    if ("id" in e && e.id != null && ("result" in e || "error" in e)) {
+      const t = this._pendingRpc.get(e.id);
+      if (!t) return;
+      if (this._pendingRpc.delete(e.id), clearTimeout(t.timer), "error" in e && e.error) {
+        const s = e.error, i = new Error(s.message ?? "rpc error");
+        i.reason = s.data?.reason, t.reject(i);
+      } else
+        t.resolve(e.result);
+      return;
+    }
+    if (typeof e.method == "string") {
+      const t = e.params ?? {};
+      for (const s of this._rpcListeners.get(e.method) ?? [])
+        try {
+          s(t);
+        } catch (i) {
+          console.error(`onNotification(${e.method}) threw:`, i);
+        }
+    }
+  }
   _checkSessionReady() {
     this._iceConnected && this._dcOpen && this._sessionResolve && (this._state = "streaming", this.requestState(), this._stateRefreshInterval = setInterval(() => this.requestState(), 500), this._emit("streaming", { sessionId: this._sessionId, robotId: this._selectedRobotId }), this._sessionResolve(), this._sessionResolve = null, this._sessionReject = null);
   }
@@ -1403,6 +1466,10 @@ class K extends EventTarget {
       }
   }
   _handleRobotMessage(e) {
+    if (e.jsonrpc === "2.0") {
+      this._handleRpcMessage(e);
+      return;
+    }
     if ("version" in e && this._versionResolve) {
       this._versionResolve(e.version), this._versionResolve = null;
       return;

package/host/dist/entry/auto.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { R as i } from "../chunks/reachy-mini-CdsdQLIU.js";
+import { R as i } from "../chunks/reachy-mini-DwiuAr8T.js";
 import { m as n } from "../chunks/mountHost-DjE5zE9R.js";
 typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHost = { mountHost: n });
 export {

package/host/dist/entry/embed.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { R as i } from "../chunks/reachy-mini-CdsdQLIU.js";
+import { R as i } from "../chunks/reachy-mini-DwiuAr8T.js";
 import { c as n } from "../chunks/index-lMs2sCXG.js";
 typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHostEmbed = { connectToHost: n });
 export {

package/host/dist/index.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { R as o } from "./chunks/reachy-mini-CdsdQLIU.js";
+import { R as o } from "./chunks/reachy-mini-DwiuAr8T.js";
 import { R as s, m as a } from "./chunks/mountHost-DjE5zE9R.js";
 import { c as t } from "./chunks/index-lMs2sCXG.js";
 import { PROTOCOL_VERSION as c, decodeCredsFromHash as m, encodeCredsToHash as w, isProtocolMessage as h } from "./lib/protocol.js";

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@pollen-robotics/reachy-mini-sdk",
-  "version": "1.9.0",
+  "version": "1.10.0-dev.0.main.8855786",
   "description": "Browser SDK for controlling a Reachy Mini robot over WebRTC, plus an optional Hugging Face Spaces host shell (OAuth + robot picker + iframe bridge) exposed via the ./host subpath.",
   "type": "module",
   "main": "./dist/reachy-mini-sdk.js",