reachy-mini 1.2.5rc1__py3-none-any.whl

reachy_mini/assets/firmware/CHANGELOG.md

@@ -0,0 +1,15 @@
+# Changelog of Reachy Mini Audio Firmware
+
+
+## 2.1.3
+
+*For Beta units only*
+
+Fixes the initialization issue on Reachy Mini beta hardware. An additional 2-second delay is added during initialization to prevent the XMOS chip from starting before the other components.
+
+There is no need to apply this firmware to the Lite and Wireless versions, as the issue is fixed at the hardware level.
+
+## 2.1.2
+
+Improved parameters for acoustic echo cancellation (AEC).
+PP_DTSENSITIVE is set to 1 by default.

reachy_mini/assets/firmware/update.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+# Firmware update script for Reachy Mini
+# Usage: ./update.sh <firmware_file>
+firmware="$1"
+if [ -z "$firmware" ]; then
+    echo "Usage: $0 <firmware_file>"
+    exit 1
+fi
+dfu-util -R -e -a 1 -D "$firmware"

reachy_mini/assets/kinematics_data.json

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+}

reachy_mini/daemon/__init__.py

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+"""Daemon for Reachy Mini."""

reachy_mini/daemon/app/__init__.py

@@ -0,0 +1 @@
+"""FastAPI app initialization."""

reachy_mini/daemon/app/bg_job_register.py

@@ -0,0 +1,142 @@
+"""Background jobs management for Reachy Mini Daemon."""
+
+import asyncio
+import logging
+import threading
+import uuid
+from dataclasses import dataclass
+from enum import Enum
+from typing import Any, Awaitable, Callable
+
+from fastapi import WebSocket, WebSocketDisconnect
+from pydantic import BaseModel
+
+
+class JobStatus(Enum):
+    """Enum for job status."""
+
+    PENDING = "pending"
+    IN_PROGRESS = "in_progress"
+    DONE = "done"
+    FAILED = "failed"
+
+
+class JobInfo(BaseModel):
+    """Pydantic model for install job status."""
+
+    command: str
+    status: JobStatus
+    logs: list[str]
+
+
+@dataclass
+class JobHandler:
+    """Handler for background jobs."""
+
+    uuid: str
+    info: JobInfo
+    new_log_evt: dict[str, asyncio.Event]
+
+
+register: dict[str, JobHandler] = {}
+
+
+def run_command(
+    command: str,
+    coro_func: Callable[..., Awaitable[None]],
+    *args: Any,
+) -> str:
+    """Start a background job, with a custom logger and return its job_id."""
+    job_uuid = str(uuid.uuid4())
+
+    jh = JobHandler(
+        uuid=job_uuid,
+        info=JobInfo(command=command, status=JobStatus.PENDING, logs=[]),
+        new_log_evt={},
+    )
+    register[job_uuid] = jh
+
+    start_evt = threading.Event()
+
+    async def wrapper() -> None:
+        jh.info.status = JobStatus.IN_PROGRESS
+
+        class JobLogger(logging.Handler):
+            def emit(self, record: logging.LogRecord) -> None:
+                jh.info.logs.append(self.format(record))
+                for ws in jh.new_log_evt.values():
+                    ws.set()
+
+        logger = logging.getLogger(f"logs_job_{job_uuid}")
+        logger.setLevel(logging.INFO)
+        logger.handlers.clear()
+        logger.addHandler(JobLogger())
+
+        start_evt.set()
+
+        try:
+            await coro_func(*args, logger=logger)
+            jh.info.status = JobStatus.DONE
+            logger.info(f"Job '{command}' completed successfully")
+        except Exception as e:
+            jh.info.status = JobStatus.FAILED
+            logger.error(f"Job '{command}' failed with error: {e}")
+
+    t = threading.Thread(target=lambda: asyncio.run(wrapper()))
+    t.start()
+    # background_tasks.add_task(wrapper)
+    start_evt.wait()
+
+    return job_uuid
+
+
+def get_info(job_id: str) -> JobInfo:
+    """Get the info of a job by its ID."""
+    job = register.get(job_id)
+
+    if not job:
+        raise ValueError("Job ID not found")
+
+    return job.info
+
+
+async def ws_poll_info(websocket: WebSocket, job_uuid: str) -> None:
+    """WebSocket endpoint to stream job logs in real time."""
+    job = register.get(job_uuid)
+    if not job:
+        await websocket.send_json({"error": "Job ID not found"})
+        await websocket.close()
+        return
+
+    assert job is not None
+
+    ws_uuid = str(uuid.uuid4())
+    last_log_len = 0
+
+    try:
+        job.new_log_evt[ws_uuid] = asyncio.Event()
+
+        while True:
+            await job.new_log_evt[ws_uuid].wait()
+            job.new_log_evt[ws_uuid].clear()
+
+            new_logs = job.info.logs[last_log_len:]
+
+            if new_logs:
+                for log_entry in new_logs:
+                    await websocket.send_text(log_entry)
+                last_log_len = len(job.info.logs)
+
+                await websocket.send_text(
+                    JobInfo(
+                        command=job.info.command,
+                        status=job.info.status,
+                        logs=new_logs,
+                    ).model_dump_json()
+                )
+                if job.info.status in (JobStatus.DONE, JobStatus.FAILED):
+                    break
+    except WebSocketDisconnect:
+        pass
+    finally:
+        job.new_log_evt.pop(ws_uuid, None)

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