fix: garbled voice on tool calls, sync safety, edit-not-duplicate, calmer persona

- Garbled/'buzzing' speech before plan creation: we requested a new response
while the previous one was still streaming, so two responses' audio chunks
interleaved on one playback timeline. Responses are now gated: track
response.created/done and defer response.create until the active one ends.
- Auto-sync: enabling the toggle now downloads the cloud copy first and, if it
differs, asks which side to keep (cloud vs this device) before the first
auto-save — it can no longer silently overwrite. Switch styling fixed (the
global input rules were deforming the checkbox).
- New update_inventory_item tool: edits an existing item in place (location,
expiration, quantity, rename); prompt now forbids add_inventory for changes,
which was creating duplicates.
- Sort by Location added (groups by location, then name; no-location last).
- Robot name setting (default Reachy) fed into the voice persona; persona
rewritten to be REACTIVE: do only what was asked, one-two short sentences,
no unprompted suggestions; greeting shortened to a few words.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

assets/{embed-DdITxSHM.css → embed-CsvkHiDH.css}

@@ -1 +1 @@
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connect(e){if(this._state!=="disconnected")throw new Error("Already connected");if(e&&(this._token=e),!this._token)throw new Error("No token — call authenticate() first or pass a token");this._sseAbortController=new AbortController;let t;try{t=await fetch(`${this._signalingUrl}/events`,{signal:this._sseAbortController.signal,headers:{Authorization:`Bearer ${this._token}`}})}catch(i){throw this._sseAbortController=null,i}if(!t.ok)throw this._sseAbortController=null,new Error(`HTTP ${t.status}`);return new Promise((i,s)=>{let n=!1;const r=t.body.getReader(),c=new TextDecoder;let l="";(async()=>{try{for(;;){const{done:u,value:p}=await r.read();if(u)break;l+=c.decode(p,{stream:!0});const g=l.split(`
-`);l=g.pop()??"";for(const w of g)if(w.startsWith("data:"))try{const m=JSON.parse(w.slice(5).trim());!n&&m.type==="welcome"&&m.peerId&&(n=!0,this._state="connected",await this._sendToServer({type:"setPeerStatus",roles:["listener"],meta:{name:this._appName}}),this._emit("connected",{peerId:m.peerId}),i()),this._handleSignalingMessage(m)}catch{}}}catch(u){if(u.name!=="AbortError"&&this._emit("error",{source:"signaling",error:u}),!n){s(u);return}}this._state!=="disconnected"&&(this._state="disconnected",this._emit("disconnected",{reason:"SSE closed"})),n||s(new Error("Connection closed before welcome"))})()})}async autoConnect(e={}){var l,h,u,p,g;const{token:t,pickRobot:i,autoPickIfSingle:s=!0,filterBusy:n=!0,wakeOnConnect:r=!0}=e;if(this._state==="streaming"){const w=(l=this._robots)==null?void 0:l.find(m=>m.id===this._selectedRobotId);return{robotId:this._selectedRobotId,robotName:((h=w==null?void 0:w.meta)==null?void 0:h.name)??null,isEmbedded:this.isEmbedded,alreadyStreaming:!0}}const c=this._autoStartFromUrl;this._autoStartFromUrl=!1;try{if(t)this._token=t;else if(!this._token&&!await this.authenticate())throw new Error("Not authenticated — call login() or pass a token");this._state==="disconnected"&&await this.connect();let w,m=null;if(this.isEmbedded){w=this._preselectedRobotId;try{await this._waitForRobotInList(w,5e3)}catch{}const f=(u=this._robots)==null?void 0:u.find(y=>y.id===w);m=((p=f==null?void 0:f.meta)==null?void 0:p.name)??null}else{const f=await this._fetchOwnedRobots({filterBusy:n});if(f.length===0)throw new Error("No reachable robots");if(s&&f.length===1&&!f[0].busy)w=f[0].id,m=f[0].name;else if(i){const y=await i(f);if(!y)throw new Error("Robot selection cancelled");w=y,m=((g=f.find(v=>v.id===y))==null?void 0:g.name)??null}else throw new Error("Multiple robots available — pass a pickRobot callback to autoConnect()")}if(await this.startSession(w),r&&typeof this.ensureAwake=="function")try{await this.ensureAwake()}catch(f){console.warn("[reachy-mini] autoConnect: ensureAwake failed:",f)}return{robotId:w,robotName:m,isEmbedded:this.isEmbedded}}finally{this._autoStartFromUrl=c}}async _fetchOwnedRobots({filterBusy:e=!0}={}){var t,i,s;try{const n=await fetch(`${this._signalingUrl}/api/robot-status`,{headers:{Authorization:`Bearer ${this._token}`}});if(!n.ok)throw new Error(`HTTP ${n.status}`);const r=await n.json(),c=new Map;for(const l of r.robots||[]){if(e&&l.busy)continue;const h=((t=l.meta)==null?void 0:t.install_id)??((i=l.meta)==null?void 0:i.hardware_id)??l.peerId;c.set(h,{id:l.peerId,name:l.robotName??((s=l.meta)==null?void 0:s.name)??null,busy:!!l.busy,activeApp:l.activeApp??null,meta:l.meta??{},lastSeenAgeSeconds:l.last_seen_age_seconds??null})}return Array.from(c.values()).sort((l,h)=>(l.lastSeenAgeSeconds??1/0)-(h.lastSeenAgeSeconds??1/0))}catch(n){return console.warn("[reachy-mini] /api/robot-status unavailable, using SSE list:",n),(this._robots||[]).map(r=>{var c;return{id:r.id,name:((c=r.meta)==null?void 0:c.name)??null,busy:!1,activeApp:null,meta:r.meta??{},lastSeenAgeSeconds:null}})}}_waitForRobotInList(e,t){var i;return(i=this._robots)!=null&&i.find(s=>s.id===e)?Promise.resolve():new Promise((s,n)=>{const r=()=>{var l;(l=this._robots)!=null&&l.find(h=>h.id===e)&&(this.removeEventListener("robotsChanged",r),clearTimeout(c),s())},c=setTimeout(()=>{this.removeEventListener("robotsChanged",r),n(new Error(`Timeout waiting for robot ${e} in list`))},t);this.addEventListener("robotsChanged",r)})}async startSession(e){if(this._state!=="connected")throw new Error("Not connected");this._selectedRobotId=e,this._iceConnected=!1,this._dcOpen=!1,this._micSupported=!1,this._pendingRemoteIce=[];try{const t=window,i=t.AudioContext??t.webkitAudioContext;if(!i)throw new Error("AudioContext not supported");const s=new i,n=s.createMediaStreamDestination(),r=s.createOscillator(),c=s.createGain();c.gain.value=0,r.connect(c).connect(n),r.start();const l=n.stream;l.getAudioTracks().forEach(h=>{h.enabled=!1}),this._micStream=l,this._micMuted=!0}catch(t){console.warn("Audio sender placeholder setup failed:",t),this._micStream=null}return this._pc=new RTCPeerConnection({iceServers:[{urls:"stun:stun.l.google.com:19302"}]}),this._installNetworkListeners(),new Promise((t,i)=>{this._sessionResolve=t,this._sessionReject=i,this._pc.ontrack=s=>{if(s.track.kind==="video"){const n=this._videoJitterBufferTargetMs;try{s.receiver.jitterBufferTarget=n}catch{}try{s.receiver.playoutDelayHint=n/1e3}catch{}this._emit("videoTrack",{track:s.track,stream:s.streams[0]})}},this._pc.onicecandidate=async s=>{s.candidate&&this._sessionId&&await this._sendToServer({type:"peer",sessionId:this._sessionId,ice:{candidate:s.candidate.candidate,sdpMLineIndex:s.candidate.sdpMLineIndex,sdpMid:s.candidate.sdpMid}})},this._pc.oniceconnectionstatechange=()=>{var n;const s=(n=this._pc)==null?void 0:n.iceConnectionState;if(s){if(this._emit("iceStateChange",{state:s}),s==="connected"||s==="completed"){this._clearIceGrace(),this._iceConnected=!0,this._checkSessionReady();return}if(s==="disconnected"){typeof document<"u"&&document.hidden?this._armIceGraceOnVisibility():this._scheduleIceGrace(H,"disconnected");return}if(s==="failed"){this._scheduleIceGrace(V,"failed");return}}},this._pc.ondatachannel=s=>{this._dc=s.channel,this._dc.onopen=()=>{this._dcOpen=!0,this._checkSessionReady()},this._dc.onmessage=n=>this._handleRobotMessage(JSON.parse(n.data))},this._sendToServer({type:"startSession",peerId:e}).then(s=>{if((s==null?void 0:s.type)==="sessionRejected"){this._failSessionRejected(s);return}s!=null&&s.sessionId&&(this._sessionId=s.sessionId)})})}_failSessionRejected(e){const t=new Error(e.reason==="robot_busy"?`Robot is busy: "${e.activeApp||"another app"}" is already connected`:`Session rejected: ${e.reason||"unknown reason"}`);if(t.reason=e.reason??null,t.activeApp=e.activeApp??null,this._clearIceGrace(),this._uninstallNetworkListeners(),this._pc&&(this._pc.close(),this._pc=null),this._micStream&&(this._micStream.getTracks().forEach(i=>i.stop()),this._micStream=null),this._iceConnected=!1,this._dcOpen=!1,this._micMuted=!0,this._micSupported=!1,this._emit("sessionRejected",{reason:e.reason,activeApp:e.activeApp}),this._sessionReject){const i=this._sessionReject;this._sessionResolve=null,this._sessionReject=null,i(t)}}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._applyAudioConfigResolve&&(this._applyAudioConfigResolve(!1),this._applyAudioConfigResolve=null),this._readAudioParameterResolve&&(this._readAudioParameterResolve(null),this._readAudioParameterResolve=null),this._logSubscribers.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"}))}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._applyAudioConfigResolve&&(this._applyAudioConfigResolve(!1),this._applyAudioConfigResolve=null),this._readAudioParameterResolve&&(this._readAudioParameterResolve(null),this._readAudioParameterResolve=null),this._logSubscribers.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"})}_clearIceGrace(){this._iceGraceTimer!==null&&(clearTimeout(this._iceGraceTimer),this._iceGraceTimer=null),this._iceGraceReason=null,this._pendingVisibilityHandler&&typeof document<"u"&&document.removeEventListener("visibilitychange",this._pendingVisibilityHandler),this._pendingVisibilityHandler=null}_scheduleIceGrace(e,t){if(this._iceGraceTimer!==null){if(this._iceGraceReason===t)return;clearTimeout(this._iceGraceTimer)}this._iceGraceReason=t,this._iceGraceTimer=setTimeout(()=>{var n;this._iceGraceTimer=null;const i=this._iceGraceReason;this._iceGraceReason=null;const s=(n=this._pc)==null?void 0:n.iceConnectionState;if(!(s==="connected"||s==="completed")){if(i==="disconnected"&&s==="disconnected"){this._emit("error",{source:"webrtc",error:new Error(`ICE stuck in 'disconnected' for > ${e}ms`)});return}if(i==="failed"||s==="failed"){const r=new Error("ICE connection failed");this._sessionReject&&(this._sessionReject(r),this._sessionResolve=null,this._sessionReject=null),this._emit("error",{source:"webrtc",error:r})}}},e)}_armIceGraceOnVisibility(){if(this._pendingVisibilityHandler)return;const e=Date.now(),t=()=>{if(typeof document<"u"&&document.hidden||(document.removeEventListener("visibilitychange",t),this._pendingVisibilityHandler=null,!this._pc))return;const i=this._pc.iceConnectionState;if(!(i==="connected"||i==="completed")){if(Date.now()-e>ae){const s=new Error("Session expired while tab was backgrounded");this._sessionReject&&(this._sessionReject(s),this._sessionResolve=null,this._sessionReject=null),this._emit("error",{source:"webrtc",error:s});return}if(i==="failed"){this._scheduleIceGrace(V,"failed");return}this._scheduleIceGrace(H,"disconnected")}};document.addEventListener("visibilitychange",t),this._pendingVisibilityHandler=t}_installNetworkListeners(){if(this._onlineHandler||typeof window>"u")return;const e=()=>this._emit("networkOnline",{}),t=()=>this._emit("networkOffline",{});window.addEventListener("online",e),window.addEventListener("offline",t),this._onlineHandler=e,this._offlineHandler=t;const i=navigator.connection;if(i&&typeof i.addEventListener=="function"){const s=()=>this._emit("networkChange",{effectiveType:i.effectiveType,downlink:i.downlink,rtt:i.rtt,saveData:i.saveData});i.addEventListener("change",s),this._connectionChangeHandler=s}}_uninstallNetworkListeners(){typeof window<"u"&&(this._onlineHandler&&window.removeEventListener("online",this._onlineHandler),this._offlineHandler&&window.removeEventListener("offline",this._offlineHandler));const e=navigator.connection;e&&this._connectionChangeHandler&&typeof e.removeEventListener=="function"&&e.removeEventListener("change",this._connectionChangeHandler),this._onlineHandler=null,this._offlineHandler=null,this._connectionChangeHandler=null}setTarget({head:e,antennas:t,body_yaw:i}={}){const s={type:"set_full_target"};if(e!==void 0){if(!Array.isArray(e)||e.length!==16||!e.every(n=>Number.isFinite(n)))throw new TypeError(`setTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e)?`Array(${e.length})`:typeof e}`);s.head=e}if(t!==void 0){if(!Array.isArray(t)||t.length!==2||!t.every(n=>Number.isFinite(n)))throw new TypeError(`setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t)?`Array(${t.length})`:typeof t}`);s.antennas=t}if(i!==void 0){if(!Number.isFinite(i))throw new TypeError(`setTarget: body_yaw must be a finite number (radians); got ${i}`);s.body_yaw=i}return this._sendCommand(s)}gotoTarget({head:e,antennas:t,body_yaw:i,duration:s}){const n={type:"goto_target"};if(e!==void 0){if(!Array.isArray(e)||e.length!==16||!e.every(r=>Number.isFinite(r)))throw new TypeError(`gotoTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e)?`Array(${e.length})`:typeof e}`);n.head=e}if(t!==void 0){if(!Array.isArray(t)||t.length!==2||!t.every(r=>Number.isFinite(r)))throw new TypeError(`gotoTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t)?`Array(${t.length})`:typeof t}`);n.antennas=t}if(i!==void 0){if(!Number.isFinite(i))throw new TypeError(`gotoTarget: body_yaw must be a finite number (radians); got ${i}`);n.body_yaw=i}if(!Number.isFinite(s)||s<=0)throw new TypeError(`gotoTarget: duration must be a positive finite number (seconds); got ${s}`);return n.duration=s,this._sendCommand(n)}setHeadRpyDeg(e,t,i){return this.setTarget({head:ee(e,t,i).flat()})}setAntennasDeg(e,t){return this.setTarget({antennas:[C(e),C(t)]})}setBodyYawDeg(e){return this.setTarget({body_yaw:C(e)})}playSound(e){return this._sendCommand({type:"play_sound",file:e})}clearIncomingAudio(){return this._sendCommand({type:"clear_incoming_audio"})}setMotorMode(e){return this._sendCommand({type:"set_motor_mode",mode:e})}setMotorTorque(e,t=null){return this._sendCommand({type:"set_torque",on:e,ids:t})}wakeUp({timeoutMs:e=8e3}={}){return this._sendCommand({type:"set_motor_mode",mode:"enabled"}),this._sendCommandAwaitCompletion("wake_up",e)}gotoSleep({timeoutMs:e=8e3}={}){return this._sendCommandAwaitCompletion("goto_sleep",e)}_sendCommandAwaitCompletion(e,t){return this._sendCommand({type:e})?new Promise((i,s)=>{const n={resolve:i,reject:s,timer:setTimeout(()=>{const r=this._pendingMotionCompletions[e],c=r.indexOf(n);c!==-1&&r.splice(c,1),s(new Error(`${e} timed out after ${t}ms`))},t)};this._pendingMotionCompletions[e].push(n)}):Promise.reject(new Error(`${e}: data channel not open`))}_rejectPendingMotionCompletions(e){for(const t of Object.keys(this._pendingMotionCompletions)){const i=this._pendingMotionCompletions[t];for(;i.length;){const s=i.shift();clearTimeout(s.timer),s.reject(e)}}}isAwake(){var t;const e=(t=this._robotState)==null?void 0:t.motor_mode;return e==="enabled"||e==="gravity_compensation"}async ensureAwake(e=1e3){var t;return((t=this._robotState)==null?void 0:t.motor_mode)===void 0&&await new Promise(i=>{const s=()=>{this.removeEventListener("state",s),clearTimeout(n),i()},n=setTimeout(s,e);this.addEventListener("state",s),this.requestState()}),this.isAwake()||this.wakeUp().catch(()=>{}),!0}getVersion(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._versionResolve&&this._versionResolve(null),this._versionResolve=e,this._sendCommand({type:"get_version"})})}getHardwareId(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._hardwareIdResolve&&this._hardwareIdResolve(null),this._hardwareIdResolve=e,this._sendCommand({type:"get_hardware_id"})})}getVolume(){return this._slotRoundtrip(()=>this._volumeResolve,e=>{this._volumeResolve=e},{type:"get_volume"})}setVolume(e){return this._slotRoundtrip(()=>this._volumeResolve,t=>{this._volumeResolve=t},{type:"set_volume",volume:N(e)})}getMicrophoneVolume(){return this._slotRoundtrip(()=>this._micVolumeResolve,e=>{this._micVolumeResolve=e},{type:"get_microphone_volume"})}setMicrophoneVolume(e){return this._slotRoundtrip(()=>this._micVolumeResolve,t=>{this._micVolumeResolve=t},{type:"set_microphone_volume",volume:N(e)})}applyAudioConfig(e,{verify:t=!0}={}){return this._slotRoundtrip(()=>this._applyAudioConfigResolve,i=>{this._applyAudioConfigResolve=i},{type:"apply_audio_config",config:e,verify:t}).then(i=>i===!0)}readAudioParameter(e){return this._slotRoundtrip(()=>this._readAudioParameterResolve,t=>{this._readAudioParameterResolve=t},{type:"read_audio_parameter",name:e})}_slotRoundtrip(e,t,i){return new Promise((s,n)=>{if(!this._dc||this._dc.readyState!=="open"){n(new Error("Data channel not open"));return}const r=e();r&&r(null),t(s),this._sendCommand(i)})}sendRaw(e){return this._sendCommand(e)}subscribeLogs({onLine:e,onError:t}){if(typeof e!="function")throw new TypeError("subscribeLogs: onLine callback is required");const i={onLine:e,onError:t},s=this._logSubscribers.size===0;this._logSubscribers.add(i),s&&this._sendCommand({type:"subscribe_logs"});let n=!1;return()=>{n||(n=!0,this._logSubscribers.delete(i),this._logSubscribers.size===0&&this._sendCommand({type:"unsubscribe_logs"}))}}requestState(){return this._sendCommand({type:"get_state"})}setAudioMuted(e){this._audioMuted=e,this._videoElement&&(this._videoElement.muted=e)}setMicMuted(e){this._micMuted=e,this._micStream&&this._micStream.getAudioTracks().forEach(t=>{t.enabled=!e})}attachVideo(e){this._videoElement=e,e.muted=this._audioMuted;const t=s=>{const n=s;e.srcObject=n.detail.stream,e.playsInline=!0,"requestVideoFrameCallback"in e&&this._startLatencyMonitor(e)},i=()=>{e.srcObject=null};return this.addEventListener("videoTrack",t),this.addEventListener("sessionStopped",i),()=>{this.removeEventListener("videoTrack",t),this.removeEventListener("sessionStopped",i),this._latencyMonitorId&&(clearInterval(this._latencyMonitorId),this._latencyMonitorId=null),e.srcObject=null,this._videoElement=null}}async playMove(e,{audioBlob:t=null,audioLeadMs:i=-100,description:s="move",encoding:n="gzip+base64",playFrequency:r=100,initialGotoDuration:c=0,startTimeoutMs:l=8e3,onProgress:h=()=>{},onStarted:u=()=>{}}={}){var R,j;if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");if(!((R=e==null?void 0:e.time)!=null&&R.length)||!((j=e==null?void 0:e.set_target_data)!=null&&j.length))throw new Error("playMove: motion must have time + set_target_data");const p=x();this._activeMoveUploadId=p;const g={description:s,time:e.time,set_target_data:e.set_target_data},w=JSON.stringify(g);let m,f;n==="gzip+base64"&&oe()?(m=await re(w),f="gzip+base64"):(m=w,f="json");const y=Math.ceil(m.length/S)||1;h({phase:"starting",sent:0,total:y,bytes:m.length,encoding:f}),this._sendCommand({type:"upload_move_start",upload_id:p,total_chunks:y,description:s,encoding:f});for(let _=0;_<y;_++){this._dc.bufferedAmount>L&&await this._awaitDataChannelDrain();const I=_*S;this._sendCommand({type:"upload_move_chunk",upload_id:p,chunk_index:_,chunk:m.slice(I,I+S)}),h({phase:"upload",sent:_+1,total:y})}if(this._sendCommand({type:"upload_move_finish",upload_id:p}),h({phase:"uploaded",sent:y,total:y}),t){const _=new Uint8Array(await t.arrayBuffer()),I=P(_),E=Math.ceil(I.length/S)||1;h({phase:"audio-starting",sent:0,total:E,bytes:I.length}),this._sendCommand({type:"upload_audio_start",upload_id:p,total_chunks:E,encoding:"wav-base64",description:s});for(let A=0;A<E;A++){this._dc.bufferedAmount>L&&await this._awaitDataChannelDrain();const D=A*S;this._sendCommand({type:"upload_audio_chunk",upload_id:p,chunk_index:A,chunk:I.slice(D,D+S)}),h({phase:"audio-upload",sent:A+1,total:E})}this._sendCommand({type:"upload_audio_finish",upload_id:p}),h({phase:"audio-uploaded",sent:E,total:E})}this._sendCommand({type:"play_uploaded_move",upload_id:p,play_frequency:r,initial_goto_duration:c,audio_lead_ms:i});let v;try{v=await this._waitForBroadcast(_=>(_==null?void 0:_.type)==="play_uploaded_move"&&(_==null?void 0:_.upload_id)===p&&(_.started===!0||typeof _.error=="string"),{timeoutMs:l,debugLabel:"play_uploaded_move started"})}catch(_){throw new Error(`Daemon did not respond to play_uploaded_move (requires the reachy_mini daemon with feature/daemon-side-move-upload). Underlying: ${_.message}`)}if(typeof v.error=="string")throw new Error(`play_uploaded_move: ${v.error}`);try{u({duration_s:v.duration_s,has_audio:v.has_audio===!0})}catch(_){console.warn("playMove.onStarted threw:",_)}h({phase:"playing",duration_s:v.duration_s});const b=await this._waitForBroadcast(_=>(_==null?void 0:_.type)==="play_uploaded_move"&&(_==null?void 0:_.upload_id)===p&&(_.finished===!0||_.cancelled===!0||typeof _.error=="string"),{timeoutMs:(v.duration_s+30)*1e3,debugLabel:"play_uploaded_move final"});return this._activeMoveUploadId===p&&(this._activeMoveUploadId=null),b}cancelMove(e=null){const t=e??this._activeMoveUploadId;return t?this._sendCommand({type:"cancel_move",upload_id:t}):!1}async uploadAudio(e,{description:t="audio",onProgress:i=()=>{}}={}){if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");if(!(e instanceof Blob))throw new TypeError("uploadAudio: expected a Blob");const s=x(),n=new Uint8Array(await e.arrayBuffer()),r=P(n),c=Math.ceil(r.length/S)||1;i({phase:"audio-starting",sent:0,total:c,bytes:r.length}),this._sendCommand({type:"upload_audio_start",upload_id:s,total_chunks:c,encoding:"wav-base64",description:t});for(let l=0;l<c;l++){this._dc.bufferedAmount>L&&await this._awaitDataChannelDrain();const h=l*S;this._sendCommand({type:"upload_audio_chunk",upload_id:s,chunk_index:l,chunk:r.slice(h,h+S)}),i({phase:"audio-upload",sent:l+1,total:c})}return this._sendCommand({type:"upload_audio_finish",upload_id:s}),i({phase:"audio-uploaded",sent:c,total:c}),s}async playUploadedAudio(e,{timeoutMs:t=8e3}={}){if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");const i=this._waitForBroadcast(n=>(n==null?void 0:n.type)==="play_uploaded_audio"&&(n==null?void 0:n.upload_id)===e&&(n.started===!0||typeof n.error=="string"),{timeoutMs:t,debugLabel:"play_uploaded_audio started"});this._sendCommand({type:"play_uploaded_audio",upload_id:e});const s=await i;if(typeof s.error=="string")throw new Error(s.error);return this._activeAudioUploadId=e,s}cancelAudio(e=null){const t=e??this._activeAudioUploadId;return t?(this._activeAudioUploadId===t&&(this._activeAudioUploadId=null),this._sendCommand({type:"cancel_audio",upload_id:t})):!1}_emit(e,t){this.dispatchEvent(new CustomEvent(e,{detail:t}))}_waitForBroadcast(e,{timeoutMs:t=5e3,debugLabel:i=""}={}){return new Promise((s,n)=>{const r={predicate:e,resolve:s,timer:setTimeout(()=>{const c=this._broadcastWaiters.indexOf(r);c!==-1&&this._broadcastWaiters.splice(c,1),n(new Error(`broadcast timeout (${t} ms): ${i}`))},t)};this._broadcastWaiters.push(r)})}async _awaitDataChannelDrain(){for(;this._dc&&this._dc.bufferedAmount>ne;)if(await new Promise(e=>setTimeout(e,30)),!this._dc||this._dc.readyState!=="open")throw new Error("data channel closed mid-upload")}async _sendToServer(e){if(!this._token)throw new Error("No token — authenticate() first");try{const t=await fetch(`${this._signalingUrl}/send`,{method:"POST",headers:{"Content-Type":"application/json",Authorization:`Bearer ${this._token}`},body:JSON.stringify(e)});if(!t.ok){let i="";try{i=await t.text()}catch{}return console.warn(`[reachy-mini] /send rejected (${t.status}) for type=${e==null?void 0:e.type}; body=${i||"<empty>"}`),null}return await t.json()}catch(t){return console.error("Send error:",t),null}}_sendCommand(e){return!this._dc||this._dc.readyState!=="open"?!1:(this._dc.send(JSON.stringify(e)),!0)}_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)}async _handleSignalingMessage(e){switch(e.type){case"welcome":break;case"list":this._robots=e.producers||[],this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart();break;case"peerStatusChanged":{const t=await this._sendToServer({type:"list"});t!=null&&t.producers&&(this._robots=t.producers,this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart());break}case"sessionStarted":this._sessionId=e.sessionId??null;break;case"sessionRejected":this._failSessionRejected(e);break;case"endSession":this._handleEndSession(e);break;case"peer":this._handlePeerMessage(e);break}}_handleEndSession(e){const t=e.reason,i=t==="robot_busy_local_app"?"Robot is busy: a local Python app is running":t==="local_app_started"?"Disconnected: a local Python app started on the robot":t==="robot_busy_local"?"Robot is busy: another session is already active":null;if(this._sessionReject){const s=new Error(i||`Session ended before it could start: ${t||"unknown reason"}`);s.reason=t??null,this._emit("sessionRejected",{reason:t,activeApp:null}),this._clearIceGrace(),this._uninstallNetworkListeners(),this._pc&&(this._pc.close(),this._pc=null),this._micStream&&(this._micStream.getTracks().forEach(r=>r.stop()),this._micStream=null),this._iceConnected=!1,this._dcOpen=!1,this._micMuted=!0,this._micSupported=!1;const n=this._sessionReject;this._sessionResolve=null,this._sessionReject=null,n(s);return}this._state==="streaming"&&(this._emit("sessionStopped",{reason:t||"remote_end",message:i}),this.stopSession().catch(()=>{}))}async _handlePeerMessage(e){if(this._pc)try{if(e.sdp){const t=e.sdp;if(t.type==="offer"){const s=se(t.sdp);if(this._micSupported=s,this._emit("micSupported",{supported:s}),s&&this._micStream)for(const r of this._micStream.getAudioTracks())this._pc.addTrack(r,this._micStream);await this._pc.setRemoteDescription(new RTCSessionDescription(t));const n=await this._pc.createAnswer();await this._pc.setLocalDescription(n),await this._sendToServer({type:"peer",sessionId:this._sessionId,sdp:{type:"answer",sdp:n.sdp}})}else await this._pc.setRemoteDescription(new RTCSessionDescription(t));const i=this._pendingRemoteIce;if(i&&i.length){this._pendingRemoteIce=[];for(const s of i)try{await this._pc.addIceCandidate(new RTCIceCandidate(s))}catch(n){console.warn("[reachy-mini] buffered ICE candidate rejected:",n)}}}if(e.ice){if(!e.ice.candidate)return;this._pc.remoteDescription?await this._pc.addIceCandidate(new RTCIceCandidate(e.ice)):(this._pendingRemoteIce||(this._pendingRemoteIce=[]),this._pendingRemoteIce.push(e.ice))}}catch(t){console.error("WebRTC error:",t),this._emit("error",{source:"webrtc",error:t})}}_handleRobotMessage(e){if("version"in e&&this._versionResolve){this._versionResolve(e.version),this._versionResolve=null;return}if("hardware_id"in e&&this._hardwareIdResolve){this._hardwareIdResolve(e.hardware_id),this._hardwareIdResolve=null;return}if(e.command==="get_volume"||e.command==="set_volume"){this._volumeResolve&&(this._volumeResolve(e.status==="error"?null:e.volume),this._volumeResolve=null);return}if(e.command==="get_microphone_volume"||e.command==="set_microphone_volume"){this._micVolumeResolve&&(this._micVolumeResolve(e.status==="error"?null:e.volume),this._micVolumeResolve=null);return}if(e.command==="apply_audio_config"){this._applyAudioConfigResolve&&(this._applyAudioConfigResolve(e.error?!1:!!e.applied),this._applyAudioConfigResolve=null);return}if(e.command==="read_audio_parameter"){this._readAudioParameterResolve&&(this._readAudioParameterResolve(e.error?null:e.values??null),this._readAudioParameterResolve=null);return}if((e.command==="wake_up"||e.command==="goto_sleep")&&this._pendingMotionCompletions&&this._pendingMotionCompletions[e.command]){const t=this._pendingMotionCompletions[e.command];if(e.completed===!0&&t.length>0){const i=t.shift();clearTimeout(i.timer),i.resolve();return}if(e.error&&t.length>0){const i=t.shift();clearTimeout(i.timer),i.reject(new Error(`${e.command}: ${e.error}`));return}}if(e.type==="log_line"){for(const t of this._logSubscribers)try{t.onLine({timestamp:e.timestamp,line:e.line})}catch(i){console.error("subscribeLogs onLine threw:",i)}return}if(e.type==="log_stream_error"){for(const t of this._logSubscribers)if(typeof t.onError=="function")try{t.onError(e.error)}catch(i){console.error("subscribeLogs onError threw:",i)}return}if(e.state){const t=e.state;t.head_pose&&(this._robotState.head=t.head_pose.flat()),t.antennas&&(this._robotState.antennas=[t.antennas[0],t.antennas[1]]),typeof t.body_yaw=="number"&&(this._robotState.body_yaw=t.body_yaw),t.motor_mode&&(this._robotState.motor_mode=t.motor_mode),typeof t.is_move_running=="boolean"&&(this._robotState.is_move_running=t.is_move_running),this._emit("state",{...this._robotState})}if(e.error&&this._emit("error",{source:"robot",error:e.error}),this._broadcastWaiters.length>0)for(let t=this._broadcastWaiters.length-1;t>=0;t--){const i=this._broadcastWaiters[t];if(i.predicate(e)){this._broadcastWaiters.splice(t,1),clearTimeout(i.timer),i.resolve(e);return}}}_startLatencyMonitor(e){this._latencyMonitorId&&clearInterval(this._latencyMonitorId),this._latencyMonitorId=setInterval(()=>{if(!e.srcObject||e.paused)return;const t=e.buffered;if(t.length>0){const i=t.end(t.length-1),s=i-e.currentTime;s>.5&&(console.log(`Latency correction: was ${s.toFixed(2)}s behind`),e.currentTime=i-.1)}},2e3)}}window.ReachyMini=le;window.dispatchEvent(new Event("reachymini:ready"));const M=new URLSearchParams(window.location.search),ce=M.get("embedded")==="1"||M.get("embed")==="1",de=M.has("code")||M.has("error"),he=sessionStorage.getItem("cookaiware:launched")==="1";function F(){sessionStorage.setItem("cookaiware:launched","1");const o=document.getElementById("root");return o&&(o.innerHTML=""),U(async()=>{const{mountHost:a}=await import("./auto-CaTD3xKq.js");return{mountHost:a}},__vite__mapDeps([0,1])).then(({mountHost:a})=>{a({appName:"CookAIware",appIconUrl:"/icon.png",appEmoji:"🍲",enableMicrophone:!0,devToken:void 0,clientId:void 0})})}ce?U(()=>import("./embed-CtskQx_e.js"),__vite__mapDeps([2,1,3])):de||he?F():U(async()=>{const{renderLanding:o}=await import("./landing-DkIk3-oJ.js");return{renderLanding:o}},__vite__mapDeps([4,5])).then(({renderLanding:o})=>o(()=>void F()));export{U as _,_e as r};
+`);l=g.pop()??"";for(const w of g)if(w.startsWith("data:"))try{const m=JSON.parse(w.slice(5).trim());!n&&m.type==="welcome"&&m.peerId&&(n=!0,this._state="connected",await this._sendToServer({type:"setPeerStatus",roles:["listener"],meta:{name:this._appName}}),this._emit("connected",{peerId:m.peerId}),i()),this._handleSignalingMessage(m)}catch{}}}catch(u){if(u.name!=="AbortError"&&this._emit("error",{source:"signaling",error:u}),!n){s(u);return}}this._state!=="disconnected"&&(this._state="disconnected",this._emit("disconnected",{reason:"SSE closed"})),n||s(new Error("Connection closed before welcome"))})()})}async autoConnect(e={}){var l,h,u,p,g;const{token:t,pickRobot:i,autoPickIfSingle:s=!0,filterBusy:n=!0,wakeOnConnect:r=!0}=e;if(this._state==="streaming"){const w=(l=this._robots)==null?void 0:l.find(m=>m.id===this._selectedRobotId);return{robotId:this._selectedRobotId,robotName:((h=w==null?void 0:w.meta)==null?void 0:h.name)??null,isEmbedded:this.isEmbedded,alreadyStreaming:!0}}const c=this._autoStartFromUrl;this._autoStartFromUrl=!1;try{if(t)this._token=t;else if(!this._token&&!await this.authenticate())throw new Error("Not authenticated — call login() or pass a token");this._state==="disconnected"&&await this.connect();let w,m=null;if(this.isEmbedded){w=this._preselectedRobotId;try{await this._waitForRobotInList(w,5e3)}catch{}const f=(u=this._robots)==null?void 0:u.find(y=>y.id===w);m=((p=f==null?void 0:f.meta)==null?void 0:p.name)??null}else{const f=await this._fetchOwnedRobots({filterBusy:n});if(f.length===0)throw new Error("No reachable robots");if(s&&f.length===1&&!f[0].busy)w=f[0].id,m=f[0].name;else if(i){const y=await i(f);if(!y)throw new Error("Robot selection cancelled");w=y,m=((g=f.find(v=>v.id===y))==null?void 0:g.name)??null}else throw new Error("Multiple robots available — pass a pickRobot callback to autoConnect()")}if(await this.startSession(w),r&&typeof this.ensureAwake=="function")try{await this.ensureAwake()}catch(f){console.warn("[reachy-mini] autoConnect: ensureAwake failed:",f)}return{robotId:w,robotName:m,isEmbedded:this.isEmbedded}}finally{this._autoStartFromUrl=c}}async _fetchOwnedRobots({filterBusy:e=!0}={}){var t,i,s;try{const n=await fetch(`${this._signalingUrl}/api/robot-status`,{headers:{Authorization:`Bearer ${this._token}`}});if(!n.ok)throw new Error(`HTTP ${n.status}`);const r=await n.json(),c=new Map;for(const l of r.robots||[]){if(e&&l.busy)continue;const h=((t=l.meta)==null?void 0:t.install_id)??((i=l.meta)==null?void 0:i.hardware_id)??l.peerId;c.set(h,{id:l.peerId,name:l.robotName??((s=l.meta)==null?void 0:s.name)??null,busy:!!l.busy,activeApp:l.activeApp??null,meta:l.meta??{},lastSeenAgeSeconds:l.last_seen_age_seconds??null})}return Array.from(c.values()).sort((l,h)=>(l.lastSeenAgeSeconds??1/0)-(h.lastSeenAgeSeconds??1/0))}catch(n){return console.warn("[reachy-mini] /api/robot-status unavailable, using SSE list:",n),(this._robots||[]).map(r=>{var c;return{id:r.id,name:((c=r.meta)==null?void 0:c.name)??null,busy:!1,activeApp:null,meta:r.meta??{},lastSeenAgeSeconds:null}})}}_waitForRobotInList(e,t){var i;return(i=this._robots)!=null&&i.find(s=>s.id===e)?Promise.resolve():new Promise((s,n)=>{const r=()=>{var l;(l=this._robots)!=null&&l.find(h=>h.id===e)&&(this.removeEventListener("robotsChanged",r),clearTimeout(c),s())},c=setTimeout(()=>{this.removeEventListener("robotsChanged",r),n(new Error(`Timeout waiting for robot ${e} in list`))},t);this.addEventListener("robotsChanged",r)})}async startSession(e){if(this._state!=="connected")throw new Error("Not connected");this._selectedRobotId=e,this._iceConnected=!1,this._dcOpen=!1,this._micSupported=!1,this._pendingRemoteIce=[];try{const t=window,i=t.AudioContext??t.webkitAudioContext;if(!i)throw new Error("AudioContext not supported");const s=new i,n=s.createMediaStreamDestination(),r=s.createOscillator(),c=s.createGain();c.gain.value=0,r.connect(c).connect(n),r.start();const l=n.stream;l.getAudioTracks().forEach(h=>{h.enabled=!1}),this._micStream=l,this._micMuted=!0}catch(t){console.warn("Audio sender placeholder setup failed:",t),this._micStream=null}return this._pc=new RTCPeerConnection({iceServers:[{urls:"stun:stun.l.google.com:19302"}]}),this._installNetworkListeners(),new Promise((t,i)=>{this._sessionResolve=t,this._sessionReject=i,this._pc.ontrack=s=>{if(s.track.kind==="video"){const n=this._videoJitterBufferTargetMs;try{s.receiver.jitterBufferTarget=n}catch{}try{s.receiver.playoutDelayHint=n/1e3}catch{}this._emit("videoTrack",{track:s.track,stream:s.streams[0]})}},this._pc.onicecandidate=async s=>{s.candidate&&this._sessionId&&await this._sendToServer({type:"peer",sessionId:this._sessionId,ice:{candidate:s.candidate.candidate,sdpMLineIndex:s.candidate.sdpMLineIndex,sdpMid:s.candidate.sdpMid}})},this._pc.oniceconnectionstatechange=()=>{var n;const s=(n=this._pc)==null?void 0:n.iceConnectionState;if(s){if(this._emit("iceStateChange",{state:s}),s==="connected"||s==="completed"){this._clearIceGrace(),this._iceConnected=!0,this._checkSessionReady();return}if(s==="disconnected"){typeof document<"u"&&document.hidden?this._armIceGraceOnVisibility():this._scheduleIceGrace(H,"disconnected");return}if(s==="failed"){this._scheduleIceGrace(V,"failed");return}}},this._pc.ondatachannel=s=>{this._dc=s.channel,this._dc.onopen=()=>{this._dcOpen=!0,this._checkSessionReady()},this._dc.onmessage=n=>this._handleRobotMessage(JSON.parse(n.data))},this._sendToServer({type:"startSession",peerId:e}).then(s=>{if((s==null?void 0:s.type)==="sessionRejected"){this._failSessionRejected(s);return}s!=null&&s.sessionId&&(this._sessionId=s.sessionId)})})}_failSessionRejected(e){const t=new Error(e.reason==="robot_busy"?`Robot is busy: "${e.activeApp||"another app"}" is already connected`:`Session rejected: ${e.reason||"unknown reason"}`);if(t.reason=e.reason??null,t.activeApp=e.activeApp??null,this._clearIceGrace(),this._uninstallNetworkListeners(),this._pc&&(this._pc.close(),this._pc=null),this._micStream&&(this._micStream.getTracks().forEach(i=>i.stop()),this._micStream=null),this._iceConnected=!1,this._dcOpen=!1,this._micMuted=!0,this._micSupported=!1,this._emit("sessionRejected",{reason:e.reason,activeApp:e.activeApp}),this._sessionReject){const i=this._sessionReject;this._sessionResolve=null,this._sessionReject=null,i(t)}}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._applyAudioConfigResolve&&(this._applyAudioConfigResolve(!1),this._applyAudioConfigResolve=null),this._readAudioParameterResolve&&(this._readAudioParameterResolve(null),this._readAudioParameterResolve=null),this._logSubscribers.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"}))}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._applyAudioConfigResolve&&(this._applyAudioConfigResolve(!1),this._applyAudioConfigResolve=null),this._readAudioParameterResolve&&(this._readAudioParameterResolve(null),this._readAudioParameterResolve=null),this._logSubscribers.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"})}_clearIceGrace(){this._iceGraceTimer!==null&&(clearTimeout(this._iceGraceTimer),this._iceGraceTimer=null),this._iceGraceReason=null,this._pendingVisibilityHandler&&typeof document<"u"&&document.removeEventListener("visibilitychange",this._pendingVisibilityHandler),this._pendingVisibilityHandler=null}_scheduleIceGrace(e,t){if(this._iceGraceTimer!==null){if(this._iceGraceReason===t)return;clearTimeout(this._iceGraceTimer)}this._iceGraceReason=t,this._iceGraceTimer=setTimeout(()=>{var n;this._iceGraceTimer=null;const i=this._iceGraceReason;this._iceGraceReason=null;const s=(n=this._pc)==null?void 0:n.iceConnectionState;if(!(s==="connected"||s==="completed")){if(i==="disconnected"&&s==="disconnected"){this._emit("error",{source:"webrtc",error:new Error(`ICE stuck in 'disconnected' for > ${e}ms`)});return}if(i==="failed"||s==="failed"){const r=new Error("ICE connection failed");this._sessionReject&&(this._sessionReject(r),this._sessionResolve=null,this._sessionReject=null),this._emit("error",{source:"webrtc",error:r})}}},e)}_armIceGraceOnVisibility(){if(this._pendingVisibilityHandler)return;const e=Date.now(),t=()=>{if(typeof document<"u"&&document.hidden||(document.removeEventListener("visibilitychange",t),this._pendingVisibilityHandler=null,!this._pc))return;const i=this._pc.iceConnectionState;if(!(i==="connected"||i==="completed")){if(Date.now()-e>ae){const s=new Error("Session expired while tab was backgrounded");this._sessionReject&&(this._sessionReject(s),this._sessionResolve=null,this._sessionReject=null),this._emit("error",{source:"webrtc",error:s});return}if(i==="failed"){this._scheduleIceGrace(V,"failed");return}this._scheduleIceGrace(H,"disconnected")}};document.addEventListener("visibilitychange",t),this._pendingVisibilityHandler=t}_installNetworkListeners(){if(this._onlineHandler||typeof window>"u")return;const e=()=>this._emit("networkOnline",{}),t=()=>this._emit("networkOffline",{});window.addEventListener("online",e),window.addEventListener("offline",t),this._onlineHandler=e,this._offlineHandler=t;const i=navigator.connection;if(i&&typeof i.addEventListener=="function"){const s=()=>this._emit("networkChange",{effectiveType:i.effectiveType,downlink:i.downlink,rtt:i.rtt,saveData:i.saveData});i.addEventListener("change",s),this._connectionChangeHandler=s}}_uninstallNetworkListeners(){typeof window<"u"&&(this._onlineHandler&&window.removeEventListener("online",this._onlineHandler),this._offlineHandler&&window.removeEventListener("offline",this._offlineHandler));const e=navigator.connection;e&&this._connectionChangeHandler&&typeof e.removeEventListener=="function"&&e.removeEventListener("change",this._connectionChangeHandler),this._onlineHandler=null,this._offlineHandler=null,this._connectionChangeHandler=null}setTarget({head:e,antennas:t,body_yaw:i}={}){const s={type:"set_full_target"};if(e!==void 0){if(!Array.isArray(e)||e.length!==16||!e.every(n=>Number.isFinite(n)))throw new TypeError(`setTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e)?`Array(${e.length})`:typeof e}`);s.head=e}if(t!==void 0){if(!Array.isArray(t)||t.length!==2||!t.every(n=>Number.isFinite(n)))throw new TypeError(`setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t)?`Array(${t.length})`:typeof t}`);s.antennas=t}if(i!==void 0){if(!Number.isFinite(i))throw new TypeError(`setTarget: body_yaw must be a finite number (radians); got ${i}`);s.body_yaw=i}return this._sendCommand(s)}gotoTarget({head:e,antennas:t,body_yaw:i,duration:s}){const n={type:"goto_target"};if(e!==void 0){if(!Array.isArray(e)||e.length!==16||!e.every(r=>Number.isFinite(r)))throw new TypeError(`gotoTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e)?`Array(${e.length})`:typeof e}`);n.head=e}if(t!==void 0){if(!Array.isArray(t)||t.length!==2||!t.every(r=>Number.isFinite(r)))throw new TypeError(`gotoTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t)?`Array(${t.length})`:typeof t}`);n.antennas=t}if(i!==void 0){if(!Number.isFinite(i))throw new TypeError(`gotoTarget: body_yaw must be a finite number (radians); got ${i}`);n.body_yaw=i}if(!Number.isFinite(s)||s<=0)throw new TypeError(`gotoTarget: duration must be a positive finite number (seconds); got ${s}`);return n.duration=s,this._sendCommand(n)}setHeadRpyDeg(e,t,i){return this.setTarget({head:ee(e,t,i).flat()})}setAntennasDeg(e,t){return this.setTarget({antennas:[C(e),C(t)]})}setBodyYawDeg(e){return this.setTarget({body_yaw:C(e)})}playSound(e){return this._sendCommand({type:"play_sound",file:e})}clearIncomingAudio(){return this._sendCommand({type:"clear_incoming_audio"})}setMotorMode(e){return this._sendCommand({type:"set_motor_mode",mode:e})}setMotorTorque(e,t=null){return this._sendCommand({type:"set_torque",on:e,ids:t})}wakeUp({timeoutMs:e=8e3}={}){return this._sendCommand({type:"set_motor_mode",mode:"enabled"}),this._sendCommandAwaitCompletion("wake_up",e)}gotoSleep({timeoutMs:e=8e3}={}){return this._sendCommandAwaitCompletion("goto_sleep",e)}_sendCommandAwaitCompletion(e,t){return this._sendCommand({type:e})?new Promise((i,s)=>{const n={resolve:i,reject:s,timer:setTimeout(()=>{const r=this._pendingMotionCompletions[e],c=r.indexOf(n);c!==-1&&r.splice(c,1),s(new Error(`${e} timed out after ${t}ms`))},t)};this._pendingMotionCompletions[e].push(n)}):Promise.reject(new Error(`${e}: data channel not open`))}_rejectPendingMotionCompletions(e){for(const t of Object.keys(this._pendingMotionCompletions)){const i=this._pendingMotionCompletions[t];for(;i.length;){const s=i.shift();clearTimeout(s.timer),s.reject(e)}}}isAwake(){var t;const e=(t=this._robotState)==null?void 0:t.motor_mode;return e==="enabled"||e==="gravity_compensation"}async ensureAwake(e=1e3){var t;return((t=this._robotState)==null?void 0:t.motor_mode)===void 0&&await new Promise(i=>{const s=()=>{this.removeEventListener("state",s),clearTimeout(n),i()},n=setTimeout(s,e);this.addEventListener("state",s),this.requestState()}),this.isAwake()||this.wakeUp().catch(()=>{}),!0}getVersion(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._versionResolve&&this._versionResolve(null),this._versionResolve=e,this._sendCommand({type:"get_version"})})}getHardwareId(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._hardwareIdResolve&&this._hardwareIdResolve(null),this._hardwareIdResolve=e,this._sendCommand({type:"get_hardware_id"})})}getVolume(){return this._slotRoundtrip(()=>this._volumeResolve,e=>{this._volumeResolve=e},{type:"get_volume"})}setVolume(e){return this._slotRoundtrip(()=>this._volumeResolve,t=>{this._volumeResolve=t},{type:"set_volume",volume:N(e)})}getMicrophoneVolume(){return this._slotRoundtrip(()=>this._micVolumeResolve,e=>{this._micVolumeResolve=e},{type:"get_microphone_volume"})}setMicrophoneVolume(e){return this._slotRoundtrip(()=>this._micVolumeResolve,t=>{this._micVolumeResolve=t},{type:"set_microphone_volume",volume:N(e)})}applyAudioConfig(e,{verify:t=!0}={}){return this._slotRoundtrip(()=>this._applyAudioConfigResolve,i=>{this._applyAudioConfigResolve=i},{type:"apply_audio_config",config:e,verify:t}).then(i=>i===!0)}readAudioParameter(e){return this._slotRoundtrip(()=>this._readAudioParameterResolve,t=>{this._readAudioParameterResolve=t},{type:"read_audio_parameter",name:e})}_slotRoundtrip(e,t,i){return new Promise((s,n)=>{if(!this._dc||this._dc.readyState!=="open"){n(new Error("Data channel not open"));return}const r=e();r&&r(null),t(s),this._sendCommand(i)})}sendRaw(e){return this._sendCommand(e)}subscribeLogs({onLine:e,onError:t}){if(typeof e!="function")throw new TypeError("subscribeLogs: onLine callback is required");const i={onLine:e,onError:t},s=this._logSubscribers.size===0;this._logSubscribers.add(i),s&&this._sendCommand({type:"subscribe_logs"});let n=!1;return()=>{n||(n=!0,this._logSubscribers.delete(i),this._logSubscribers.size===0&&this._sendCommand({type:"unsubscribe_logs"}))}}requestState(){return this._sendCommand({type:"get_state"})}setAudioMuted(e){this._audioMuted=e,this._videoElement&&(this._videoElement.muted=e)}setMicMuted(e){this._micMuted=e,this._micStream&&this._micStream.getAudioTracks().forEach(t=>{t.enabled=!e})}attachVideo(e){this._videoElement=e,e.muted=this._audioMuted;const t=s=>{const n=s;e.srcObject=n.detail.stream,e.playsInline=!0,"requestVideoFrameCallback"in e&&this._startLatencyMonitor(e)},i=()=>{e.srcObject=null};return this.addEventListener("videoTrack",t),this.addEventListener("sessionStopped",i),()=>{this.removeEventListener("videoTrack",t),this.removeEventListener("sessionStopped",i),this._latencyMonitorId&&(clearInterval(this._latencyMonitorId),this._latencyMonitorId=null),e.srcObject=null,this._videoElement=null}}async playMove(e,{audioBlob:t=null,audioLeadMs:i=-100,description:s="move",encoding:n="gzip+base64",playFrequency:r=100,initialGotoDuration:c=0,startTimeoutMs:l=8e3,onProgress:h=()=>{},onStarted:u=()=>{}}={}){var R,j;if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");if(!((R=e==null?void 0:e.time)!=null&&R.length)||!((j=e==null?void 0:e.set_target_data)!=null&&j.length))throw new Error("playMove: motion must have time + set_target_data");const p=x();this._activeMoveUploadId=p;const g={description:s,time:e.time,set_target_data:e.set_target_data},w=JSON.stringify(g);let m,f;n==="gzip+base64"&&oe()?(m=await re(w),f="gzip+base64"):(m=w,f="json");const y=Math.ceil(m.length/S)||1;h({phase:"starting",sent:0,total:y,bytes:m.length,encoding:f}),this._sendCommand({type:"upload_move_start",upload_id:p,total_chunks:y,description:s,encoding:f});for(let _=0;_<y;_++){this._dc.bufferedAmount>L&&await this._awaitDataChannelDrain();const I=_*S;this._sendCommand({type:"upload_move_chunk",upload_id:p,chunk_index:_,chunk:m.slice(I,I+S)}),h({phase:"upload",sent:_+1,total:y})}if(this._sendCommand({type:"upload_move_finish",upload_id:p}),h({phase:"uploaded",sent:y,total:y}),t){const _=new Uint8Array(await t.arrayBuffer()),I=P(_),E=Math.ceil(I.length/S)||1;h({phase:"audio-starting",sent:0,total:E,bytes:I.length}),this._sendCommand({type:"upload_audio_start",upload_id:p,total_chunks:E,encoding:"wav-base64",description:s});for(let A=0;A<E;A++){this._dc.bufferedAmount>L&&await this._awaitDataChannelDrain();const D=A*S;this._sendCommand({type:"upload_audio_chunk",upload_id:p,chunk_index:A,chunk:I.slice(D,D+S)}),h({phase:"audio-upload",sent:A+1,total:E})}this._sendCommand({type:"upload_audio_finish",upload_id:p}),h({phase:"audio-uploaded",sent:E,total:E})}this._sendCommand({type:"play_uploaded_move",upload_id:p,play_frequency:r,initial_goto_duration:c,audio_lead_ms:i});let v;try{v=await this._waitForBroadcast(_=>(_==null?void 0:_.type)==="play_uploaded_move"&&(_==null?void 0:_.upload_id)===p&&(_.started===!0||typeof _.error=="string"),{timeoutMs:l,debugLabel:"play_uploaded_move started"})}catch(_){throw new Error(`Daemon did not respond to play_uploaded_move (requires the reachy_mini daemon with feature/daemon-side-move-upload). Underlying: ${_.message}`)}if(typeof v.error=="string")throw new Error(`play_uploaded_move: ${v.error}`);try{u({duration_s:v.duration_s,has_audio:v.has_audio===!0})}catch(_){console.warn("playMove.onStarted threw:",_)}h({phase:"playing",duration_s:v.duration_s});const b=await this._waitForBroadcast(_=>(_==null?void 0:_.type)==="play_uploaded_move"&&(_==null?void 0:_.upload_id)===p&&(_.finished===!0||_.cancelled===!0||typeof _.error=="string"),{timeoutMs:(v.duration_s+30)*1e3,debugLabel:"play_uploaded_move final"});return this._activeMoveUploadId===p&&(this._activeMoveUploadId=null),b}cancelMove(e=null){const t=e??this._activeMoveUploadId;return t?this._sendCommand({type:"cancel_move",upload_id:t}):!1}async uploadAudio(e,{description:t="audio",onProgress:i=()=>{}}={}){if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");if(!(e instanceof Blob))throw new TypeError("uploadAudio: expected a Blob");const s=x(),n=new Uint8Array(await e.arrayBuffer()),r=P(n),c=Math.ceil(r.length/S)||1;i({phase:"audio-starting",sent:0,total:c,bytes:r.length}),this._sendCommand({type:"upload_audio_start",upload_id:s,total_chunks:c,encoding:"wav-base64",description:t});for(let l=0;l<c;l++){this._dc.bufferedAmount>L&&await this._awaitDataChannelDrain();const h=l*S;this._sendCommand({type:"upload_audio_chunk",upload_id:s,chunk_index:l,chunk:r.slice(h,h+S)}),i({phase:"audio-upload",sent:l+1,total:c})}return this._sendCommand({type:"upload_audio_finish",upload_id:s}),i({phase:"audio-uploaded",sent:c,total:c}),s}async playUploadedAudio(e,{timeoutMs:t=8e3}={}){if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");const i=this._waitForBroadcast(n=>(n==null?void 0:n.type)==="play_uploaded_audio"&&(n==null?void 0:n.upload_id)===e&&(n.started===!0||typeof n.error=="string"),{timeoutMs:t,debugLabel:"play_uploaded_audio started"});this._sendCommand({type:"play_uploaded_audio",upload_id:e});const s=await i;if(typeof s.error=="string")throw new Error(s.error);return this._activeAudioUploadId=e,s}cancelAudio(e=null){const t=e??this._activeAudioUploadId;return t?(this._activeAudioUploadId===t&&(this._activeAudioUploadId=null),this._sendCommand({type:"cancel_audio",upload_id:t})):!1}_emit(e,t){this.dispatchEvent(new CustomEvent(e,{detail:t}))}_waitForBroadcast(e,{timeoutMs:t=5e3,debugLabel:i=""}={}){return new Promise((s,n)=>{const r={predicate:e,resolve:s,timer:setTimeout(()=>{const c=this._broadcastWaiters.indexOf(r);c!==-1&&this._broadcastWaiters.splice(c,1),n(new Error(`broadcast timeout (${t} ms): ${i}`))},t)};this._broadcastWaiters.push(r)})}async _awaitDataChannelDrain(){for(;this._dc&&this._dc.bufferedAmount>ne;)if(await new Promise(e=>setTimeout(e,30)),!this._dc||this._dc.readyState!=="open")throw new Error("data channel closed mid-upload")}async _sendToServer(e){if(!this._token)throw new Error("No token — authenticate() first");try{const t=await fetch(`${this._signalingUrl}/send`,{method:"POST",headers:{"Content-Type":"application/json",Authorization:`Bearer ${this._token}`},body:JSON.stringify(e)});if(!t.ok){let i="";try{i=await t.text()}catch{}return console.warn(`[reachy-mini] /send rejected (${t.status}) for type=${e==null?void 0:e.type}; body=${i||"<empty>"}`),null}return await t.json()}catch(t){return console.error("Send error:",t),null}}_sendCommand(e){return!this._dc||this._dc.readyState!=="open"?!1:(this._dc.send(JSON.stringify(e)),!0)}_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)}async _handleSignalingMessage(e){switch(e.type){case"welcome":break;case"list":this._robots=e.producers||[],this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart();break;case"peerStatusChanged":{const t=await this._sendToServer({type:"list"});t!=null&&t.producers&&(this._robots=t.producers,this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart());break}case"sessionStarted":this._sessionId=e.sessionId??null;break;case"sessionRejected":this._failSessionRejected(e);break;case"endSession":this._handleEndSession(e);break;case"peer":this._handlePeerMessage(e);break}}_handleEndSession(e){const t=e.reason,i=t==="robot_busy_local_app"?"Robot is busy: a local Python app is running":t==="local_app_started"?"Disconnected: a local Python app started on the robot":t==="robot_busy_local"?"Robot is busy: another session is already active":null;if(this._sessionReject){const s=new Error(i||`Session ended before it could start: ${t||"unknown reason"}`);s.reason=t??null,this._emit("sessionRejected",{reason:t,activeApp:null}),this._clearIceGrace(),this._uninstallNetworkListeners(),this._pc&&(this._pc.close(),this._pc=null),this._micStream&&(this._micStream.getTracks().forEach(r=>r.stop()),this._micStream=null),this._iceConnected=!1,this._dcOpen=!1,this._micMuted=!0,this._micSupported=!1;const n=this._sessionReject;this._sessionResolve=null,this._sessionReject=null,n(s);return}this._state==="streaming"&&(this._emit("sessionStopped",{reason:t||"remote_end",message:i}),this.stopSession().catch(()=>{}))}async _handlePeerMessage(e){if(this._pc)try{if(e.sdp){const t=e.sdp;if(t.type==="offer"){const s=se(t.sdp);if(this._micSupported=s,this._emit("micSupported",{supported:s}),s&&this._micStream)for(const r of this._micStream.getAudioTracks())this._pc.addTrack(r,this._micStream);await this._pc.setRemoteDescription(new RTCSessionDescription(t));const n=await this._pc.createAnswer();await this._pc.setLocalDescription(n),await this._sendToServer({type:"peer",sessionId:this._sessionId,sdp:{type:"answer",sdp:n.sdp}})}else await this._pc.setRemoteDescription(new RTCSessionDescription(t));const i=this._pendingRemoteIce;if(i&&i.length){this._pendingRemoteIce=[];for(const s of i)try{await this._pc.addIceCandidate(new RTCIceCandidate(s))}catch(n){console.warn("[reachy-mini] buffered ICE candidate rejected:",n)}}}if(e.ice){if(!e.ice.candidate)return;this._pc.remoteDescription?await this._pc.addIceCandidate(new RTCIceCandidate(e.ice)):(this._pendingRemoteIce||(this._pendingRemoteIce=[]),this._pendingRemoteIce.push(e.ice))}}catch(t){console.error("WebRTC error:",t),this._emit("error",{source:"webrtc",error:t})}}_handleRobotMessage(e){if("version"in e&&this._versionResolve){this._versionResolve(e.version),this._versionResolve=null;return}if("hardware_id"in e&&this._hardwareIdResolve){this._hardwareIdResolve(e.hardware_id),this._hardwareIdResolve=null;return}if(e.command==="get_volume"||e.command==="set_volume"){this._volumeResolve&&(this._volumeResolve(e.status==="error"?null:e.volume),this._volumeResolve=null);return}if(e.command==="get_microphone_volume"||e.command==="set_microphone_volume"){this._micVolumeResolve&&(this._micVolumeResolve(e.status==="error"?null:e.volume),this._micVolumeResolve=null);return}if(e.command==="apply_audio_config"){this._applyAudioConfigResolve&&(this._applyAudioConfigResolve(e.error?!1:!!e.applied),this._applyAudioConfigResolve=null);return}if(e.command==="read_audio_parameter"){this._readAudioParameterResolve&&(this._readAudioParameterResolve(e.error?null:e.values??null),this._readAudioParameterResolve=null);return}if((e.command==="wake_up"||e.command==="goto_sleep")&&this._pendingMotionCompletions&&this._pendingMotionCompletions[e.command]){const t=this._pendingMotionCompletions[e.command];if(e.completed===!0&&t.length>0){const i=t.shift();clearTimeout(i.timer),i.resolve();return}if(e.error&&t.length>0){const i=t.shift();clearTimeout(i.timer),i.reject(new Error(`${e.command}: ${e.error}`));return}}if(e.type==="log_line"){for(const t of this._logSubscribers)try{t.onLine({timestamp:e.timestamp,line:e.line})}catch(i){console.error("subscribeLogs onLine threw:",i)}return}if(e.type==="log_stream_error"){for(const t of this._logSubscribers)if(typeof t.onError=="function")try{t.onError(e.error)}catch(i){console.error("subscribeLogs onError threw:",i)}return}if(e.state){const t=e.state;t.head_pose&&(this._robotState.head=t.head_pose.flat()),t.antennas&&(this._robotState.antennas=[t.antennas[0],t.antennas[1]]),typeof t.body_yaw=="number"&&(this._robotState.body_yaw=t.body_yaw),t.motor_mode&&(this._robotState.motor_mode=t.motor_mode),typeof t.is_move_running=="boolean"&&(this._robotState.is_move_running=t.is_move_running),this._emit("state",{...this._robotState})}if(e.error&&this._emit("error",{source:"robot",error:e.error}),this._broadcastWaiters.length>0)for(let t=this._broadcastWaiters.length-1;t>=0;t--){const i=this._broadcastWaiters[t];if(i.predicate(e)){this._broadcastWaiters.splice(t,1),clearTimeout(i.timer),i.resolve(e);return}}}_startLatencyMonitor(e){this._latencyMonitorId&&clearInterval(this._latencyMonitorId),this._latencyMonitorId=setInterval(()=>{if(!e.srcObject||e.paused)return;const t=e.buffered;if(t.length>0){const i=t.end(t.length-1),s=i-e.currentTime;s>.5&&(console.log(`Latency correction: was ${s.toFixed(2)}s behind`),e.currentTime=i-.1)}},2e3)}}window.ReachyMini=le;window.dispatchEvent(new Event("reachymini:ready"));const M=new URLSearchParams(window.location.search),ce=M.get("embedded")==="1"||M.get("embed")==="1",de=M.has("code")||M.has("error"),he=sessionStorage.getItem("cookaiware:launched")==="1";function F(){sessionStorage.setItem("cookaiware:launched","1");const o=document.getElementById("root");return o&&(o.innerHTML=""),U(async()=>{const{mountHost:a}=await import("./auto-CaTD3xKq.js");return{mountHost:a}},__vite__mapDeps([0,1])).then(({mountHost:a})=>{a({appName:"CookAIware",appIconUrl:"/icon.png",appEmoji:"🍲",enableMicrophone:!0,devToken:void 0,clientId:void 0})})}ce?U(()=>import("./embed-BPTJET-M.js"),__vite__mapDeps([2,1,3])):de||he?F():U(async()=>{const{renderLanding:o}=await import("./landing-DkIk3-oJ.js");return{renderLanding:o}},__vite__mapDeps([4,5])).then(({renderLanding:o})=>o(()=>void F()));export{U as _,_e as r};

index.html

@@ -59,7 +59,7 @@
         }
       })();
     </script>
-    <script type="module" crossorigin src="/assets/index-BkQO3aLW.js"></script>
+    <script type="module" crossorigin src="/assets/index-BNLguQgW.js"></script>
   </head>
   <body>
     <!-- Capture the robot's inbound audio track BEFORE the Reachy SDK module

web/src/i18n/index.ts

@@ -50,6 +50,7 @@ const STRINGS = {
     sort_label: "Sort",
     sort_expiration: "Expiration",
     sort_name: "Name",
+    sort_location: "Location",
     sort_custom: "Custom",
     drag_hint: "Drag items to reorder",
     filter_location: (loc: string) => `Showing “${loc}” — tap to clear`,
@@ -93,6 +94,11 @@ const STRINGS = {
     hf_sync_err: "Sync failed. Check the token and try again.",
     hf_autosync: "Auto-sync",
     hf_autosync_hint: "Save to your HF account automatically a few seconds after each change.",
+    hf_choose_title: "Your HF account already has data",
+    hf_choose_body: (cloud: string, local: string) =>
+      `Cloud: ${cloud}. This device: ${local}. Which one do you want to keep? The other will be overwritten.`,
+    hf_keep_cloud: "Keep cloud",
+    hf_keep_device: "Keep this device",
     hf_last_synced: (when: string) => `Last synced ${when}`,
     hf_never_synced: "Not synced yet",
     hf_save_confirm: (summary: string) =>
@@ -103,6 +109,8 @@ const STRINGS = {
       `${inv} item${inv === 1 ? "" : "s"}, ${plan ? "a meal plan" : "no meal plan"}, ${shop} to buy`,
     confirm_yes: "Continue",
     voice_title: "Talk to Reachy",
+    voice_name_label: "Robot name",
+    voice_name_hint: "What your robot is called in conversation.",
     voice_key_label: "OpenAI API key",
     voice_key_hint: "Used for voice (gpt-realtime) and for Reachy's camera vision (gpt-4o-mini). The key needs permissions for BOTH the Realtime API and Model capabilities — a key with 'All' permissions is simplest. Stored only on this device, sent only to OpenAI, uses your own OpenAI credits.",
     voice_start: "Talk to Reachy",
@@ -178,6 +186,7 @@ const STRINGS = {
     sort_label: "Ordenar",
     sort_expiration: "Caducidad",
     sort_name: "Nombre",
+    sort_location: "Ubicación",
     sort_custom: "Manual",
     drag_hint: "Arrastra para reordenar",
     filter_location: (loc: string) => `Mostrando “${loc}” — toca para quitar`,
@@ -222,6 +231,11 @@ const STRINGS = {
     hf_sync_err: "Error de sincronización. Revisa el token e inténtalo de nuevo.",
     hf_autosync: "Sincronización automática",
     hf_autosync_hint: "Guarda en tu cuenta de HF automáticamente unos segundos después de cada cambio.",
+    hf_choose_title: "Tu cuenta de HF ya tiene datos",
+    hf_choose_body: (cloud: string, local: string) =>
+      `Nube: ${cloud}. Este dispositivo: ${local}. ¿Cuál quieres conservar? El otro se sobrescribirá.`,
+    hf_keep_cloud: "Conservar la nube",
+    hf_keep_device: "Conservar este dispositivo",
     hf_last_synced: (when: string) => `Última sincronización ${when}`,
     hf_never_synced: "Aún sin sincronizar",
     hf_save_confirm: (summary: string) =>
@@ -232,6 +246,8 @@ const STRINGS = {
       `${inv} alimento${inv === 1 ? "" : "s"}, ${plan ? "un menú" : "sin menú"}, ${shop} por comprar`,
     confirm_yes: "Continuar",
     voice_title: "Habla con Reachy",
+    voice_name_label: "Nombre del robot",
+    voice_name_hint: "Cómo se llama tu robot en la conversación.",
     voice_key_label: "Clave de API de OpenAI",
     voice_key_hint: "Se usa para la voz (gpt-realtime) y para la visión de la cámara de Reachy (gpt-4o-mini). La clave necesita permisos para la API Realtime Y para Model capabilities — lo más sencillo es una clave con permisos 'All'. Se guarda solo en este dispositivo, se envía solo a OpenAI y consume tus créditos de OpenAI.",
     voice_start: "Hablar con Reachy",

web/src/storage/store.ts

@@ -16,7 +16,8 @@ export interface AppSettings {
   hfDatasetSync: boolean; // auto-sync to HF after each change
   lastSyncedAt: string | null; // ISO timestamp of last successful upload
   openaiKey: string | null;
-  inventorySort: "expiration" | "name" | "custom";
+  inventorySort: "expiration" | "name" | "location" | "custom";
+  robotName: string;
 }
 
 const DATA_KEY = "cookaiware:data";
@@ -53,6 +54,7 @@ export function loadSettings(): AppSettings {
     lastSyncedAt: null,
     openaiKey: null,
     inventorySort: "expiration",
+    robotName: "Reachy",
   };
   try {
     const raw = localStorage.getItem(SETTINGS_KEY);
@@ -65,7 +67,10 @@ export function loadSettings(): AppSettings {
       lastSyncedAt: typeof parsed.lastSyncedAt === "string" ? parsed.lastSyncedAt : null,
       openaiKey: typeof parsed.openaiKey === "string" && parsed.openaiKey ? parsed.openaiKey : null,
       inventorySort:
-        parsed.inventorySort === "name" || parsed.inventorySort === "custom" ? parsed.inventorySort : "expiration",
+        parsed.inventorySort === "name" || parsed.inventorySort === "custom" || parsed.inventorySort === "location"
+          ? parsed.inventorySort
+          : "expiration",
+      robotName: typeof parsed.robotName === "string" && parsed.robotName.trim() ? parsed.robotName.trim() : "Reachy",
     };
   } catch {
     return fallback;

web/src/ui/app.ts

@@ -83,6 +83,7 @@ export class App {
       gestures,
       getApiKey: () => this.settings.openaiKey,
       getLang: () => this.settings.language,
+      getName: () => this.settings.robotName,
       toolCtx: {
         getData: () => this.data,
         commit: (d) => {
@@ -198,6 +199,33 @@ export class App {
     bodyWrap.querySelector<HTMLElement>("input, select")?.focus();
   }
 
+  /** Two-way choice dialog; resolves "a", "b", or null when dismissed. */
+  private choose(title: string, message: string, labelA: string, labelB: string): Promise<"a" | "b" | null> {
+    return new Promise((resolve) => {
+      const backdrop = document.createElement("div");
+      backdrop.className = "modal-backdrop";
+      backdrop.innerHTML = `
+        <div class="modal-card">
+          <div class="modal-title">${escapeHtml(title)}</div>
+          <div class="modal-body confirm-msg">${escapeHtml(message)}</div>
+          <div class="modal-actions">
+            <button class="btn" data-a>${escapeHtml(labelA)}</button>
+            <button class="btn primary" data-b>${escapeHtml(labelB)}</button>
+          </div>
+        </div>`;
+      document.body.appendChild(backdrop);
+      const done = (v: "a" | "b" | null) => {
+        backdrop.remove();
+        resolve(v);
+      };
+      backdrop.querySelector<HTMLButtonElement>("[data-a]")!.onclick = () => done("a");
+      backdrop.querySelector<HTMLButtonElement>("[data-b]")!.onclick = () => done("b");
+      backdrop.onclick = (e) => {
+        if (e.target === backdrop) done(null);
+      };
+    });
+  }
+
   private confirm(message: string): Promise<boolean> {
     const s = this.s;
     return new Promise((resolve) => {
@@ -455,6 +483,7 @@ export class App {
     for (const [mode, label] of [
       ["expiration", s.sort_expiration],
       ["name", s.sort_name],
+      ["location", s.sort_location],
       ["custom", s.sort_custom],
     ] as const) {
       const b = document.createElement("button");
@@ -538,6 +567,14 @@ export class App {
     const mode = this.settings.inventorySort;
     if (mode === "name") items = [...items].sort((a, b) => a.display_name.localeCompare(b.display_name));
     else if (mode === "expiration") items = inv.sortInventory(items);
+    else if (mode === "location")
+      items = [...items].sort((a, b) => {
+        // Items without a location go last; within a location, sort by name.
+        const la = a.storage_location ?? "￿";
+        const lb = b.storage_location ?? "￿";
+        const cmp = la.localeCompare(lb);
+        return cmp !== 0 ? cmp : a.display_name.localeCompare(b.display_name);
+      });
     // "custom" keeps the underlying array order.
     if (this.locationFilter) items = items.filter((i) => (i.storage_location ?? "") === this.locationFilter);
     return items;
@@ -983,10 +1020,52 @@ export class App {
     autoInput.type = "checkbox";
     autoInput.className = "switch";
     autoInput.checked = this.settings.hfDatasetSync;
-    autoInput.onchange = () => {
-      this.settings.hfDatasetSync = autoInput.checked;
+    autoInput.onchange = async () => {
+      if (!autoInput.checked) {
+        this.settings.hfDatasetSync = false;
+        saveSettings(this.settings);
+        return;
+      }
+      const token = this.settings.hfToken;
+      if (!token) {
+        autoInput.checked = false;
+        return this.toast(s.hf_sync_err);
+      }
+      // Before the first auto-save, reconcile with whatever is already in the
+      // cloud so enabling the toggle can never silently overwrite it.
+      try {
+        const remote = await downloadData(token);
+        if (remote) {
+          const rc = summarizeData(remote);
+          const lc = summarizeData(this.data);
+          const differs = JSON.stringify(remote) !== JSON.stringify(this.data);
+          if (differs && (rc.inventory > 0 || rc.hasPlan || rc.shopping > 0)) {
+            const pick = await this.choose(
+              s.hf_choose_title,
+              s.hf_choose_body(
+                s.data_summary(rc.inventory, rc.hasPlan, rc.shopping),
+                s.data_summary(lc.inventory, lc.hasPlan, lc.shopping),
+              ),
+              s.hf_keep_cloud,
+              s.hf_keep_device,
+            );
+            if (pick === null) {
+              autoInput.checked = false;
+              return;
+            }
+            if (pick === "a") {
+              this.data = remote;
+              saveData(this.data);
+            }
+          }
+        }
+      } catch (err) {
+        console.warn("[cookaiware] auto-sync pre-check failed", err);
+      }
+      this.settings.hfDatasetSync = true;
       saveSettings(this.settings);
-      if (autoInput.checked) void this.pushToCloud(false);
+      await this.pushToCloud(false);
+      this.render();
     };
     autoRow.appendChild(autoInput);
 
@@ -1019,6 +1098,19 @@ export class App {
     };
     voiceCard.append(keyLabel, keyInput);
     voiceCard.insertAdjacentHTML("beforeend", `<p class="hint">${s.voice_key_hint}</p>`);
+
+    const nameLabel = document.createElement("label");
+    nameLabel.textContent = s.voice_name_label;
+    const nameInput = document.createElement("input");
+    nameInput.type = "text";
+    nameInput.autocomplete = "off";
+    nameInput.value = this.settings.robotName;
+    nameInput.oninput = () => {
+      this.settings.robotName = nameInput.value.trim() || "Reachy";
+      saveSettings(this.settings);
+    };
+    voiceCard.append(nameLabel, nameInput);
+    voiceCard.insertAdjacentHTML("beforeend", `<p class="hint">${s.voice_name_hint}</p>`);
     main.appendChild(voiceCard);
   }
 }

web/src/ui/styles.css

@@ -829,11 +829,18 @@ label {
   flex: 1;
 }
 
-.switch {
+/* Override the global input rules (min-height/width/border/padding) that were
+   deforming the toggle. */
+input.switch {
   appearance: none;
   -webkit-appearance: none;
   width: 46px;
+  min-width: 46px;
+  max-width: 46px;
   height: 28px;
+  min-height: 28px;
+  padding: 0;
+  border: none;
   border-radius: 999px;
   background: var(--cream-strong);
   position: relative;

web/src/voice/controller.ts

@@ -21,6 +21,7 @@ export class VoiceController {
       gestures: RobotGestures | null;
       getApiKey: () => string | null;
       getLang: () => Lang;
+      getName: () => string;
       toolCtx: ToolContext;
       onStatus: (s: VoiceStatus) => void;
       onError: (message: string) => void;
@@ -93,6 +94,7 @@ export class VoiceController {
     this.session = new RealtimeSession({
       apiKey,
       lang: this.opts.getLang(),
+      robotName: this.opts.getName(),
       micTrack,
       toolCtx: this.opts.toolCtx,
       callbacks: {

web/src/voice/realtime.ts

@@ -11,24 +11,32 @@ import type { Lang } from "../i18n";
 
 const REALTIME_URL = "wss://api.openai.com/v1/realtime?model=gpt-realtime";
 
-function systemPrompt(lang: Lang): string {
+function systemPrompt(lang: Lang, robotName: string): string {
   const langLine =
     lang === "es"
       ? "Habla SIEMPRE en español, de forma breve y familiar."
       : "Always speak in English, briefly and in a family-friendly way.";
   return [
-    "You are CookAIware, a warm kitchen assistant living in a Reachy Mini robot.",
-    "You help a family track their food inventory, plan weekly meals, and build shopping lists.",
+    `You are ${robotName}, a Reachy Mini robot that helps a family with their kitchen: food inventory, weekly meal plans, and shopping lists.`,
     langLine,
+    // Reactive, not proactive.
+    "STYLE: warm but VERY concise — one or two short sentences per reply.",
+    "Be REACTIVE, not proactive: do exactly what the user asked and nothing more.",
+    "Never chain extra actions, suggestions, tips or questions the user didn't ask for.",
+    "Only offer ideas when the user explicitly asks for suggestions or help deciding.",
+    "If required data is missing (a quantity or unit), ask ONE short question; otherwise don't ask anything.",
+    // Tools.
     "Use the provided tools to read or change data — never invent inventory you have not read.",
+    "When the user says what they bought, call add_inventory. When they cooked or used something, call cook_inventory.",
+    "To CHANGE an existing item (its storage location, expiration date, quantity, or name), call update_inventory_item — NEVER add_inventory, which would create a duplicate.",
+    "When asked to plan, call generate_meal_plan; for a specific day, get_day_meals; for shopping, generate_shopping_list.",
+    "After a tool runs, state the result in one short sentence.",
+    "Use metric units only (g, kg, ml, l, pcs).",
+    // Vision.
     "You have NO continuous vision. Your ONLY way to see is the take_picture tool.",
     "NEVER describe or claim to see the user's surroundings unless it comes from a photo you just took.",
     "When the user asks what you see or shows you food, say you'll take a look and call take_picture. The photo then arrives as the next user message (an image).",
     "Describe ONLY what that photo shows. If food items are visible, name them with estimated quantity and unit, and offer to add them with add_inventory after confirming with the user.",
-    "Use metric units only (g, kg, ml, l, pcs). Keep spoken replies short and natural.",
-    "When the user says what they bought, call add_inventory. When they cooked something, call cook_inventory.",
-    "When asked to plan, call generate_meal_plan; for a specific day, get_day_meals; for shopping, generate_shopping_list.",
-    "After a tool runs, briefly tell the user what you did or found. Ask a short clarifying question only if a quantity or unit is missing.",
   ].join(" ");
 }
 
@@ -49,6 +57,7 @@ export class RealtimeSession {
   private cb: RealtimeCallbacks;
 
   assistantSpeaking = false;
+  private robotName: string;
   private micBytes = new Uint8Array(0);
   private micWorklet: AudioWorkletNode | null = null;
   private playbackEndsAt = 0;
@@ -56,21 +65,38 @@ export class RealtimeSession {
   private fnArgs = new Map<string, string>();
   private openWatchdog: ReturnType<typeof setTimeout> | null = null;
   private speakingWatchdog: ReturnType<typeof setTimeout> | null = null;
+  // Response gating: requesting a new response while one is still streaming
+  // makes their audio chunks interleave on the playback timeline → garbled
+  // "buzzing" voice. Track the active response and defer response.create.
+  private responseActive = false;
+  private responseQueued = false;
 
   constructor(opts: {
     apiKey: string;
     lang: Lang;
+    robotName: string;
     micTrack: MediaStreamTrack;
     toolCtx: ToolContext;
     callbacks: RealtimeCallbacks;
   }) {
     this.apiKey = opts.apiKey;
     this.lang = opts.lang;
+    this.robotName = opts.robotName;
     this.micTrack = opts.micTrack;
     this.toolCtx = opts.toolCtx;
     this.cb = opts.callbacks;
   }
 
+  /** Request an assistant response now, or as soon as the active one ends. */
+  private requestResponse(): void {
+    if (this.responseActive) {
+      this.responseQueued = true;
+    } else {
+      this.responseActive = true;
+      this.send({ type: "response.create", response: { output_modalities: ["audio"] } });
+    }
+  }
+
   start(): void {
     this.ws = new WebSocket(REALTIME_URL, ["realtime", `openai-insecure-api-key.${this.apiKey}`]);
     this.openWatchdog = setTimeout(() => {
@@ -104,7 +130,7 @@ export class RealtimeSession {
       type: "session.update",
       session: {
         type: "realtime",
-        instructions: systemPrompt(this.lang),
+        instructions: systemPrompt(this.lang, this.robotName),
         audio: {
           input: {
             format: { type: "audio/pcm", rate: 24000 },
@@ -130,7 +156,11 @@ export class RealtimeSession {
     });
     void this.startMicPump();
     // Short greeting so the user knows it's listening.
-    const hello = this.lang === "es" ? "Saluda en una frase y di que estás listo para ayudar en la cocina." : "Greet in one short sentence and say you're ready to help in the kitchen.";
+    const hello =
+      this.lang === "es"
+        ? "Saluda en 4-6 palabras, nada más."
+        : "Greet in 4-6 words, nothing more.";
+    this.responseActive = true;
     this.send({ type: "response.create", response: { output_modalities: ["audio"], instructions: hello } });
   }
 
@@ -290,11 +320,21 @@ export class RealtimeSession {
               item: { type: "function_call_output", call_id: id, output: JSON.stringify(result) },
             });
           }
-          this.send({ type: "response.create", response: { output_modalities: ["audio"] } });
+          // Deferred if a response is still streaming — overlapping responses
+          // interleave audio chunks and sound like garbled buzzing.
+          this.requestResponse();
         })();
         break;
       }
+      case "response.created":
+        this.responseActive = true;
+        break;
       case "response.done": {
+        this.responseActive = false;
+        if (this.responseQueued) {
+          this.responseQueued = false;
+          this.requestResponse();
+        }
         const drainMs = Math.max(0, (this.playbackEndsAt - audioContext().currentTime) * 1000);
         setTimeout(() => {
           this.setSpeaking(false);

web/src/voice/tools.ts

@@ -71,6 +71,51 @@ export const TOOLS: ToolDef[] = [
       return { ok: errors.length === 0, errors, count: (args.items as unknown[])?.length ?? 0 };
     },
   },
+  {
+    name: "update_inventory_item",
+    description:
+      "Update ONE existing inventory item in place — change its storage location, expiration date, quantity, unit, or rename it. " +
+      "Use this (NOT add_inventory) whenever the item already exists; add_inventory would create a duplicate.",
+    parameters: {
+      type: "object",
+      properties: {
+        name: { type: "string", description: "Current name of the item to update" },
+        new_name: { type: "string", description: "New name, only if renaming" },
+        quantity: { type: "number", description: "New total quantity, only if changing it" },
+        unit: { type: "string", enum: ["g", "kg", "ml", "l", "pcs"] },
+        expiration_date: { type: "string", description: "New ISO date YYYY-MM-DD, or empty string to clear" },
+        storage_location: { type: "string", description: "New storage location, or empty string to clear" },
+      },
+      required: ["name"],
+    },
+    run: (args, ctx) => {
+      const data = ctx.getData();
+      const target = inv.normalizeName(String(args.name ?? ""));
+      const idx = data.inventory.findIndex((i) => i.name === target && i.quantity > 0);
+      if (idx < 0) return { error: `not_found: ${target}` };
+      const existing = data.inventory[idx];
+      const updated = inv.normalizeItemInput({
+        name: typeof args.new_name === "string" && args.new_name.trim() ? args.new_name : existing.display_name,
+        quantity: typeof args.quantity === "number" ? args.quantity : existing.quantity,
+        unit: typeof args.unit === "string" && args.unit ? args.unit : existing.unit,
+        expiration_date:
+          args.expiration_date === undefined ? existing.expiration_date : String(args.expiration_date) || null,
+        storage_location:
+          args.storage_location === undefined ? existing.storage_location : String(args.storage_location) || null,
+      });
+      if (!updated) return { error: "invalid_quantity_or_unit" };
+      ctx.commit({ ...data, inventory: data.inventory.map((e, i) => (i === idx ? updated : e)) });
+      return {
+        ok: true,
+        item: {
+          name: updated.display_name,
+          quantity: formatQuantity(updated.quantity, updated.unit),
+          expiration_date: updated.expiration_date,
+          storage_location: updated.storage_location,
+        },
+      };
+    },
+  },
   {
     name: "cook_inventory",
     description: "Reduce inventory quantities because the user cooked or used these items.",