src/embed.ts

// Embedded mode: the host shell has authenticated the user, picked a
// robot, and started a streaming session before this module runs. The
// on-screen puppet mirrors the real robot (motion only — audio plays on
// the robot's speaker).
import "./app/styles.css";
import { connectToHost } from "@pollen-robotics/reachy-mini-sdk/host/embed";
import { safelyReturnToPose } from "@pollen-robotics/reachy-mini-sdk/animation";
import { bootApp } from "./app/boot";
import { makeEmotionSource, makeSoundSource } from "./emotions/sources";
import { MultiplexAdapter } from "./robot/multiplex";
import { RealRobotAdapter, type RealRobotSdk } from "./robot/real";
import { VirtualRobotAdapter } from "./robot/virtual";

async function main(): Promise<void> {
  const handle = await connectToHost();
  const reachy = handle.reachy as unknown as RealRobotSdk;

  const app = bootApp(document.getElementById("root")!, {
    theme: handle.theme,
    emotions: makeEmotionSource(),
    sounds: makeSoundSource(),
    attachRobot: (puppetHost, log) =>
      new MultiplexAdapter(
        [new VirtualRobotAdapter(puppetHost, undefined, { muteAudio: true }), new RealRobotAdapter(reachy)],
        log,
      ),
  });

  handle.onThemeChange((theme) => app.setTheme(theme));

  handle.onLeave(() => {
    // Kick the runner's abort (cancels moves/audio, runs its own safe
    // cleanup) but don't hold the host's leave budget on its sleeps —
    // the canonical safe-return below dispatches synchronously and the
    // daemon interpolates on its own clock after the iframe is gone.
    void app.runner.stop();
    safelyReturnToPose(handle.reachy);
  });
}

void main().catch((err: unknown) => {
  console.error("[reachy-blocks] embed boot failed", err);
  window.parent.postMessage(
    {
      source: "reachy-mini",
      type: "embed:error",
      version: 1,
      message: err instanceof Error ? err.message : String(err),
      fatal: true,
    },
    window.location.origin,
  );
});