web/src/embed.ts

// Install the audio patches (getUserMedia → robot speaker) BEFORE the SDK
// opens the session, via this import's side effect.
import { installAudioPatches } from "./voice/audio";
import { connectToHost } from "@pollen-robotics/reachy-mini-sdk/host/embed";
import { safelyReturnToPose } from "@pollen-robotics/reachy-mini-sdk/animation";
import { RobotGestures } from "./robot/gestures";
import { App } from "./ui/app";
import "./ui/styles.css";

installAudioPatches();

async function main() {
  const handle = await connectToHost();
  const { reachy } = handle;

  // Don't push our (idle, silent) outbound audio bus to the robot until the
  // user actually talks — that's what made the robot react while idle. Keep
  // the robot's OWN mic flowing (do NOT setAudioMuted) so robot-mic voice can
  // capture it. Turn OFF the daemon's audio-reactive head wobble: it's a
  // separate motion master that fought ours and buzzed an antenna; we keep
  // the talking motion calm.
  try {
    reachy.setMicMuted(true);
    reachy.sendRaw({ type: "set_wobbling", enabled: false });
  } catch {
    /* older SDK / no audio path */
  }

  document.documentElement.setAttribute("data-theme", handle.theme);
  handle.onThemeChange((theme) => document.documentElement.setAttribute("data-theme", theme));

  const root = document.getElementById("root");
  if (!root) throw new Error("missing #root element");

  const gestures = new RobotGestures(reachy);
  const app = new App(root, gestures, () => reachy);
  app.start();

  // Canonical safe teardown — the host owns the session lifecycle.
  handle.onLeave(() => {
    gestures.cancel();
    safelyReturnToPose(reachy);
  });
}

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