fix: smooth head-only motion, no audio duplication, mic diagnostics

- Movement: port the reachy-stories approach — a 20 Hz (not 60 Hz) client-side
loop that wobbles the HEAD only (roll/pitch/yaw) from smoothed speech energy
while talking, gentle head breath when idle. Antennas are no longer driven
from the wobble — oscillating them at audio rate was the buzz. Daemon wobbler
stays off; motion is client-side (it doesn't react to streamed WebRTC audio).
- Duplicate audio: play TTS on the phone speaker ONLY when the robot isn't
connected; when the robot plays it, phone output is muted (no double sound,
no phone-mic feedback loop).
- 'Reachy can't hear me': added mic-level logging (avg sample magnitude) to
reveal whether the robot mic track actually carries audio; keep the worklet
in the render graph via a 0-gain sink so process() reliably runs.

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

assets/{index-Bpu0WOHF.js → index-DGQc0Yr2.js}

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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-VZIqWv3F.js"),__vite__mapDeps([2,1,3])):de||he?F():U(async()=>{const{renderLanding:o}=await import("./landing-B7BE48AY.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-ByAC4o7k.js"),__vite__mapDeps([2,1,3])):de||he?F():U(async()=>{const{renderLanding:o}=await import("./landing-B7BE48AY.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-Bpu0WOHF.js"></script>
+    <script type="module" crossorigin src="/assets/index-DGQc0Yr2.js"></script>
   </head>
   <body>
     <!-- Capture the robot's inbound audio track BEFORE the Reachy SDK module

web/src/voice/controller.ts

@@ -1,6 +1,6 @@
 import type { ReachyMiniInstance } from "@pollen-robotics/reachy-mini-sdk";
 import { RealtimeSession } from "./realtime";
-import { getPhoneMicTrack, getRobotMicTrack, getRobotSpeakerTrack, resumeAudio, setPhoneOutput } from "./audio";
+import { getPhoneMicTrack, getRobotMicTrack, getRobotSpeakerTrack, resumeAudio, setPhoneOutput, ttsLevel } from "./audio";
 import type { ToolContext } from "./tools";
 import type { RobotGestures } from "../robot/gestures";
 import type { Lang } from "../i18n";
@@ -63,18 +63,12 @@ export class VoiceController {
       if (source === "robot") {
         micTrack = getRobotMicTrack(this.opts.getReachy());
         if (!micTrack) {
-          // Robot mic genuinely unavailable — fall back to the phone mic so the
-          // conversation still works instead of failing.
           console.warn("[voice] robot mic track not found; falling back to phone mic");
           this.opts.onError("Reachy's mic wasn't available — using your phone's mic.");
           micTrack = await getPhoneMicTrack();
-          setPhoneOutput(true);
-        } else {
-          setPhoneOutput(false); // robot speaks
         }
       } else {
         micTrack = await getPhoneMicTrack();
-        setPhoneOutput(true); // you hear it on the phone (robot too if connected)
       }
     } catch {
       this.opts.onError("Couldn't access the microphone.");
@@ -85,17 +79,20 @@ export class VoiceController {
     this.opts.gestures?.cancel();
 
     // Send our TTS to the robot speaker. SDK 1.8 no longer calls getUserMedia;
-    // instead it puts a silent placeholder on the audio sender and expects us
-    // to replaceTrack() our real audio onto it. Then enable the daemon's
-    // wobbler so it animates the head from the speech now playing.
-    const reachyForAudio = this.opts.getReachy();
+    // it puts a silent placeholder on the audio sender and expects us to
+    // replaceTrack() our real audio onto it. Play on the PHONE only when the
+    // robot isn't connected (otherwise you'd hear it twice). We animate the
+    // head ourselves (client-side), so keep the daemon wobbler off.
+    const reachy = this.opts.getReachy();
+    const robotPlaying = this.injectSpeakerTrack(reachy);
+    setPhoneOutput(!robotPlaying);
     try {
-      this.injectSpeakerTrack(reachyForAudio);
-      reachyForAudio?.setMicMuted(false);
-      reachyForAudio?.sendRaw({ type: "set_wobbling", enabled: true });
-    } catch (err) {
-      console.warn("[voice] could not attach robot speaker track", err);
+      reachy?.setMicMuted(false);
+      reachy?.sendRaw({ type: "set_wobbling", enabled: false });
+    } catch {
+      /* no audio path */
     }
+    this.startMotion();
 
     this.session = new RealtimeSession({
       apiKey,
@@ -110,7 +107,7 @@ export class VoiceController {
         onUserText: (t) => this.opts.onTranscript("user", t),
         onAssistantText: (t) => this.opts.onTranscript("assistant", t),
         onSpeakingChange: (speaking) => {
-          // Status only — the daemon animates the head from the speaker audio.
+          this.speaking = speaking;
           this.setStatus(speaking ? "speaking" : "listening");
         },
         onClosed: () => {
@@ -125,9 +122,9 @@ export class VoiceController {
   stop(): void {
     this.session?.close();
     this.session = null;
+    this.speaking = false;
+    this.stopMotion();
     const reachy = this.opts.getReachy();
-    // Restore the silent placeholder on the sender and turn the daemon wobbler
-    // off so the idle robot stays calm (robot mic stays available for next time).
     try {
       this.restoreSpeakerTrack();
       reachy?.setMicMuted(true);
@@ -142,15 +139,17 @@ export class VoiceController {
   private audioSender: RTCRtpSender | null = null;
   private placeholderTrack: MediaStreamTrack | null = null;
 
-  private injectSpeakerTrack(reachy: ReachyMiniInstance | null): void {
+  /** Returns true if our TTS track was attached to the robot's audio sender. */
+  private injectSpeakerTrack(reachy: ReachyMiniInstance | null): boolean {
     const pc = reachy?._pc ?? null;
     const ttsTrack = getRobotSpeakerTrack();
-    if (!pc || !ttsTrack) return;
+    if (!pc || !ttsTrack) return false;
     const sender = pc.getSenders().find((s) => s.track && s.track.kind === "audio") ?? null;
-    if (!sender) return;
+    if (!sender) return false;
     this.audioSender = sender;
     this.placeholderTrack = sender.track; // the SDK's silent placeholder
     void sender.replaceTrack(ttsTrack);
+    return true;
   }
 
   private restoreSpeakerTrack(): void {
@@ -160,4 +159,57 @@ export class VoiceController {
       this.placeholderTrack = null;
     }
   }
+
+  // ── Client-side motion (head only, ~20 Hz) ─────────────────────────────────
+  // Ported from the reachy-stories reference: a 20 Hz loop that wobbles the
+  // HEAD (roll/pitch/yaw) from smoothed speech energy while talking, and does a
+  // gentle breath when idle. Antennas are deliberately NOT driven from the
+  // wobble — oscillating them at audio rate was the high-frequency buzz.
+  private speaking = false;
+  private motionRaf: number | null = null;
+  private env = 0;
+  private lastCmd = 0;
+
+  private startMotion(): void {
+    if (this.motionRaf !== null) return;
+    const loop = (now: number) => {
+      this.motionRaf = requestAnimationFrame(loop);
+      if (now - this.lastCmd < 50) return; // throttle to ~20 Hz
+      this.lastCmd = now;
+      const reachy = this.opts.getReachy();
+      if (!reachy) return;
+      const t = now / 1000;
+      try {
+        if (this.speaking) {
+          const level = Math.min(ttsLevel(), 1);
+          this.env += (level - this.env) * 0.3; // smooth envelope
+          const e = this.env;
+          reachy.setHeadRpyDeg(
+            e * 3 * Math.sin(t * 3.3),
+            e * 5 * Math.sin(t * 2.7) + Math.sin(t * 0.8) * 1.2,
+            e * 4 * Math.sin(t * 2.1),
+          );
+        } else {
+          const breath = Math.sin(t * 0.9);
+          reachy.setHeadRpyDeg(0, breath * 1.8, Math.sin(t * 0.5) * 2);
+        }
+      } catch {
+        /* channel closed */
+      }
+    };
+    this.motionRaf = requestAnimationFrame(loop);
+  }
+
+  private stopMotion(): void {
+    if (this.motionRaf !== null) {
+      cancelAnimationFrame(this.motionRaf);
+      this.motionRaf = null;
+    }
+    this.env = 0;
+    try {
+      this.opts.getReachy()?.setHeadRpyDeg(0, 0, 0);
+    } catch {
+      /* channel closed */
+    }
+  }
 }

web/src/voice/realtime.ts

@@ -126,6 +126,7 @@ export class RealtimeSession {
     await ac.audioWorklet.addModule(blobUrl);
     URL.revokeObjectURL(blobUrl);
     const node = new AudioWorkletNode(ac, "pcm-pump");
+    let chunkCount = 0;
     node.port.onmessage = (e: MessageEvent<ArrayBuffer>) => {
       // Mute the pump while the assistant talks — otherwise the robot mic
       // hears the robot's own speaker and feeds it back into the VAD.
@@ -134,6 +135,16 @@ export class RealtimeSession {
         return;
       }
       const incoming = new Uint8Array(e.data);
+      // Diagnostic: log the first chunks' average magnitude so we can tell
+      // whether the chosen mic is actually producing audio (≈0 = silent track).
+      chunkCount++;
+      if (chunkCount <= 5 || chunkCount % 100 === 0) {
+        const view = new Int16Array(incoming.buffer, incoming.byteOffset, incoming.byteLength / 2);
+        let sum = 0;
+        for (let i = 0; i < view.length; i++) sum += Math.abs(view[i]);
+        const avg = view.length ? Math.round(sum / view.length) : 0;
+        console.log(`[voice] mic chunk #${chunkCount} avg|sample|=${avg}${avg < 30 ? " ⚠ very quiet/silent" : ""}`);
+      }
       const merged = new Uint8Array(this.micBytes.length + incoming.length);
       merged.set(this.micBytes);
       merged.set(incoming, this.micBytes.length);
@@ -144,6 +155,11 @@ export class RealtimeSession {
       }
     };
     src.connect(node);
+    // Keep the worklet in the render graph (no audible output) so process() runs.
+    const sink = ac.createGain();
+    sink.gain.value = 0;
+    node.connect(sink);
+    sink.connect(ac.destination);
     this.micWorklet = node;
   }