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b82aa95 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 | """Entrypoint for the Reachy Mini conversation app."""
import os
import sys
import time
import asyncio
import argparse
import threading
from typing import Any, Dict, List, Optional
import gradio as gr
from fastapi import FastAPI
from fastrtc import Stream
from gradio.utils import get_space
from reachy_mini import ReachyMini, ReachyMiniApp
from reachy_mini_conversation_app.utils import (
parse_args,
setup_logger,
handle_vision_stuff,
log_connection_troubleshooting,
)
def update_chatbot(chatbot: List[Dict[str, Any]], response: Dict[str, Any]) -> List[Dict[str, Any]]:
"""Update the chatbot with AdditionalOutputs."""
chatbot.append(response)
return chatbot
def main() -> None:
"""Entrypoint for the Reachy Mini conversation app."""
args, _ = parse_args()
run(args)
def run(
args: argparse.Namespace,
robot: ReachyMini = None,
app_stop_event: Optional[threading.Event] = None,
settings_app: Optional[FastAPI] = None,
instance_path: Optional[str] = None,
) -> None:
"""Run the Reachy Mini conversation app."""
# Putting these dependencies here makes the dashboard faster to load when the conversation app is installed
from reachy_mini_conversation_app.moves import MovementManager
from reachy_mini_conversation_app.console import LocalStream
from reachy_mini_conversation_app.ollama_handler import OllamaHandler
from reachy_mini_conversation_app.tools.core_tools import ToolDependencies
from reachy_mini_conversation_app.audio.head_wobbler import HeadWobbler
logger = setup_logger(args.debug)
logger.info("Starting Reachy Mini Conversation App")
if args.no_camera and args.head_tracker is not None:
logger.warning(
"Head tracking disabled: --no-camera flag is set. "
"Remove --no-camera to enable head tracking."
)
if robot is None:
try:
robot_kwargs = {}
if args.robot_name is not None:
robot_kwargs["robot_name"] = args.robot_name
logger.info("Initializing ReachyMini (SDK will auto-detect appropriate backend)")
robot = ReachyMini(**robot_kwargs)
except TimeoutError as e:
logger.error(
"Connection timeout: Failed to connect to Reachy Mini daemon. "
f"Details: {e}"
)
log_connection_troubleshooting(logger, args.robot_name)
sys.exit(1)
except ConnectionError as e:
logger.error(
"Connection failed: Unable to establish connection to Reachy Mini. "
f"Details: {e}"
)
log_connection_troubleshooting(logger, args.robot_name)
sys.exit(1)
except Exception as e:
logger.error(
f"Unexpected error during robot initialization: {type(e).__name__}: {e}"
)
logger.error("Please check your configuration and try again.")
sys.exit(1)
# Auto-enable Gradio in simulation mode (both MuJoCo for deamon and mockup-sim for desktop app)
status = robot.client.get_status()
is_simulation = status.get("simulation_enabled", False) or status.get("mockup_sim_enabled", False)
if is_simulation and not args.gradio:
logger.info("Simulation mode detected. Automatically enabling gradio flag.")
args.gradio = True
camera_worker, _, vision_manager = handle_vision_stuff(args, robot)
movement_manager = MovementManager(
current_robot=robot,
camera_worker=camera_worker,
)
head_wobbler = HeadWobbler(set_speech_offsets=movement_manager.set_speech_offsets)
deps = ToolDependencies(
reachy_mini=robot,
movement_manager=movement_manager,
camera_worker=camera_worker,
vision_manager=vision_manager,
head_wobbler=head_wobbler,
)
current_file_path = os.path.dirname(os.path.abspath(__file__))
logger.debug(f"Current file absolute path: {current_file_path}")
chatbot = gr.Chatbot(
type="messages",
resizable=True,
avatar_images=(
os.path.join(current_file_path, "images", "user_avatar.png"),
os.path.join(current_file_path, "images", "reachymini_avatar.png"),
),
)
logger.debug(f"Chatbot avatar images: {chatbot.avatar_images}")
handler = OllamaHandler(deps, gradio_mode=args.gradio, instance_path=instance_path)
stream_manager: gr.Blocks | LocalStream | None = None
if args.gradio:
from reachy_mini_conversation_app.gradio_personality import PersonalityUI
personality_ui = PersonalityUI()
personality_ui.create_components()
stream = Stream(
handler=handler,
mode="send-receive",
modality="audio",
additional_inputs=[
chatbot,
*personality_ui.additional_inputs_ordered(),
],
additional_outputs=[chatbot],
additional_outputs_handler=update_chatbot,
ui_args={"title": "Talk with Reachy Mini"},
)
stream_manager = stream.ui
if not settings_app:
app = FastAPI()
else:
app = settings_app
personality_ui.wire_events(handler, stream_manager)
app = gr.mount_gradio_app(app, stream.ui, path="/")
else:
# In headless mode, wire settings_app + instance_path to console LocalStream
stream_manager = LocalStream(
handler,
robot,
settings_app=settings_app,
instance_path=instance_path,
)
# Each async service → its own thread/loop
movement_manager.start()
head_wobbler.start()
if camera_worker:
camera_worker.start()
if vision_manager:
vision_manager.start()
def poll_stop_event() -> None:
"""Poll the stop event to allow graceful shutdown."""
if app_stop_event is not None:
app_stop_event.wait()
logger.info("App stop event detected, shutting down...")
try:
stream_manager.close()
except Exception as e:
logger.error(f"Error while closing stream manager: {e}")
if app_stop_event:
threading.Thread(target=poll_stop_event, daemon=True).start()
try:
stream_manager.launch()
except KeyboardInterrupt:
logger.info("Keyboard interruption in main thread... closing server.")
finally:
movement_manager.stop()
head_wobbler.stop()
if camera_worker:
camera_worker.stop()
if vision_manager:
vision_manager.stop()
# Ensure media is explicitly closed before disconnecting
try:
robot.media.close()
except Exception as e:
logger.debug(f"Error closing media during shutdown: {e}")
# prevent connection to keep alive some threads
robot.client.disconnect()
time.sleep(1)
logger.info("Shutdown complete.")
class ReachyMiniConversationApp(ReachyMiniApp): # type: ignore[misc]
"""Reachy Mini Apps entry point for the conversation app."""
custom_app_url = "http://0.0.0.0:7860/"
dont_start_webserver = False
def run(self, reachy_mini: ReachyMini, stop_event: threading.Event) -> None:
"""Run the Reachy Mini conversation app."""
loop = asyncio.new_event_loop()
asyncio.set_event_loop(loop)
args, _ = parse_args()
# is_wireless = reachy_mini.client.get_status()["wireless_version"]
# args.head_tracker = None if is_wireless else "mediapipe"
instance_path = self._get_instance_path().parent
run(
args,
robot=reachy_mini,
app_stop_event=stop_event,
settings_app=self.settings_app,
instance_path=instance_path,
)
if __name__ == "__main__":
app = ReachyMiniConversationApp()
try:
app.wrapped_run()
except KeyboardInterrupt:
app.stop()
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