Versions in this module Expand all Collapse all v1 v1.3.0 Oct 5, 2026 Changes in this version + var ErrAudioSessionClosed = errors.New("reachymini: audio session closed") + type AudioSession struct + func (s *AudioSession) Buffered() time.Duration + func (s *AudioSession) Clear() + func (s *AudioSession) Close() error + func (s *AudioSession) Done() <-chan struct{} + func (s *AudioSession) Drain(ctx context.Context) error + func (s *AudioSession) Err() error + func (s *AudioSession) Microphone() <-chan []byte + func (s *AudioSession) Write(pcm []byte) (int, error) + type AudioSessionOptions struct + Channels int + FFmpegPath string + Microphone bool + ProducerName string + SampleRate int + SignallingURL string type Client + func (c *Client) DisableWobbling(ctx context.Context) error + func (c *Client) EnableWobbling(ctx context.Context) error + func (c *Client) GetFullStateWithOptions(ctx context.Context, opts FullStateOptions) (FullState, error) + func (c *Client) GetHardwareID(ctx context.Context) (string, error) + func (c *Client) GetIMU(ctx context.Context) (*ImuData, error) + func (c *Client) GetRobotAppLockStatus(ctx context.Context) (RobotAppLockStatus, error) + func (c *Client) GetRobotName(ctx context.Context) (string, error) + func (c *Client) GetStartupApp(ctx context.Context) (string, error) + func (c *Client) OpenAudioSession(ctx context.Context, opts AudioSessionOptions) (*AudioSession, error) + func (c *Client) SetRobotName(ctx context.Context, name string) (string, error) + func (c *Client) SetStartupApp(ctx context.Context, appName string) error + func (c *Client) StartAppNoEvict(ctx context.Context, appName string) (AppStatus, error) + func (c *Client) StartDaemon(ctx context.Context, wakeUp bool) (string, error) + func (c *Client) StopDaemon(ctx context.Context, gotoSleep bool) (string, error) + func (c *Client) StreamFullStateWithOptions(ctx context.Context, opts StreamFullStateOptions) (<-chan FullState, <-chan error, error) type DaemonStatus + FaceTarget FaceTarget type FullState + IMU *ImuData + type FullStateOptions struct + DoA bool + HeadJoints bool + IMU bool + OmitAntennas bool + OmitBodyYaw bool + OmitControlMode bool + OmitHeadPose bool + PassiveJoints bool + PoseMatrix bool + type ImuData struct + Accelerometer [3]float64 + Gyroscope [3]float64 + Quaternion [4]float64 + Temperature float64 + type RobotAppLockState string + const RobotAppLockFree + const RobotAppLockLocalApp + const RobotAppLockRemoteSession + type RobotAppLockStatus struct + HolderName string + State RobotAppLockState + type StreamFullStateOptions struct + Frequency float64 v1.2.0 Oct 4, 2026 Changes in this version type Client + func (c *Client) DisableHeadTracking(ctx context.Context) error + func (c *Client) EnableHeadTracking(ctx context.Context, weight float64) (bool, error) + func (c *Client) GetTrackedFace(ctx context.Context) (FaceTarget, error) + type FaceTarget struct + Detected bool + Roll *float64 + TS *float64 + X *float64 + Y *float64 v1.1.1 Jul 9, 2026 v1.1.0 Jul 4, 2026 Changes in this version + const AudioChannels + const AudioSampleRate + type AudioStreamOptions struct + FFmpegPath string + ProducerName string + SignallingURL string type Client + func (c *Client) StreamMicrophoneAudio(ctx context.Context, opts AudioStreamOptions) (<-chan []byte, <-chan error, error) v1.0.1 Jul 4, 2026 v1.0.0 Jul 4, 2026 Changes in this version + type APIError struct + Body string + StatusCode int + func (e *APIError) Error() string + type AppInfo struct + Description string + Extra map[string]any + Name string + SourceKind SourceKind + URL *string + type AppState string + const AppStateDone + const AppStateError + const AppStateRunning + const AppStateStarting + const AppStateStopping + type AppStatus struct + Error *string + Info AppInfo + State AppState + type AppUpdateStatus struct + AppName string + InstalledSHA string + LastModified *string + LatestSHA string + SpaceID string + UpdateAvailable bool + type AppUpdatesResponse struct + AppsChecked int + AppsSkipped int + AppsWithUpdates []AppUpdateStatus + type AudioParamPair struct + Name string + Values []float64 + type BackendStatus struct + ControlLoopStats *ControlLoopStats + Error any + LastAlive any + MotorControlMode MotorControlMode + Ready bool + type CameraSpecs struct + AvailableResolutions []ResolutionInfo + D []float64 + DefaultResolution ResolutionInfo + K [][]float64 + Name string + type CameraStreamOptions struct + FFmpegPath string + ProducerName string + SignallingURL string + type Client struct + BaseURL string + HTTPClient *http.Client + func New(baseURL string) *Client + func (c *Client) ApplyAudioConfig(ctx context.Context, config []AudioParamPair, verify bool) (bool, error) + func (c *Client) CheckAppUpdates(ctx context.Context, force bool) (AppUpdatesResponse, error) + func (c *Client) ClearIncomingAudio(ctx context.Context) (map[string]string, error) + func (c *Client) DeleteSound(ctx context.Context, filename string) error + func (c *Client) EnsureMotorMode(ctx context.Context, mode MotorControlMode) (changed bool, err error) + func (c *Client) GetCameraSpecs(ctx context.Context) (CameraSpecs, error) + func (c *Client) GetCurrentAppStatus(ctx context.Context) (*AppStatus, error) + func (c *Client) GetDaemonStatus(ctx context.Context) (DaemonStatus, error) + func (c *Client) GetDoA(ctx context.Context) (DoAInfo, error) + func (c *Client) GetFullState(ctx context.Context) (FullState, error) + func (c *Client) GetJobStatus(ctx context.Context, jobID string) (JobInfo, error) + func (c *Client) GetKinematicsInfo(ctx context.Context) (map[string]any, error) + func (c *Client) GetKinematicsSTL(ctx context.Context, filename string) ([]byte, error) + func (c *Client) GetMicrophoneVolume(ctx context.Context) (VolumeInfo, error) + func (c *Client) GetMotorStatus(ctx context.Context) (MotorStatus, error) + func (c *Client) GetPresentAntennaPositions(ctx context.Context) ([2]float64, error) + func (c *Client) GetPresentBodyYaw(ctx context.Context) (float64, error) + func (c *Client) GetPresentHeadPose(ctx context.Context) (Pose, error) + func (c *Client) GetURDF(ctx context.Context) (map[string]string, error) + func (c *Client) GetVolume(ctx context.Context) (VolumeInfo, error) + func (c *Client) Goto(ctx context.Context, req GotoRequest) (MoveUUID, error) + func (c *Client) GotoSleep(ctx context.Context) (MoveUUID, error) + func (c *Client) InstallApp(ctx context.Context, app AppInfo) (map[string]string, error) + func (c *Client) InstallPrivateSpace(ctx context.Context, spaceID string) (map[string]string, error) + func (c *Client) ListAvailableApps(ctx context.Context) ([]AppInfo, error) + func (c *Client) ListAvailableAppsBySource(ctx context.Context, source SourceKind) ([]AppInfo, error) + func (c *Client) ListRecordedMoveDatasets(ctx context.Context, datasetName string) ([]string, error) + func (c *Client) ListRunningMoves(ctx context.Context) ([]MoveUUID, error) + func (c *Client) ListSounds(ctx context.Context) ([]string, error) + func (c *Client) PlayRecordedMoveDataset(ctx context.Context, datasetName, moveName string) (MoveUUID, error) + func (c *Client) PlaySound(ctx context.Context, file string) error + func (c *Client) ReadAudioParameter(ctx context.Context, name string) (ReadAudioParameterResponse, error) + func (c *Client) RemoveApp(ctx context.Context, appName string) (map[string]string, error) + func (c *Client) ResetAppsCache(ctx context.Context) (map[string]string, error) + func (c *Client) RestartCurrentApp(ctx context.Context) (AppStatus, error) + func (c *Client) RestartDaemon(ctx context.Context) (string, error) + func (c *Client) SetMicrophoneVolume(ctx context.Context, volume int) (VolumeInfo, error) + func (c *Client) SetMotorMode(ctx context.Context, mode MotorControlMode) error + func (c *Client) SetTarget(ctx context.Context, target FullBodyTarget) error + func (c *Client) SetVolume(ctx context.Context, volume int) (VolumeInfo, error) + func (c *Client) StartApp(ctx context.Context, appName string) (AppStatus, error) + func (c *Client) Stop(ctx context.Context, uuid MoveUUID) error + func (c *Client) StopCurrentApp(ctx context.Context) error + func (c *Client) StopSound(ctx context.Context) error + func (c *Client) StreamCameraFrames(ctx context.Context, opts CameraStreamOptions) (<-chan Frame, <-chan error, error) + func (c *Client) StreamFullState(ctx context.Context) (<-chan FullState, <-chan error, error) + func (c *Client) StreamSetTarget(ctx context.Context) (chan<- FullBodyTarget, <-chan error, error) + func (c *Client) TestSound(ctx context.Context) (TestSoundResult, error) + func (c *Client) UpdateApp(ctx context.Context, appName string) (map[string]string, error) + func (c *Client) UploadSound(ctx context.Context, localPath string) error + func (c *Client) WakeUp(ctx context.Context) (MoveUUID, error) + type ControlLoopStats struct + MaxControlLoopInterval float64 + MeanControlLoopFrequency float64 + MotorController string + NbError int + type DaemonStatus struct + BackendStatus BackendStatus + CameraSpecsName string + DesktopAppDaemon bool + Error any + HardwareID string + MediaReleased bool + MockupSimEnabled bool + NoMedia bool + RobotName string + SimulationEnabled bool + State string + Type string + Version string + WirelessVersion bool + WlanIP string + type DoAInfo struct + Angle float64 + SpeechDetected bool + type Frame struct + Height int + RGB []byte + Timestamp time.Time + Width int + type FullBodyTarget struct + TargetAntennas *[2]float64 + TargetBodyYaw *float64 + TargetHeadPose *Pose + Timestamp *time.Time + type FullState struct + AntennasPosition []float64 + BodyYaw *float64 + ControlMode *MotorControlMode + DoA *DoAInfo + HeadJoints []float64 + HeadPose *Pose + PassiveJoints []float64 + Timestamp *time.Time + type GotoRequest struct + Antennas *[2]float64 + BodyYaw *float64 + Duration float64 + HeadPose *Pose + Interpolation InterpolationTechnique + type InterpolationTechnique string + const InterpolationCartoon + const InterpolationEaseInOut + const InterpolationLinear + const InterpolationMinJerk + type JobInfo struct + Command string + Logs []string + Status JobStatus + type JobStatus string + const JobStatusDone + const JobStatusFailed + const JobStatusInProgress + const JobStatusPending + type Matrix4x4Pose struct + M [16]float64 + type MotorControlMode string + const MotorModeDisabled + const MotorModeEnabled + const MotorModeGravityCompensation + type MotorStatus struct + Mode MotorControlMode + type MoveUUID struct + UUID string + type Pose struct + Matrix *Matrix4x4Pose + XYZRPY *XYZRPYPose + func NewMatrixPose(m [16]float64) *Pose + func NewXYZRPYPose(x, y, z, roll, pitch, yaw float64) *Pose + func (p *Pose) UnmarshalJSON(data []byte) error + func (p Pose) MarshalJSON() ([]byte, error) + type ReadAudioParameterResponse struct + Name string + Values []float64 + type ResolutionInfo struct + CropFactor float64 + FPS int + Height int + Name string + Width int + type SourceKind string + const SourceKindDashboardSelection + const SourceKindHFSpace + const SourceKindInstalled + const SourceKindLocal + type TestSoundResult struct + Message string + Status string + type VolumeInfo struct + Device string + Platform string + Volume int + type XYZRPYPose struct + Pitch float64 + Roll float64 + X float64 + Y float64 + Yaw float64 + Z float64
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