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FabienDanieauFabienDanieau
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Merge branch 'develop' into 363-support-of-uv
2 parents e2616ea + 0f8bc9a commit bdd8523

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‎.gitattributes‎

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*.stl filter=lfs diff=lfs merge=lfs -text
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*.npz filter=lfs diff=lfs merge=lfs -text
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*.onnx filter=lfs diff=lfs merge=lfs -text
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*.svg filter=lfs diff=lfs merge=lfs -text
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*.bin filter=lfs diff=lfs merge=lfs -text
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*.svg filter=lfs diff=lfs merge=lfs -text

‎README.md‎

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Reachy Mini's hardware comes in two flavors:
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- **Reachy Mini lite**: where the robot is directly connected to your computer via USB. And the code that controls the robot (the daemon) runs on your computer.
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- **Reachy Mini wireless**: where an Raspberry Pi is embedded in the robot, and the code that controls the robot (the daemon) runs on the Raspberry Pi. You can connect to it via Wi-Fi from your computer. (TODO: add link to section on how to set it up)
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- **Reachy Mini wireless**: where an Raspberry Pi is embedded in the robot, and the code that controls the robot (the daemon) runs on the Raspberry Pi. You can connect to it via Wi-Fi from your computer (see [Wireless Setup](./docs/wireless-version.md)).
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There is also a simulated version of Reachy Mini in [MuJoCo](https://mujoco.org) that you can use to prototype your applications before deploying them on the real robot. It behaves like the lite version where the daemon runs on your computer.
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‎docs/assets/qrcode-ap.png‎

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‎docs/wireless-version.md‎

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# Set up your Reachy Mini wireless
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## Connect to a Wi-Fi network
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1. Power on your Reachy Mini.
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2. Reachy Mini will create its own access point: "reachy-mini-ap". It should appear in the list of available Wi-Fi networks on your computer or smartphone after a few moments.
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3. Connect your computer to the `reachy-mini-ap` Wi-Fi network (password: `reachy-mini`). Or you can directly scan the QR-code below to join the network:
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![QR-Code reachy-mini-ap](./assets/qrcode-ap.png)
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4. Open a web browser and go to [http://reachy-mini.local:8000/settings](http://reachy-mini.local:8000/settings) to access the configuration page.
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5. Enter your Wi-Fi network credentials (SSID and password) and click "Connect".
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6. Wait a few moments for Reachy Mini to connect to your Wi-Fi network. The access point will disappear once connected. If the connection fails, Reachy Mini will restart the access point, and you can try again.

‎pyproject.toml‎

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@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
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[project]
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name = "reachy_mini"
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version = "1.0.0"
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version = "1.1.0rc2"
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authors = [{ name = "Pollen Robotics", email = "[email protected]" }]
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description = ""
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readme = "README.md"
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# See https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/12
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# "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
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]
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wireless-version = [
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"semver>=3,<4",
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"nmcli>=1.5",
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"pollen_BMI088_imu_library"
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]
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[project.scripts]
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reachy-mini-daemon = "reachy_mini.daemon.app.main:main"

‎src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.0.bin‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:71b6b59a2a7382fc11d5f8953b9614348b7cf8f276c96cc212b393237d32c677
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size 933888

‎src/reachy_mini/daemon/app/dashboard/static/js/update.js‎

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async function checkUpdates() {
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const statusElem = document.getElementById('status');
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const updateBtn = document.getElementById('update-btn');
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statusElem.textContent = 'Checking for updates...';
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updateBtn.style.display = 'none';
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try {
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const response = await fetch('/update/available');
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const data = await response.json();
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if (data.update.reachy_mini) {
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statusElem.textContent = 'An update is available!';
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updateBtn.style.display = 'inline-block';
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} else {
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statusElem.textContent = 'Your system is up to date.';
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}
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} catch (e) {
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statusElem.textContent = 'Error checking for updates.';
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}
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}
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async function triggerUpdate() {
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const statusElem = document.getElementById('status');
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statusElem.textContent = 'Updating...';
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try {
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const response = await fetch('/update/start', { method: 'POST' });
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if (response.ok) {
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await response.json().then(data => {
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connectLogsWebSocket(data.job_id);
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const updateManager = {
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busy: false,
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preRelease: false,
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isUpdateAvailable: async () => {
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fetch('/update/available?pre_release=' + updateManager.preRelease)
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.then(response => response.json())
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.then(data => {
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return data.update.reachy_mini;
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}).catch(error => {
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console.error('Error checking for updates:', error);
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});
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statusElem.textContent = 'Update started!';
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},
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} else {
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await response.json().then(data => {
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if (data.detail) {
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statusElem.textContent = 'Error: ' + data.detail;
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startUpdate: async () => {
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if (updateManager.busy) {
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console.warn('An update is already in progress.');
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return;
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}
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updateManager.busy = true;
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fetch('/update/start?pre_release=' + updateManager.preRelease, { method: 'POST' })
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.then(response => {
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if (response.ok) {
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return response.json();
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} else {
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return response.json().then(data => {
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throw new Error(data.detail || 'Error starting update');
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});
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}
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})
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.then(data => {
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const jobId = data.job_id;
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updateManager.connectLogsWebSocket(jobId);
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})
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.catch(error => {
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console.error('Error triggering update:', error);
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updateManager.busy = false;
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});
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},
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connectLogsWebSocket: (jobId) => {
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const updateModal = document.getElementById('update-modal');
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const updateModalTitle = updateModal.queryElementById('update-modal-title');
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const logsDiv = document.getElementById('update-logs');
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const closeButton = document.getElementById('update-modal-close-button');
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updateModalTitle.textContent = 'Updating...';
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closeButton.onclick = () => {
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installModal.classList.add('hidden');
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};
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closeButton.classList = "hidden";
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closeButton.textContent = '';
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updateModal.classList.removeAttribute('hidden');
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const ws = new WebSocket(`ws://${location.host}/api/update/ws/logs?job_id=${jobId}`);
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ws.onmessage = (event) => {
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};
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ws.onclose = async () => {
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updateManager.busy = false;
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updateManager.updateUI();
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};
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},
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updateUI: async () => {
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const isUpdateAvailable = await updateManager.isUpdateAvailable();
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updateManager.updateMainPage(isUpdateAvailable);
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updateManager.updateUpdatePage(isUpdateAvailable);
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},
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updateMainPage: async (isUpdateAvailable) => {
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const daemonUpdateBtn = document.getElementById('daemon-update-btn');
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if (!daemonUpdateBtn) return;
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if (isUpdateAvailable) {
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daemonUpdateBtn.innerHTML = 'Update <span class="rounded-full bg-blue-700 text-white text-xs font-semibold px-2 py-1 ml-2">1</span>';
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} else {
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daemonUpdateBtn.innerHTML = 'Update';
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}
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} catch (e) {
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statusElem.textContent = 'Error triggering update.';
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}
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}
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function connectLogsWebSocket(jobId) {
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const logsElem = document.getElementById('logs');
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if (!logsElem) return;
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let wsProto = window.location.protocol === 'https:' ? 'wss' : 'ws';
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let wsUrl = wsProto + '://' + window.location.host + '/update/ws/logs?job_id=' + jobId;
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const ws = new WebSocket(wsUrl);
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ws.onmessage = function (event) {
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// Append new log line
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logsElem.textContent += event.data + '\n';
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logsElem.scrollTop = logsElem.scrollHeight;
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};
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ws.onerror = function () {
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logsElem.textContent += '[WebSocket error connecting to logs]\n';
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};
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ws.onclose = function () {
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logsElem.textContent += '[WebSocket closed]\n';
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const statusElem = document.getElementById('status');
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statusElem.textContent = 'Update completed. Reloading in a 5 seconds...';
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for (let i = 5; i > 0; i--) {
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setTimeout(() => {
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statusElem.textContent = 'Update completed. Reloading in ' + i + ' seconds...';
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}, (5 - i) * 1000);
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},
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updateUpdatePage: async (isUpdateAvailable) => {
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const statusElem = document.getElementById('update-status');
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if (!statusElem) return;
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const checkAgainBtn = document.getElementById('check-again-btn');
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const startUpdateBtn = document.getElementById('start-update-btn');
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if (isUpdateAvailable) {
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statusElem.innerHTML = 'An update is available!';
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checkAgainBtn.classList.add('hidden');
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startUpdateBtn.classList.remove('hidden');
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} else {
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statusElem.innerHTML = 'Your system is up to date.';
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checkAgainBtn.classList.remove('hidden');
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startUpdateBtn.classList.add('hidden');
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}
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setTimeout(() => {
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window.location.reload();
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}, 5000);
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};
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}
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window.onload = function () {
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checkUpdates();
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}
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};
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window.addEventListener('load', async () => {
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updateManager.updateUI();
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});

‎src/reachy_mini/daemon/app/dashboard/static/js/setup_wifi.js‎ renamed to ‎src/reachy_mini/daemon/app/dashboard/static/js/wifi.js‎

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window.onload = () => {
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refreshStatus();
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setInterval(refreshStatus, 1000);
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};
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const refreshStatus = () => {
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const statusDiv = document.getElementById('status');
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fetch('/wifi/status')
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.then(response => response.json())
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.then(data => {
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statusDiv.innerText = `Status: ${data}`;
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handleStatus(data);
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})
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.catch(error => {
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console.error('Error fetching WiFi status:', error);
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statusDiv.innerText = 'Make sure you are connected on the right WiFi.\n Attempt to reconnect...';
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handleStatus('error');
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fetch('/wifi/error')
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.catch(error => {
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console.error('Error fetching WiFi error:', error);
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});
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}
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};
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const connectToWifi = (_) => {
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alert(`Error connecting to WiFi: ${error.message}`);
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});
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return false; // Prevent form submission
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}
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};
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const handleStatus = (status) => {
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const statusDiv = document.getElementById('wifi-status');
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const addWifiDiv = document.getElementById('add-wifi');
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addWifiDiv.hidden = true;
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const busyDiv = document.getElementById('busy');
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busyDiv.hidden = true;
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const connectedDiv = document.getElementById('connected');
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connectedDiv.hidden = true;
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addWifiDiv.classList = 'hidden';
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if (status === 'hotspot') {
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addWifiDiv.hidden = false;
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} else if (status === 'wlan') {
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connectedDiv.hidden = false;
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}
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else if (status === 'busy') {
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if (status == 'hotspot') {
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statusDiv.innerText = 'Hotspot mode active. 🔌';
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addWifiDiv.classList.remove('hidden');
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} else if (status == 'wlan') {
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statusDiv.innerText = 'Connected to WiFi. 📶';
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} else if (status == 'disconnected') {
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statusDiv.innerText = 'WiFi disconnected. ❌';
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} else if (status == 'busy') {
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statusDiv.innerText = 'Changing your WiFi configuration... Please wait ⏳';
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busyDiv.hidden = false;
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}
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else {
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} else if (status == 'error') {
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statusDiv.innerText = 'Error connecting to WiFi. ⚠️';
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} else {
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console.warn(`Unknown status: ${status}`);
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}
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currentStatus = status;
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};
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};
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window.addEventListener('load', () => {
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refreshStatus();
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setInterval(refreshStatus, 1000);
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});

‎src/reachy_mini/daemon/app/dashboard/static/style.css‎

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display: flex;
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align-items: center;
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justify-content: center;
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}
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}
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.wifi-status {
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font-family: 'Asap', sans-serif;
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font-weight: 500;
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color: rgba(0, 0, 0, 0.9);
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}
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.wifi-status-info {
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font-family: 'Asap', sans-serif;
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font-weight: 400;
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color: rgba(0, 0, 0, 0.7);
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}

‎src/reachy_mini/daemon/app/dashboard/templates/sections/daemon.html‎

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<div class="mt-4">
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{% include 'sections/move_player.html' %}
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</div>
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{% if args.wireless_version %}
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<div class="w-full flex pt-4 gap-4 justify-center">
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<a id="daemon-settings-btn"
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class="flex items-center gap-2 px-4 py-2 bg-gray-100 hover:bg-gray-300 rounded-lg shadow border border-gray-300"
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href="/settings">
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Settings
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</a>
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</div>
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{% endif %}
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</section>

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