cduss/reachy_mini_central

Reachy Mini Central

WebRTC signaling server for Reachy Mini robot.

Features

• —GStreamer-compatible WebRTC signaling protocol over HTTP (SSE + POST)
• —Producer/Consumer session management with per-user isolation
• —Stale-producer sweep (half-open socket eviction, heartbeat-driven)
• —Real-time status monitoring

Endpoints

• —GET /events - SSE stream (server to client messages)
• —POST /send - client to server messages
• —GET /api/robot-status - busy/free status of the caller's robots
• —GET /api/debug/peers - owner-filtered peer dump for debugging
• —GET /health - public counters, incl. a per-robot-kind breakdown (producers_by_kind: reachy_mini / microduck / other) and uptime

Authentication: Authorization: Bearer <HF token> on all authenticated endpoints (?token= query form is deprecated).

Protocol

Implements the GStreamer webrtcsink/webrtcsrc signaling protocol semantics over SSE + HTTP POST (works through HTTP/2 proxies like HuggingFace Spaces). The lifecycle contract (verbatim meta forwarding, setPeerStatus(roles=[]) withdraw, stable-id eviction, endSession) is documented in the module docstring of app.py.

Producer metadata contract

Central forwards producer meta verbatim and interprets only a handful of keys: name, hardware_id, install_id and kind (alias robot_type; missing = reachy_mini; known values reachy_mini, microduck; anything else is counted as other on the public counters while the raw value still reaches the owner's listeners). See `docs/META_CONTRACT.md`.