@fibril/can-core 0.1.1 → 0.1.2

package/dist/index.d.ts

@@ -49,7 +49,7 @@ declare class AckTracker {
  * Standard ID (11 bit, §3.1) is dynamically allocated by the master and
  * has no fixed bitfield meaning — kept here only as the wire mask.
  */
-declare const PROTOCOL_VERSION = 1;
+declare const PROTOCOL_VERSION = 2;
 declare const MAX_FRAME_PAYLOAD = 64;
 declare const CHAN_CONFIG = 0;
 declare const CHAN_SVC_REQUEST = 1;
@@ -84,6 +84,9 @@ declare const STATE_UNPROVISIONED = 0;
 declare const STATE_PROVISIONED = 1;
 declare const STATE_RUNNING = 2;
 declare const STATE_FAULT = 3;
+declare const STATE_SUSPENDED = 4;
+/** Human-readable name for a node_state byte. Unknown values → `unknown(N)`. */
+declare function stateName(state: number): string;
 declare const FAULT_NONE = 0;
 declare const FAULT_NOMEM = 1;
 declare const FAULT_INDEX_OVERFLOW = 2;
@@ -311,13 +314,18 @@ interface NodeSchema {
   instances: SchemaBlockArray[];
   limits: WireLimits;
 }
+interface DecodeSchemaResult {
+  schema: NodeSchema;
+  /** True when the blob's protocolVersion exceeds this build's {@link PROTOCOL_VERSION}. */
+  versionAheadOfMaster: boolean;
+}
 /**
- * Parse a schema blob (proto3 binary) into the master-side IR.
- *
- * Throws {@link ProtoError} on malformed input or on
- * `protocolVersion !== 1` (the only version this codec understands —
- * mirrors C++ side's UnsupportedProtocolVersion behaviour).
+ * Parse a schema blob into the master-side IR. Throws {@link ProtoError}
+ * on malformed input or `protocolVersion === 0` (proto3 leaves an unset
+ * uint32 at 0, so zero means it was never populated).
  */
+declare function decodeSchemaWithMeta(blob: Uint8Array): DecodeSchemaResult;
+/** Shim for callers that don't need the metadata — prefer {@link decodeSchemaWithMeta}. */
 declare function decodeSchema(blob: Uint8Array): NodeSchema;
 /** Wire size in bytes for a single field (scalar or fixed array). */
 declare function fieldWireSize(field: SchemaField): number;
@@ -686,6 +694,8 @@ type NodeProvisionState = {
   kind: 'awaiting-start';
 } | {
   kind: 'running';
+} /** Slave reported node_state = SUSPENDED. Reverts to running on the next non-SUSPENDED HEARTBEAT. */ | {
+  kind: 'suspended';
 } | {
   kind: 'lost';
   reason: string;
@@ -1278,5 +1288,5 @@ declare class SeqAllocator {
   reset(): void;
 }
 //#endregion
-export { type AckCallback, type AckOutcome, AckTracker, type AnnounceMsg, CHAN_CONFIG, CHAN_SVC_REQUEST, CHAN_SVC_RESPONSE, CMD_ACK, CMD_ANNOUNCE, CMD_DISCOVER, CMD_FRAME_DEFINE, CMD_HB_PERIOD, CMD_HEARTBEAT, CMD_MASTER_HEARTBEAT, CMD_NAK, CMD_SCHEMA_DATA, CMD_SCHEMA_READ, CMD_START, CMD_STOP, type ControllerListener, type ControllerSlaveSnapshot, DIR_RX_M2S, DIR_TX_S2M, DataPlaneReceiver, type DataPlaneReceiverOptions, type Dict, Direction, DynamicCodecError, type EndpointDescriptor, type EndpointKey, FAULT_ID_CONFLICT, FAULT_INDEX_OVERFLOW, FAULT_NOMEM, FAULT_NONE, FD_DLC_STEPS, type FieldRequest, type FieldValue, type FrameDefineEntry, type FramePlan, type FramePlanContext, type FramePlanFactory, type FrameSpec, type HeartbeatMsg, MAX_FRAME_PAYLOAD, MasterController, type MasterControllerOptions, MasterHeartbeatBroadcaster, NAK_BAD_LENGTH, NAK_BAD_PARAM, NAK_BAD_STATE, NAK_DIR_MISMATCH, NAK_ID_CONFLICT, NAK_INDEX_RANGE, NAK_NO_RESOURCE, NAK_SIZE_OVERFLOW, NAK_UNKNOWN_CMD, NODE_ID_BROADCAST, type NakMsg, NoCallSlotError, NodeAgent, type NodeAgentOptions, type NodeProvisionState, type NodeRunningSnapshot, type NodeSchema, NumberingError, type NumberingResult, type NumberingTable, PROTOCOL_VERSION, ParamCodecError, type ParamDescriptor, ProtoError, ProtoReader, type RosMapping, type S2MFieldFilter, SCALAR_NAMES, SEG_FIRST_DATA, SEG_MAX_SEQ, SEG_MAX_TOTAL, SEG_REST_DATA, SERVICE_INDEX_CANCEL, SERVICE_INDEX_CAPACITY, SERVICE_INDEX_MAX, SERVICE_INDEX_PARAM_SET, STATE_FAULT, STATE_PROVISIONED, STATE_RUNNING, STATE_UNPROVISIONED, STD_ID_MASK, SVC_ACCEPTED, SVC_APP_ERROR, SVC_BAD_INDEX, SVC_BAD_LENGTH, SVC_BAD_VALUE, SVC_BUSY, SVC_CANCEL, SVC_MAX_FIRST_CLASS, SVC_OK, SVC_PARAM_SET, SVC_UNAVAIL, ScalarType, SchemaAccumulator, type SchemaBlockArray, type SchemaBlockType, type SchemaDataMsg, type SchemaField, SchemaIndex, type SchemaParam, type SchemaService, type SchemaTopic, SegmentReassembler, SeqAllocator, ServiceCallError, type ServiceCallOptions, ServiceCancelledError, ServiceClient, type ServiceDescriptor, type ServiceResult, ServiceTimeoutError, ServiceUnavailableError, StdIdAllocator, type TopicDescriptor, type TopicListener, type TopicSample, type TopicStats, TypedParam, type TypedParamSetOptions, type TypedParamSetResult, TypedService, type TypedServiceCallOptions, type TypedServiceResult, type WireLimits, buildDefaultS2MRequests, computeNumbering, decodeAnnounce, decodeFields, decodeHeartbeat, decodeNak, decodeSchema, decodeSchemaData, defaultS2MFramePlan, encodeDiscover, encodeDiscoverTo, encodeFields, encodeFrameDefine, encodeMasterHeartbeat, encodeParamSetSingle, encodeSchemaRead, encodeStart, encodeStop, extChannel, extIndex, extNodeId, extSeg, extSeq, fieldWireSize, fieldsWireSize, makeExtId, makeSvcRequestFrames, makeSvcSegmentedFrames, packScalarF32Le, packScalarF64Le, packScalarIntLe, padToDlc, planFrames, quantizeDlc, scalarFromName, scalarName, scalarSize, schemaHashPrefix, segExpectedMask, segOffset, sha256, signExtend, unpackScalarF32Le, unpackScalarF64Le, unpackScalarIntLe };
+export { type AckCallback, type AckOutcome, AckTracker, type AnnounceMsg, CHAN_CONFIG, CHAN_SVC_REQUEST, CHAN_SVC_RESPONSE, CMD_ACK, CMD_ANNOUNCE, CMD_DISCOVER, CMD_FRAME_DEFINE, CMD_HB_PERIOD, CMD_HEARTBEAT, CMD_MASTER_HEARTBEAT, CMD_NAK, CMD_SCHEMA_DATA, CMD_SCHEMA_READ, CMD_START, CMD_STOP, type ControllerListener, type ControllerSlaveSnapshot, DIR_RX_M2S, DIR_TX_S2M, DataPlaneReceiver, type DataPlaneReceiverOptions, type DecodeSchemaResult, type Dict, Direction, DynamicCodecError, type EndpointDescriptor, type EndpointKey, FAULT_ID_CONFLICT, FAULT_INDEX_OVERFLOW, FAULT_NOMEM, FAULT_NONE, FD_DLC_STEPS, type FieldRequest, type FieldValue, type FrameDefineEntry, type FramePlan, type FramePlanContext, type FramePlanFactory, type FrameSpec, type HeartbeatMsg, MAX_FRAME_PAYLOAD, MasterController, type MasterControllerOptions, MasterHeartbeatBroadcaster, NAK_BAD_LENGTH, NAK_BAD_PARAM, NAK_BAD_STATE, NAK_DIR_MISMATCH, NAK_ID_CONFLICT, NAK_INDEX_RANGE, NAK_NO_RESOURCE, NAK_SIZE_OVERFLOW, NAK_UNKNOWN_CMD, NODE_ID_BROADCAST, type NakMsg, NoCallSlotError, NodeAgent, type NodeAgentOptions, type NodeProvisionState, type NodeRunningSnapshot, type NodeSchema, NumberingError, type NumberingResult, type NumberingTable, PROTOCOL_VERSION, ParamCodecError, type ParamDescriptor, ProtoError, ProtoReader, type RosMapping, type S2MFieldFilter, SCALAR_NAMES, SEG_FIRST_DATA, SEG_MAX_SEQ, SEG_MAX_TOTAL, SEG_REST_DATA, SERVICE_INDEX_CANCEL, SERVICE_INDEX_CAPACITY, SERVICE_INDEX_MAX, SERVICE_INDEX_PARAM_SET, STATE_FAULT, STATE_PROVISIONED, STATE_RUNNING, STATE_SUSPENDED, STATE_UNPROVISIONED, STD_ID_MASK, SVC_ACCEPTED, SVC_APP_ERROR, SVC_BAD_INDEX, SVC_BAD_LENGTH, SVC_BAD_VALUE, SVC_BUSY, SVC_CANCEL, SVC_MAX_FIRST_CLASS, SVC_OK, SVC_PARAM_SET, SVC_UNAVAIL, ScalarType, SchemaAccumulator, type SchemaBlockArray, type SchemaBlockType, type SchemaDataMsg, type SchemaField, SchemaIndex, type SchemaParam, type SchemaService, type SchemaTopic, SegmentReassembler, SeqAllocator, ServiceCallError, type ServiceCallOptions, ServiceCancelledError, ServiceClient, type ServiceDescriptor, type ServiceResult, ServiceTimeoutError, ServiceUnavailableError, StdIdAllocator, type TopicDescriptor, type TopicListener, type TopicSample, type TopicStats, TypedParam, type TypedParamSetOptions, type TypedParamSetResult, TypedService, type TypedServiceCallOptions, type TypedServiceResult, type WireLimits, buildDefaultS2MRequests, computeNumbering, decodeAnnounce, decodeFields, decodeHeartbeat, decodeNak, decodeSchema, decodeSchemaData, decodeSchemaWithMeta, defaultS2MFramePlan, encodeDiscover, encodeDiscoverTo, encodeFields, encodeFrameDefine, encodeMasterHeartbeat, encodeParamSetSingle, encodeSchemaRead, encodeStart, encodeStop, extChannel, extIndex, extNodeId, extSeg, extSeq, fieldWireSize, fieldsWireSize, makeExtId, makeSvcRequestFrames, makeSvcSegmentedFrames, packScalarF32Le, packScalarF64Le, packScalarIntLe, padToDlc, planFrames, quantizeDlc, scalarFromName, scalarName, scalarSize, schemaHashPrefix, segExpectedMask, segOffset, sha256, signExtend, stateName, unpackScalarF32Le, unpackScalarF64Le, unpackScalarIntLe };
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -67,7 +67,7 @@ var AckTracker = class {
 * Standard ID (11 bit, §3.1) is dynamically allocated by the master and
 * has no fixed bitfield meaning — kept here only as the wire mask.
 */
-const PROTOCOL_VERSION = 1;
+const PROTOCOL_VERSION = 2;
 const MAX_FRAME_PAYLOAD = 64;
 const CHAN_CONFIG = 0;
 const CHAN_SVC_REQUEST = 1;
@@ -102,6 +102,18 @@ const STATE_UNPROVISIONED = 0;
 const STATE_PROVISIONED = 1;
 const STATE_RUNNING = 2;
 const STATE_FAULT = 3;
+const STATE_SUSPENDED = 4;
+/** Human-readable name for a node_state byte. Unknown values → `unknown(N)`. */
+function stateName(state) {
+	switch (state) {
+		case 0: return "UNPROVISIONED";
+		case 1: return "PROVISIONED";
+		case 2: return "RUNNING";
+		case 3: return "FAULT";
+		case 4: return "SUSPENDED";
+		default: return `unknown(${state})`;
+	}
+}
 const FAULT_NONE = 0;
 const FAULT_NOMEM = 1;
 const FAULT_INDEX_OVERFLOW = 2;
@@ -832,13 +844,11 @@ function decodeLimits(r) {
 	return l;
 }
 /**
-* Parse a schema blob (proto3 binary) into the master-side IR.
-*
-* Throws {@link ProtoError} on malformed input or on
-* `protocolVersion !== 1` (the only version this codec understands —
-* mirrors C++ side's UnsupportedProtocolVersion behaviour).
+* Parse a schema blob into the master-side IR. Throws {@link ProtoError}
+* on malformed input or `protocolVersion === 0` (proto3 leaves an unset
+* uint32 at 0, so zero means it was never populated).
 */
-function decodeSchema(blob) {
+function decodeSchemaWithMeta(blob) {
 	const schema = {
 		protocolVersion: 0,
 		nodeName: "",
@@ -868,9 +878,16 @@ function decodeSchema(blob) {
 			default: r.skipValue(wire);
 		}
 	}
-	if (schema.protocolVersion !== 1) throw new ProtoError(`unsupported schema protocol_version: ${schema.protocolVersion}`);
+	if (schema.protocolVersion === 0) throw new ProtoError(`schema protocol_version is 0 (unset)`);
 	for (const arr of schema.instances) if (arr.blockTypeIndex >= schema.types.length) throw new ProtoError(`BlockArray.type_id ${arr.blockTypeIndex} out of range (#types=${schema.types.length})`);
-	return schema;
+	return {
+		schema,
+		versionAheadOfMaster: schema.protocolVersion > 2
+	};
+}
+/** Shim for callers that don't need the metadata — prefer {@link decodeSchemaWithMeta}. */
+function decodeSchema(blob) {
+	return decodeSchemaWithMeta(blob).schema;
 }
 /** Wire size in bytes for a single field (scalar or fixed array). */
 function fieldWireSize(field) {
@@ -2567,6 +2584,11 @@ var NodeAgent = class {
 			if (this.#snapshot !== null) this.#setState({ kind: "running" });
 			else if (this.#pendingStart !== null) this.#setState({ kind: "awaiting-start" });
 		}
+		if (this.#snapshot !== null) {
+			const isSuspended = h.state === 4;
+			if (isSuspended && this.#state.kind === "running") this.#setState({ kind: "suspended" });
+			else if (!isSuspended && this.#state.kind === "suspended") this.#setState({ kind: "running" });
+		}
 	}
 	#startSchemaRead(a) {
 		const progress = {
@@ -2648,13 +2670,15 @@ var NodeAgent = class {
 			return;
 		}
 		let schema;
+		let versionAheadOfMaster;
 		try {
-			schema = decodeSchema(blob);
+			({schema, versionAheadOfMaster} = decodeSchemaWithMeta(blob));
 		} catch (e) {
 			this.#error(e);
 			this.#setState({ kind: "awaiting-announce" });
 			return;
 		}
+		if (versionAheadOfMaster) this.#error(/* @__PURE__ */ new Error(`node ${this.nodeId}: schema protocol_version=${schema.protocolVersion} exceeds master-known — proceeding with best-effort`));
 		this.#blobCache.set(a.schemaHash, {
 			blob,
 			schema
@@ -3072,6 +3096,6 @@ var MasterController = class {
 	}
 };
 //#endregion
-export { AckTracker, CHAN_CONFIG, CHAN_SVC_REQUEST, CHAN_SVC_RESPONSE, CMD_ACK, CMD_ANNOUNCE, CMD_DISCOVER, CMD_FRAME_DEFINE, CMD_HB_PERIOD, CMD_HEARTBEAT, CMD_MASTER_HEARTBEAT, CMD_NAK, CMD_SCHEMA_DATA, CMD_SCHEMA_READ, CMD_START, CMD_STOP, DIR_RX_M2S, DIR_TX_S2M, DataPlaneReceiver, Direction, DynamicCodecError, FAULT_ID_CONFLICT, FAULT_INDEX_OVERFLOW, FAULT_NOMEM, FAULT_NONE, FD_DLC_STEPS, MAX_FRAME_PAYLOAD, MasterController, MasterHeartbeatBroadcaster, NAK_BAD_LENGTH, NAK_BAD_PARAM, NAK_BAD_STATE, NAK_DIR_MISMATCH, NAK_ID_CONFLICT, NAK_INDEX_RANGE, NAK_NO_RESOURCE, NAK_SIZE_OVERFLOW, NAK_UNKNOWN_CMD, NODE_ID_BROADCAST, NoCallSlotError, NodeAgent, NumberingError, PROTOCOL_VERSION, ParamCodecError, ProtoError, ProtoReader, SCALAR_NAMES, SEG_FIRST_DATA, SEG_MAX_SEQ, SEG_MAX_TOTAL, SEG_REST_DATA, SERVICE_INDEX_CANCEL, SERVICE_INDEX_CAPACITY, SERVICE_INDEX_MAX, SERVICE_INDEX_PARAM_SET, STATE_FAULT, STATE_PROVISIONED, STATE_RUNNING, STATE_UNPROVISIONED, STD_ID_MASK, SVC_ACCEPTED, SVC_APP_ERROR, SVC_BAD_INDEX, SVC_BAD_LENGTH, SVC_BAD_VALUE, SVC_BUSY, SVC_CANCEL, SVC_MAX_FIRST_CLASS, SVC_OK, SVC_PARAM_SET, SVC_UNAVAIL, ScalarType, SchemaAccumulator, SchemaIndex, SegmentReassembler, SeqAllocator, ServiceCallError, ServiceCancelledError, ServiceClient, ServiceTimeoutError, ServiceUnavailableError, StdIdAllocator, TypedParam, TypedService, buildDefaultS2MRequests, computeNumbering, decodeAnnounce, decodeFields, decodeHeartbeat, decodeNak, decodeSchema, decodeSchemaData, defaultS2MFramePlan, encodeDiscover, encodeDiscoverTo, encodeFields, encodeFrameDefine, encodeMasterHeartbeat, encodeParamSetSingle, encodeSchemaRead, encodeStart, encodeStop, extChannel, extIndex, extNodeId, extSeg, extSeq, fieldWireSize, fieldsWireSize, makeExtId, makeSvcRequestFrames, makeSvcSegmentedFrames, packScalarF32Le, packScalarF64Le, packScalarIntLe, padToDlc, planFrames, quantizeDlc, scalarFromName, scalarName, scalarSize, schemaHashPrefix, segExpectedMask, segOffset, sha256, signExtend, unpackScalarF32Le, unpackScalarF64Le, unpackScalarIntLe };
+export { AckTracker, CHAN_CONFIG, CHAN_SVC_REQUEST, CHAN_SVC_RESPONSE, CMD_ACK, CMD_ANNOUNCE, CMD_DISCOVER, CMD_FRAME_DEFINE, CMD_HB_PERIOD, CMD_HEARTBEAT, CMD_MASTER_HEARTBEAT, CMD_NAK, CMD_SCHEMA_DATA, CMD_SCHEMA_READ, CMD_START, CMD_STOP, DIR_RX_M2S, DIR_TX_S2M, DataPlaneReceiver, Direction, DynamicCodecError, FAULT_ID_CONFLICT, FAULT_INDEX_OVERFLOW, FAULT_NOMEM, FAULT_NONE, FD_DLC_STEPS, MAX_FRAME_PAYLOAD, MasterController, MasterHeartbeatBroadcaster, NAK_BAD_LENGTH, NAK_BAD_PARAM, NAK_BAD_STATE, NAK_DIR_MISMATCH, NAK_ID_CONFLICT, NAK_INDEX_RANGE, NAK_NO_RESOURCE, NAK_SIZE_OVERFLOW, NAK_UNKNOWN_CMD, NODE_ID_BROADCAST, NoCallSlotError, NodeAgent, NumberingError, PROTOCOL_VERSION, ParamCodecError, ProtoError, ProtoReader, SCALAR_NAMES, SEG_FIRST_DATA, SEG_MAX_SEQ, SEG_MAX_TOTAL, SEG_REST_DATA, SERVICE_INDEX_CANCEL, SERVICE_INDEX_CAPACITY, SERVICE_INDEX_MAX, SERVICE_INDEX_PARAM_SET, STATE_FAULT, STATE_PROVISIONED, STATE_RUNNING, STATE_SUSPENDED, STATE_UNPROVISIONED, STD_ID_MASK, SVC_ACCEPTED, SVC_APP_ERROR, SVC_BAD_INDEX, SVC_BAD_LENGTH, SVC_BAD_VALUE, SVC_BUSY, SVC_CANCEL, SVC_MAX_FIRST_CLASS, SVC_OK, SVC_PARAM_SET, SVC_UNAVAIL, ScalarType, SchemaAccumulator, SchemaIndex, SegmentReassembler, SeqAllocator, ServiceCallError, ServiceCancelledError, ServiceClient, ServiceTimeoutError, ServiceUnavailableError, StdIdAllocator, TypedParam, TypedService, buildDefaultS2MRequests, computeNumbering, decodeAnnounce, decodeFields, decodeHeartbeat, decodeNak, decodeSchema, decodeSchemaData, decodeSchemaWithMeta, defaultS2MFramePlan, encodeDiscover, encodeDiscoverTo, encodeFields, encodeFrameDefine, encodeMasterHeartbeat, encodeParamSetSingle, encodeSchemaRead, encodeStart, encodeStop, extChannel, extIndex, extNodeId, extSeg, extSeq, fieldWireSize, fieldsWireSize, makeExtId, makeSvcRequestFrames, makeSvcSegmentedFrames, packScalarF32Le, packScalarF64Le, packScalarIntLe, padToDlc, planFrames, quantizeDlc, scalarFromName, scalarName, scalarSize, schemaHashPrefix, segExpectedMask, segOffset, sha256, signExtend, stateName, unpackScalarF32Le, unpackScalarF64Le, unpackScalarIntLe };
 
 //# sourceMappingURL=index.js.map