@fibril/can-core 0.1.2 → 0.3.1

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","names":["#pending","#now","readU64Le","#buf","#blobTotalLen","packOneScalar","#onError","#now","#unsubFrame","#buckets","#ownedByNode","#latest","#listeners","#onFrame","#version","#err","#publish","#freePool","#next","I_TOKEN","expandIToken","joinPath","#handle","#topicsByPath","#servicesByPath","#paramsByPath","#topicsByIndex","#servicesByIndex","#paramsByIndex","#next","#reset","#buffer","#transport","#defaultTimeoutMs","#now","#nextCallId","#pending","#unsub","#onFrame","#detachAbort","#allocCallId","#sendCancel","#finishMaybeAccepted","#client","#client","#transport","#framePlan","#ackTimeoutMs","#schemaChunkSize","#schemaReadRetries","#heartbeatTimeoutMs","#autoStart","#onState","#onError","#now","#seq","#acks","#services","#blobCache","#state","#snapshot","#stopped","#unsubFrame","#onFrame","#sweepHandle","#sweep","#setState","#announce","#reprovisionState","#beginBringUp","#error","#schemaRead","#provisioning","#pendingStart","#handleAnnounce","#handleHeartbeat","#handleSchemaData","#lastHeartbeatMs","#enterLost","#onSchemaReadStall","#startSchemaRead","#issueSchemaReadChunk","#finishSchemaRead","#generation","#maybeIssueStart","#onFrameDefineOutcome","#issueStart","#onStartOutcome","#transport","#framePlan","#heartbeatBroadcaster","#dataPlane","#discoverPeriodMs","#initialDiscover","#ackTimeoutMs","#heartbeatTimeoutMs","#serviceTimeoutMs","#autoStart","#now","#onError","#slaves","#listeners","#started","#unsubFrame","#onFrame","#error","#discoverHandle","#emit","#ensureSlave"],"sources":["../src/ack-tracker.ts","../src/can-id.ts","../src/dlc.ts","../src/config-plane.ts","../src/scalar-codec.ts","../src/proto-reader.ts","../src/schema.ts","../src/dynamic-codec.ts","../src/data-plane.ts","../src/frame-planner.ts","../src/default-plan.ts","../src/master-heartbeat.ts","../src/numbering.ts","../src/schema-hash.ts","../src/schema-index.ts","../src/seq-allocator.ts","../src/segmented-transfer.ts","../src/service-client.ts","../src/typed-param.ts","../src/typed-service.ts","../src/node-agent.ts","../src/master-controller.ts"],"sourcesContent":["/**\n * In-flight ACK/NAK ledger keyed by `seq`. Mirrors the per-node `AckEntry`\n * map in `fibril_can_bridge/include/fibril_can_bridge/node_agent.hpp` but\n * pared down for the single-threaded TS master — no deadlines list, the\n * caller polls via {@link sweep}.\n */\n\nexport type AckOutcome =\n  | { kind: 'acked' }\n  | { kind: 'naked'; reason: number }\n  | { kind: 'timed-out' };\n\nexport type AckCallback = (outcome: AckOutcome) => void;\n\ninterface AckEntry {\n  deadlineMs: number;\n  cb: AckCallback;\n}\n\nexport class AckTracker {\n  readonly #pending = new Map<number, AckEntry>();\n  readonly #now: () => number;\n\n  constructor(now: () => number = () => Date.now()) {\n    this.#now = now;\n  }\n\n  get pendingCount(): number {\n    return this.#pending.size;\n  }\n\n  /** Returns false if `seq` is already tracked; the existing entry is kept. */\n  track(seq: number, deadlineMs: number, cb: AckCallback): boolean {\n    const key = seq & 0xff;\n    if (this.#pending.has(key)) return false;\n    this.#pending.set(key, { deadlineMs, cb });\n    return true;\n  }\n\n  /** Idempotent — fires `acked` if `seq` is pending. */\n  onAck(seq: number): void {\n    const key = seq & 0xff;\n    const e = this.#pending.get(key);\n    if (!e) return;\n    this.#pending.delete(key);\n    e.cb({ kind: 'acked' });\n  }\n\n  /** Idempotent — fires `naked` with the reason if `seq` is pending. */\n  onNak(seq: number, reason: number): void {\n    const key = seq & 0xff;\n    const e = this.#pending.get(key);\n    if (!e) return;\n    this.#pending.delete(key);\n    e.cb({ kind: 'naked', reason });\n  }\n\n  /** Fire `timed-out` for every entry whose deadline elapsed by `nowMs`. */\n  sweep(nowMs: number = this.#now()): void {\n    for (const [seq, entry] of this.#pending) {\n      if (entry.deadlineMs <= nowMs) {\n        this.#pending.delete(seq);\n        entry.cb({ kind: 'timed-out' });\n      }\n    }\n  }\n\n  /** Drop every entry without firing callbacks. Test-only. */\n  clear(): void {\n    this.#pending.clear();\n  }\n}\n","/**\n * CAN ID layout (Extended) and config-plane / NAK / svc-status / node-state\n * constants. Mirrors SPEC §3, §5, §7 and `fibril_can_runtime/include/fibril_can/fcan_protocol.h`\n * / `fibril_can_bridge/include/fibril_can_bridge/can_id.hpp`.\n *\n * Extended ID layout (29 bit, §3.2):\n *   [28:26] channel    (3 bit)\n *   [25:19] node_id    (7 bit, 0x7F = broadcast)\n *   [18:11] index      (8 bit, service_index / cmd_code)\n *   [10:3]  seq        (8 bit, call_id / seq_num)\n *   [2]     seg        (1 bit, 0=SINGLE, 1=SEGMENT)\n *   [1:0]   reserved   (2 bit, 0)\n *\n * Standard ID (11 bit, §3.1) is dynamically allocated by the master and\n * has no fixed bitfield meaning — kept here only as the wire mask.\n */\n\n// Highest protocol_version this package decodes in full. Higher values\n// still parse.\nexport const PROTOCOL_VERSION = 2;\nexport const MAX_FRAME_PAYLOAD = 64;\n\n// Channel (§3.2)\nexport const CHAN_CONFIG = 0;\nexport const CHAN_SVC_REQUEST = 1;\nexport const CHAN_SVC_RESPONSE = 2;\n\nexport const NODE_ID_BROADCAST = 0x7f;\n\n// Standard ID mask (§3.1)\nexport const STD_ID_MASK = 0x7ff;\n\n// Reserved service indices (§3.3)\nexport const SVC_PARAM_SET = 0xfd;\nexport const SVC_CANCEL = 0xff;\nexport const SVC_MAX_FIRST_CLASS = 0xfc;\n\n// Config-plane command codes (§5.2)\nexport const CMD_DISCOVER = 0x01;\nexport const CMD_ANNOUNCE = 0x02;\nexport const CMD_SCHEMA_READ = 0x03;\nexport const CMD_SCHEMA_DATA = 0x04;\nexport const CMD_HEARTBEAT = 0x05;\nexport const CMD_MASTER_HEARTBEAT = 0x07;\nexport const CMD_FRAME_DEFINE = 0x10;\nexport const CMD_HB_PERIOD = 0x13;\nexport const CMD_START = 0x20;\nexport const CMD_STOP = 0x21;\nexport const CMD_ACK = 0x7e;\nexport const CMD_NAK = 0x7f;\n\n// NAK reason codes (§5.9)\nexport const NAK_UNKNOWN_CMD = 0x01;\nexport const NAK_BAD_LENGTH = 0x02;\nexport const NAK_BAD_PARAM = 0x03;\nexport const NAK_NO_RESOURCE = 0x04;\nexport const NAK_BAD_STATE = 0x05;\nexport const NAK_ID_CONFLICT = 0x06;\nexport const NAK_INDEX_RANGE = 0x07;\nexport const NAK_DIR_MISMATCH = 0x08;\nexport const NAK_SIZE_OVERFLOW = 0x09;\n\n// Node states (§2.4)\nexport const STATE_UNPROVISIONED = 0;\nexport const STATE_PROVISIONED = 1;\nexport const STATE_RUNNING = 2;\nexport const STATE_FAULT = 3;\nexport const STATE_SUSPENDED = 4;\n\n/** Human-readable name for a node_state byte. Unknown values → `unknown(N)`. */\nexport function stateName(state: number): string {\n  switch (state) {\n    case STATE_UNPROVISIONED:\n      return \"UNPROVISIONED\";\n    case STATE_PROVISIONED:\n      return \"PROVISIONED\";\n    case STATE_RUNNING:\n      return \"RUNNING\";\n    case STATE_FAULT:\n      return \"FAULT\";\n    case STATE_SUSPENDED:\n      return \"SUSPENDED\";\n    default:\n      return `unknown(${state})`;\n  }\n}\n\n// Fault summary (§5.8)\nexport const FAULT_NONE = 0;\nexport const FAULT_NOMEM = 1;\nexport const FAULT_INDEX_OVERFLOW = 2;\nexport const FAULT_ID_CONFLICT = 3;\n\n// Direction (§5.6 of FRAME_DEFINE)\nexport const DIR_TX_S2M = 0;\nexport const DIR_RX_M2S = 1;\n\n// Service status (§7.2)\nexport const SVC_OK = 0x00;\nexport const SVC_ACCEPTED = 0x01;\nexport const SVC_APP_ERROR = 0x02;\nexport const SVC_BUSY = 0x03;\nexport const SVC_UNAVAIL = 0x04;\nexport const SVC_BAD_INDEX = 0x05;\nexport const SVC_BAD_VALUE = 0x06;\nexport const SVC_BAD_LENGTH = 0x08;\n\n// Segmented service transfer (§7.4)\nexport const SEG_FIRST_DATA = 61;\nexport const SEG_REST_DATA = 63;\nexport const SEG_MAX_TOTAL = 1024;\nexport const SEG_MAX_SEQ = 31;\n\n/** Byte offset of segment `seq` within the reassembled buffer (§7.4). */\nexport function segOffset(seq: number): number {\n  return seq === 0 ? 0 : SEG_FIRST_DATA + (seq - 1) * SEG_REST_DATA;\n}\n\n/**\n * Build a 29-bit Extended ID from its bitfields (§3.2). Inputs are masked\n * down to their respective field widths.\n */\nexport function makeExtId(\n  channel: number,\n  nodeId: number,\n  index: number,\n  seq: number,\n  seg = 0,\n): number {\n  return (\n    (((channel & 0x7) << 26) |\n      ((nodeId & 0x7f) << 19) |\n      ((index & 0xff) << 11) |\n      ((seq & 0xff) << 3) |\n      ((seg & 0x1) << 2)) >>>\n    0\n  );\n}\n\nexport function extChannel(id: number): number {\n  return (id >>> 26) & 0x7;\n}\nexport function extNodeId(id: number): number {\n  return (id >>> 19) & 0x7f;\n}\nexport function extIndex(id: number): number {\n  return (id >>> 11) & 0xff;\n}\nexport function extSeq(id: number): number {\n  return (id >>> 3) & 0xff;\n}\nexport function extSeg(id: number): number {\n  return (id >>> 2) & 0x1;\n}\n","import { MAX_FRAME_PAYLOAD } from './can-id.js';\n\n/**\n * CAN FD valid payload sizes in ascending order (§4.3).\n * Mirrors `fibril_can_core/include/fibril_can_core/packing.hpp::kCanFdDlcSteps`\n * and `fibril_can_runtime/src/fcan_wire.c::fcan_quantize_dlc`.\n */\nexport const FD_DLC_STEPS = Object.freeze([\n  0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64,\n]) as readonly number[];\n\n/**\n * Round `bytes` up to the next valid CAN FD payload step. Returns 64 for any\n * input ≥ 64.\n */\nexport function quantizeDlc(bytes: number): number {\n  if (bytes >= MAX_FRAME_PAYLOAD) return MAX_FRAME_PAYLOAD;\n  for (const step of FD_DLC_STEPS) {\n    if (step >= bytes) return step;\n  }\n  return MAX_FRAME_PAYLOAD;\n}\n\n/**\n * Grow `data` to the next DLC step by appending zero bytes. Returns a new\n * Uint8Array. Never shrinks: if `data` already exceeds 64 bytes (which is\n * a self-inconsistent frame the slave would misparse), the original is\n * returned unchanged so the backend rejects it loudly (parity with\n * `pad_to_dlc` in `fibril_can_bridge/src/config_plane_codec.cpp`).\n */\nexport function padToDlc(data: Uint8Array): Uint8Array {\n  if (data.length >= MAX_FRAME_PAYLOAD) return data;\n  const padded = new Uint8Array(quantizeDlc(data.length));\n  padded.set(data);\n  return padded;\n}\n","import type { CanFrameTx } from '@fibril/can-transport';\nimport {\n  CHAN_CONFIG,\n  CMD_DISCOVER,\n  CMD_FRAME_DEFINE,\n  CMD_MASTER_HEARTBEAT,\n  CMD_SCHEMA_READ,\n  CMD_START,\n  CMD_STOP,\n  makeExtId,\n  NODE_ID_BROADCAST,\n} from './can-id.js';\nimport { padToDlc } from './dlc.js';\n\n/**\n * Config-plane wire codec. Mirrors\n * `fibril_can_bridge/include/fibril_can_bridge/config_plane_codec.hpp`\n * and `fibril_can_bridge/src/config_plane_codec.cpp`.\n *\n * All integers are little-endian. Decoders return `null` on malformed input\n * (wrong length etc.); encoders produce CAN frames padded to the next DLC\n * step, matching what the slave sees on the bus.\n */\n\n// ---------------------------------------------------------------------------\n// Message shapes (decoded form of S→M payloads)\n// ---------------------------------------------------------------------------\n\n/** ANNOUNCE payload (S→M, §5.4). */\nexport interface AnnounceMsg {\n  schemaHash: bigint;\n  protocolVersion: number;\n  bootId: number;\n  blobLen: number;\n  /** Length K, indexed by block-type ordinal. */\n  instanceCounts: Uint8Array;\n}\n\n/** HEARTBEAT payload (S→M, §5.8). */\nexport interface HeartbeatMsg {\n  bootId: number;\n  state: number;\n  faultSummary: number;\n}\n\n/** SCHEMA_DATA payload (S→M, §5.5). */\nexport interface SchemaDataMsg {\n  offset: number;\n  bytes: Uint8Array;\n}\n\n/** NAK payload (S→M, §5.9). */\nexport interface NakMsg {\n  cmd: number;\n  reason: number;\n}\n\n/** One entry inside a FRAME_DEFINE command (§5.6). */\nexport interface FrameDefineEntry {\n  topicIndex: number;\n  fieldBitmask: number;\n}\n\n// ---------------------------------------------------------------------------\n// Little-endian primitive helpers (private)\n// ---------------------------------------------------------------------------\n\nfunction readU32Le(p: Uint8Array, off: number): number {\n  return (\n    ((p[off] ?? 0) |\n      ((p[off + 1] ?? 0) << 8) |\n      ((p[off + 2] ?? 0) << 16) |\n      ((p[off + 3] ?? 0) << 24)) >>>\n    0\n  );\n}\nfunction readU64Le(p: Uint8Array, off: number): bigint {\n  let r = 0n;\n  for (let i = 0; i < 8; i++) {\n    r |= BigInt(p[off + i] ?? 0) << BigInt(i * 8);\n  }\n  return r;\n}\nfunction pushU16(buf: number[], x: number): void {\n  buf.push(x & 0xff, (x >>> 8) & 0xff);\n}\nfunction pushU32(buf: number[], x: number): void {\n  buf.push(x & 0xff, (x >>> 8) & 0xff, (x >>> 16) & 0xff, (x >>> 24) & 0xff);\n}\n\n// ---------------------------------------------------------------------------\n// Decoders\n// ---------------------------------------------------------------------------\n\nexport function decodeAnnounce(data: Uint8Array): AnnounceMsg | null {\n  if (data.length < 18) return null;\n  const k = data[17] ?? 0;\n  if (data.length < 18 + k) return null;\n  return {\n    schemaHash: readU64Le(data, 0),\n    protocolVersion: data[8] ?? 0,\n    bootId: readU32Le(data, 9),\n    blobLen: readU32Le(data, 13),\n    instanceCounts: data.slice(18, 18 + k),\n  };\n}\n\nexport function decodeHeartbeat(data: Uint8Array): HeartbeatMsg | null {\n  if (data.length < 6) return null;\n  return {\n    bootId: readU32Le(data, 0),\n    state: data[4] ?? 0,\n    faultSummary: data[5] ?? 0,\n  };\n}\n\nexport function decodeSchemaData(data: Uint8Array): SchemaDataMsg | null {\n  if (data.length < 4) return null;\n  return {\n    offset: readU32Le(data, 0),\n    bytes: data.slice(4),\n  };\n}\n\nexport function decodeNak(data: Uint8Array): NakMsg | null {\n  if (data.length < 2) return null;\n  return { cmd: data[0] ?? 0, reason: data[1] ?? 0 };\n}\n\n// ---------------------------------------------------------------------------\n// Encoders — master-initiated commands\n// ---------------------------------------------------------------------------\n\nfunction configFrame(nodeId: number, cmd: number, seq: number, data: Uint8Array): CanFrameTx {\n  // fibril_can is CAN-FD only (SPEC §3, MAX_FRAME_PAYLOAD=64). Mark every\n  // emitted frame as FD so transports (gs_usb) don't fall back to the\n  // 8-byte classic cap when our payload is quantized to a 12/16/20/24/…\n  // FD DLC step.\n  return {\n    id: makeExtId(CHAN_CONFIG, nodeId, cmd, seq, 0),\n    extended: true,\n    fd: true,\n    data,\n  };\n}\n\n/** Broadcast DISCOVER — all nodes re-announce and clear their frame tables. */\nexport function encodeDiscover(): CanFrameTx {\n  return configFrame(NODE_ID_BROADCAST, CMD_DISCOVER, 0, new Uint8Array(0));\n}\n\n/** Targeted DISCOVER for a single node (§5.11 reprovisioning). */\nexport function encodeDiscoverTo(nodeId: number): CanFrameTx {\n  return configFrame(nodeId, CMD_DISCOVER, 0, new Uint8Array(0));\n}\n\n/** Broadcast MASTER_HEARTBEAT (§5.11). Refreshes slave master-lost watchdogs. */\nexport function encodeMasterHeartbeat(): CanFrameTx {\n  return configFrame(NODE_ID_BROADCAST, CMD_MASTER_HEARTBEAT, 0, new Uint8Array(0));\n}\n\nexport function encodeSchemaRead(\n  nodeId: number,\n  offset: number,\n  length: number,\n  seq: number,\n): CanFrameTx {\n  const buf: number[] = [];\n  pushU32(buf, offset);\n  buf.push(length & 0xff);\n  return configFrame(nodeId, CMD_SCHEMA_READ, seq, padToDlc(new Uint8Array(buf)));\n}\n\nexport function encodeFrameDefine(\n  nodeId: number,\n  seq: number,\n  stdId: number,\n  periodUs: number,\n  dir: number,\n  entries: readonly FrameDefineEntry[],\n): CanFrameTx {\n  const buf: number[] = [];\n  pushU16(buf, stdId);\n  pushU32(buf, periodUs);\n  buf.push(dir & 0xff);\n  buf.push(entries.length & 0xff);\n  for (const e of entries) {\n    pushU16(buf, e.topicIndex);\n    pushU16(buf, e.fieldBitmask);\n  }\n  return configFrame(nodeId, CMD_FRAME_DEFINE, seq, padToDlc(new Uint8Array(buf)));\n}\n\nexport function encodeStart(nodeId: number, seq: number): CanFrameTx {\n  return configFrame(nodeId, CMD_START, seq, new Uint8Array(0));\n}\n\nexport function encodeStop(nodeId: number, seq: number): CanFrameTx {\n  return configFrame(nodeId, CMD_STOP, seq, new Uint8Array(0));\n}\n\n// ---------------------------------------------------------------------------\n// Schema blob reassembly\n// ---------------------------------------------------------------------------\n\n/**\n * Accumulator for SCHEMA_DATA chunks. The slave DLC-pads each response (§4.3)\n * so `chunk.bytes.length` is typically larger than what the master requested;\n * the accumulator clips against `expectedChunkLen` and the remaining blob\n * length to drop those padding bytes (parity with\n * `append_schema_chunk` in `fibril_can_bridge/src/config_plane_codec.cpp`).\n *\n * Out-of-order chunks are rejected (returns 0 from {@link append}).\n */\nexport class SchemaAccumulator {\n  readonly #buf: number[] = [];\n  readonly #blobTotalLen: number;\n\n  constructor(blobTotalLen: number) {\n    this.#blobTotalLen = blobTotalLen;\n  }\n\n  get length(): number {\n    return this.#buf.length;\n  }\n\n  get blobTotalLen(): number {\n    return this.#blobTotalLen;\n  }\n\n  get complete(): boolean {\n    return this.#buf.length >= this.#blobTotalLen;\n  }\n\n  bytes(): Uint8Array {\n    return new Uint8Array(this.#buf);\n  }\n\n  /**\n   * Append `chunk` if its offset matches the current accumulator length.\n   * Returns the number of bytes actually appended (0 on rejection).\n   */\n  append(chunk: SchemaDataMsg, expectedChunkLen: number): number {\n    if (chunk.offset !== this.#buf.length) return 0;\n    const remaining = Math.max(0, this.#blobTotalLen - chunk.offset);\n    const cap = Math.min(expectedChunkLen, remaining);\n    const take = Math.min(chunk.bytes.length, cap);\n    for (let i = 0; i < take; i++) {\n      this.#buf.push(chunk.bytes[i] ?? 0);\n    }\n    return take;\n  }\n}\n","/**\n * Scalar type enumeration and little-endian wire codecs. Mirrors\n * `fibril_can_core/include/fibril_can_core/scalar_type.hpp` and\n * `fibril_can_core/src/scalar_type.cpp`.\n *\n * Type ordinal values are part of the protobuf schema blob's enum, so they\n * must not be renumbered.\n */\n\nexport enum ScalarType {\n  Bool = 0,\n  U8 = 1,\n  I8 = 2,\n  U16 = 3,\n  I16 = 4,\n  U32 = 5,\n  I32 = 6,\n  U64 = 7,\n  I64 = 8,\n  F32 = 9,\n  F64 = 10,\n}\n\nexport const SCALAR_NAMES = Object.freeze([\n  'bool',\n  'u8',\n  'i8',\n  'u16',\n  'i16',\n  'u32',\n  'i32',\n  'u64',\n  'i64',\n  'f32',\n  'f64',\n]) as readonly string[];\n\n/** Wire size in bytes of one scalar element. bool is 1 byte. */\nexport function scalarSize(type: ScalarType): number {\n  switch (type) {\n    case ScalarType.Bool:\n    case ScalarType.U8:\n    case ScalarType.I8:\n      return 1;\n    case ScalarType.U16:\n    case ScalarType.I16:\n      return 2;\n    case ScalarType.U32:\n    case ScalarType.I32:\n    case ScalarType.F32:\n      return 4;\n    case ScalarType.U64:\n    case ScalarType.I64:\n    case ScalarType.F64:\n      return 8;\n  }\n}\n\nexport function scalarName(type: ScalarType): string | undefined {\n  return SCALAR_NAMES[type];\n}\n\nexport function scalarFromName(name: string): ScalarType | undefined {\n  const idx = SCALAR_NAMES.indexOf(name);\n  return idx >= 0 ? (idx as ScalarType) : undefined;\n}\n\n/**\n * Pack an integer / bool value as little-endian bytes into `out` at `offset`.\n * Writes scalarSize(type) bytes — pass a wide-enough `out`.\n *\n * Pass `bigint` for 64-bit types (U64/I64). `number` is accepted for\n * everything (it is internally widened to bigint so signed callers get the\n * same sign-extension semantics as the C++ `pack_scalar_int_le(uint64_t)`).\n * Signed callers pass the negative number directly; the function performs the\n * 64-bit two's-complement cast.\n */\nexport function packScalarIntLe(\n  type: ScalarType,\n  value: number | bigint,\n  out: Uint8Array,\n  offset = 0,\n): void {\n  const bytes = scalarSize(type);\n  const mask = (1n << 64n) - 1n;\n  const bits = (typeof value === 'bigint' ? value : BigInt(value)) & mask;\n  for (let i = 0; i < bytes; i++) {\n    out[offset + i] = Number((bits >> BigInt(i * 8)) & 0xffn);\n  }\n}\n\n/** Bit-cast a float32 to its IEEE-754 little-endian representation. */\nexport function packScalarF32Le(value: number, out: Uint8Array, offset = 0): void {\n  new DataView(out.buffer, out.byteOffset, out.byteLength).setFloat32(offset, value, true);\n}\n\n/** Bit-cast a float64 to its IEEE-754 little-endian representation. */\nexport function packScalarF64Le(value: number, out: Uint8Array, offset = 0): void {\n  new DataView(out.buffer, out.byteOffset, out.byteLength).setFloat64(offset, value, true);\n}\n\n/**\n * Inverse of {@link packScalarIntLe}. Returns the raw bit pattern as bigint;\n * caller interprets sign via {@link sign-extend} helpers below.\n */\nexport function unpackScalarIntLe(type: ScalarType, src: Uint8Array, offset = 0): bigint {\n  const bytes = scalarSize(type);\n  let bits = 0n;\n  for (let i = 0; i < bytes; i++) {\n    bits |= BigInt(src[offset + i] ?? 0) << BigInt(i * 8);\n  }\n  return bits;\n}\n\nexport function unpackScalarF32Le(src: Uint8Array, offset = 0): number {\n  return new DataView(src.buffer, src.byteOffset, src.byteLength).getFloat32(offset, true);\n}\n\nexport function unpackScalarF64Le(src: Uint8Array, offset = 0): number {\n  return new DataView(src.buffer, src.byteOffset, src.byteLength).getFloat64(offset, true);\n}\n\n/**\n * Sign-extend a bigint that was read as an unsigned `bytes`-byte field to a\n * signed bigint. Useful for I8/I16/I32/I64 after {@link unpackScalarIntLe}.\n */\nexport function signExtend(bits: bigint, bytes: number): bigint {\n  const width = BigInt(bytes * 8);\n  const signBit = 1n << (width - 1n);\n  return (bits & signBit) === 0n ? bits : bits - (1n << width);\n}\n","/**\n * Minimal proto3 wire-format reader.\n *\n * Implements the strict subset of the protobuf wire format that the\n * fibril_can schema blob uses: varint (wire-type 0) and length-delimited\n * (wire-type 2). Fixed32 / fixed64 / group are skipped harmlessly so unknown\n * future fields do not crash the reader.\n *\n * https://protobuf.dev/programming-guides/encoding/\n */\n\nexport const WIRE_VARINT = 0;\nconst WIRE_FIXED64 = 1;\nexport const WIRE_LENGTH_DELIM = 2;\nconst WIRE_FIXED32 = 5;\n\nexport class ProtoReader {\n  private pos = 0;\n\n  constructor(\n    private readonly buf: Uint8Array,\n    private readonly end: number = buf.length,\n  ) {}\n\n  get done(): boolean {\n    return this.pos >= this.end;\n  }\n  get position(): number {\n    return this.pos;\n  }\n\n  /** Read a base-128 varint as a JS number (overflows ≥ 2^53 wrap silently). */\n  readVarint(): number {\n    let result = 0;\n    let shift = 0;\n    while (this.pos < this.end) {\n      const b = this.buf[this.pos++];\n      if (b === undefined) throw new ProtoError('truncated varint');\n      // Promote to bigint at shift ≥ 28 to avoid losing high bits in 32-bit\n      // bit-ops. We only ever use this for small uint32 fields though, so\n      // staying in Number domain is fine for our schema.\n      result |= (b & 0x7f) << shift;\n      if ((b & 0x80) === 0) return result >>> 0;\n      shift += 7;\n      if (shift >= 32) {\n        // For our schema this should never happen (no uint64 fields used).\n        // Drain remaining bytes and return the low 32 bits.\n        while (this.pos < this.end) {\n          const c = this.buf[this.pos++];\n          if (c === undefined) throw new ProtoError('truncated varint');\n          if ((c & 0x80) === 0) break;\n        }\n        return result >>> 0;\n      }\n    }\n    throw new ProtoError('truncated varint');\n  }\n\n  /** Read a length-delimited byte slice (no copy). */\n  readBytes(): Uint8Array {\n    const len = this.readVarint();\n    if (this.pos + len > this.end) throw new ProtoError('truncated length-delimited field');\n    const slice = this.buf.subarray(this.pos, this.pos + len);\n    this.pos += len;\n    return slice;\n  }\n\n  /** Read a length-delimited UTF-8 string. */\n  readString(): string {\n    const bytes = this.readBytes();\n    return new TextDecoder('utf-8', { fatal: false }).decode(bytes);\n  }\n\n  /** Read a length-delimited sub-message and return a new reader scoped to it. */\n  readMessage(): ProtoReader {\n    const bytes = this.readBytes();\n    return new ProtoReader(bytes);\n  }\n\n  /**\n   * Read the next tag and return both the field number and wire type. The\n   * caller is expected to dispatch on field number; unknown fields can be\n   * passed to {@link skipValue}.\n   */\n  readTag(): { field: number; wire: number } {\n    const tag = this.readVarint();\n    return { field: tag >>> 3, wire: tag & 0x7 };\n  }\n\n  /** Discard the value associated with `wire`. Used to tolerate unknown fields. */\n  skipValue(wire: number): void {\n    switch (wire) {\n      case WIRE_VARINT:\n        this.readVarint();\n        return;\n      case WIRE_LENGTH_DELIM:\n        this.readBytes();\n        return;\n      case WIRE_FIXED32:\n        if (this.pos + 4 > this.end) throw new ProtoError('truncated fixed32');\n        this.pos += 4;\n        return;\n      case WIRE_FIXED64:\n        if (this.pos + 8 > this.end) throw new ProtoError('truncated fixed64');\n        this.pos += 8;\n        return;\n      default:\n        throw new ProtoError(`unsupported wire type ${wire}`);\n    }\n  }\n}\n\nexport class ProtoError extends Error {\n  constructor(message: string) {\n    super(message);\n    this.name = 'ProtoError';\n  }\n}\n","import { PROTOCOL_VERSION } from './can-id.js';\nimport { ProtoError, ProtoReader } from './proto-reader.js';\nimport { ScalarType, scalarSize } from './scalar-codec.js';\n\n/**\n * NodeSchema IR + protobuf decoder for the schema blob (§9).\n *\n * Mirrors `fibril_can_core/include/fibril_can_core/ir.hpp` and\n * `fibril_can_core/src/schema_blob.cpp::parse_schema`. Field IDs come from\n * `fibril_can_core/proto/fibril_can.proto`.\n *\n * Master-side notes:\n *   - The proto carries `topic_id` / `service_id` / `param_id` / BlockType\n *     `type_id` for codegen stability; the master derives equivalent indices\n *     from {@link computeNumbering} instead, so these are accepted but\n *     discarded on parse.\n *   - The proto wire field is `tx_disabled` while the IR holds `tx_enabled`\n *     (inverted, matches the C++ side).\n *   - `BlockArray.type_id` (proto) → `BlockArray.blockTypeIndex` (IR).\n *\n * The reader skips unknown fields silently so future schema additions do\n * not break old masters.\n */\n\n// --- Field numbers (proto3) ---------------------------------------------------\n\nconst FIELD = {\n  Field: {\n    name: 1,\n    type: 2,\n    arrayLen: 3,\n    periodUsOverride: 4,\n    txDisabled: 5,\n  },\n  RosMapping: {\n    rosType: 1,\n    rosName: 2,\n    fieldMap: 3,\n  },\n  Topic: {\n    name: 2,\n    dir: 3,\n    fields: 4,\n    defaultPeriodUs: 5,\n    ros: 6,\n  },\n  Service: {\n    name: 2,\n    request: 3,\n    response: 4,\n    ros: 5,\n  },\n  Param: {\n    name: 2,\n    type: 3,\n    arrayLen: 4,\n    defaultValue: 5,\n    minValue: 6,\n    maxValue: 7,\n  },\n  BlockType: {\n    name: 2,\n    topics: 3,\n    services: 4,\n    params: 5,\n  },\n  BlockArray: {\n    typeId: 1,\n    rosNamespace: 2,\n  },\n  Limits: {\n    paramSetBatchBytes: 1,\n  },\n  NodeSchema: {\n    protocolVersion: 1,\n    nodeName: 2,\n    types: 3,\n    instances: 4,\n    limits: 5,\n  },\n} as const;\n\n// --- IR ---------------------------------------------------------------------\n\nexport enum Direction {\n  M2S = 0,\n  S2M = 1,\n}\n\nexport interface SchemaField {\n  name: string;\n  type: ScalarType;\n  /** 0 = scalar; >0 = fixed-length array of `type`. */\n  arrayLen: number;\n  /** Per-field override of the owning topic's defaultPeriodUs; undefined = inherit. */\n  periodUsOverride?: number;\n  /** Master-side planner skips this field if false. Defaults to true. */\n  txEnabled: boolean;\n}\n\nexport interface RosMapping {\n  rosType: string;\n  rosName: string;\n  fieldMap: string[];\n}\n\nexport interface SchemaTopic {\n  name: string;\n  dir: Direction;\n  fields: SchemaField[];\n  defaultPeriodUs: number;\n  ros: RosMapping;\n}\n\nexport interface SchemaService {\n  name: string;\n  request: SchemaField[];\n  response: SchemaField[];\n  ros: RosMapping;\n}\n\nexport interface SchemaParam {\n  name: string;\n  type: ScalarType;\n  arrayLen: number;\n  /** Little-endian packed payload. Always present for default; min/max may be empty. */\n  defaultValue: Uint8Array;\n  minValue: Uint8Array;\n  maxValue: Uint8Array;\n}\n\nexport interface SchemaBlockType {\n  name: string;\n  topics: SchemaTopic[];\n  services: SchemaService[];\n  params: SchemaParam[];\n}\n\nexport interface SchemaBlockArray {\n  /** Index into NodeSchema.types (was `type_id` on the wire). */\n  blockTypeIndex: number;\n  rosNamespace: string;\n}\n\nexport interface WireLimits {\n  /** 0 = use bridge default. */\n  paramSetBatchBytes: number;\n}\n\nexport interface NodeSchema {\n  protocolVersion: number;\n  nodeName: string;\n  types: SchemaBlockType[];\n  instances: SchemaBlockArray[];\n  limits: WireLimits;\n}\n\n// --- Field decoders ---------------------------------------------------------\n\nfunction decodeField(r: ProtoReader): SchemaField {\n  const f: SchemaField = {\n    name: '',\n    type: ScalarType.Bool,\n    arrayLen: 0,\n    txEnabled: true,\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Field.name:\n        f.name = r.readString();\n        break;\n      case FIELD.Field.type: {\n        const v = r.readVarint();\n        if (v > ScalarType.F64) {\n          throw new ProtoError(`Field.type out of range: ${v}`);\n        }\n        f.type = v as ScalarType;\n        break;\n      }\n      case FIELD.Field.arrayLen:\n        f.arrayLen = r.readVarint();\n        break;\n      case FIELD.Field.periodUsOverride: {\n        const v = r.readVarint();\n        if (v !== 0) f.periodUsOverride = v;\n        break;\n      }\n      case FIELD.Field.txDisabled: {\n        const v = r.readVarint();\n        f.txEnabled = v === 0;\n        break;\n      }\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return f;\n}\n\nfunction decodeRos(r: ProtoReader): RosMapping {\n  const ros: RosMapping = { rosType: '', rosName: '', fieldMap: [] };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.RosMapping.rosType:\n        ros.rosType = r.readString();\n        break;\n      case FIELD.RosMapping.rosName:\n        ros.rosName = r.readString();\n        break;\n      case FIELD.RosMapping.fieldMap:\n        ros.fieldMap.push(r.readString());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return ros;\n}\n\nfunction decodeTopic(r: ProtoReader): SchemaTopic {\n  // proto3 absent-field defaults: enum → 0 (= M2S), so an omitted `dir`\n  // means M2S, NOT the IR struct default of S2M. Mirrors C++ parse_schema.\n  const t: SchemaTopic = {\n    name: '',\n    dir: Direction.M2S,\n    fields: [],\n    defaultPeriodUs: 0,\n    ros: { rosType: '', rosName: '', fieldMap: [] },\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Topic.name:\n        t.name = r.readString();\n        break;\n      case FIELD.Topic.dir: {\n        const v = r.readVarint();\n        if (v !== Direction.M2S && v !== Direction.S2M) {\n          throw new ProtoError(`Topic.dir out of range: ${v}`);\n        }\n        t.dir = v;\n        break;\n      }\n      case FIELD.Topic.fields:\n        t.fields.push(decodeField(r.readMessage()));\n        break;\n      case FIELD.Topic.defaultPeriodUs:\n        t.defaultPeriodUs = r.readVarint();\n        break;\n      case FIELD.Topic.ros:\n        t.ros = decodeRos(r.readMessage());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return t;\n}\n\nfunction decodeService(r: ProtoReader): SchemaService {\n  const s: SchemaService = {\n    name: '',\n    request: [],\n    response: [],\n    ros: { rosType: '', rosName: '', fieldMap: [] },\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Service.name:\n        s.name = r.readString();\n        break;\n      case FIELD.Service.request:\n        s.request.push(decodeField(r.readMessage()));\n        break;\n      case FIELD.Service.response:\n        s.response.push(decodeField(r.readMessage()));\n        break;\n      case FIELD.Service.ros:\n        s.ros = decodeRos(r.readMessage());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return s;\n}\n\nfunction decodeParam(r: ProtoReader): SchemaParam {\n  const p: SchemaParam = {\n    name: '',\n    type: ScalarType.Bool,\n    arrayLen: 0,\n    defaultValue: new Uint8Array(0),\n    minValue: new Uint8Array(0),\n    maxValue: new Uint8Array(0),\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Param.name:\n        p.name = r.readString();\n        break;\n      case FIELD.Param.type: {\n        const v = r.readVarint();\n        if (v > ScalarType.F64) throw new ProtoError(`Param.type out of range: ${v}`);\n        p.type = v as ScalarType;\n        break;\n      }\n      case FIELD.Param.arrayLen:\n        p.arrayLen = r.readVarint();\n        break;\n      case FIELD.Param.defaultValue:\n        p.defaultValue = new Uint8Array(r.readBytes());\n        break;\n      case FIELD.Param.minValue:\n        p.minValue = new Uint8Array(r.readBytes());\n        break;\n      case FIELD.Param.maxValue:\n        p.maxValue = new Uint8Array(r.readBytes());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return p;\n}\n\nfunction decodeBlockType(r: ProtoReader): SchemaBlockType {\n  const b: SchemaBlockType = { name: '', topics: [], services: [], params: [] };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.BlockType.name:\n        b.name = r.readString();\n        break;\n      case FIELD.BlockType.topics:\n        b.topics.push(decodeTopic(r.readMessage()));\n        break;\n      case FIELD.BlockType.services:\n        b.services.push(decodeService(r.readMessage()));\n        break;\n      case FIELD.BlockType.params:\n        b.params.push(decodeParam(r.readMessage()));\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return b;\n}\n\nfunction decodeBlockArray(r: ProtoReader): SchemaBlockArray {\n  const a: SchemaBlockArray = { blockTypeIndex: 0, rosNamespace: '' };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.BlockArray.typeId:\n        a.blockTypeIndex = r.readVarint();\n        break;\n      case FIELD.BlockArray.rosNamespace:\n        a.rosNamespace = r.readString();\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return a;\n}\n\nfunction decodeLimits(r: ProtoReader): WireLimits {\n  const l: WireLimits = { paramSetBatchBytes: 0 };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Limits.paramSetBatchBytes:\n        l.paramSetBatchBytes = r.readVarint();\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return l;\n}\n\nexport interface DecodeSchemaResult {\n  schema: NodeSchema;\n  /** True when the blob's protocolVersion exceeds this build's {@link PROTOCOL_VERSION}. */\n  versionAheadOfMaster: boolean;\n}\n\n/**\n * Parse a schema blob into the master-side IR. Throws {@link ProtoError}\n * on malformed input or `protocolVersion === 0` (proto3 leaves an unset\n * uint32 at 0, so zero means it was never populated).\n */\nexport function decodeSchemaWithMeta(blob: Uint8Array): DecodeSchemaResult {\n  const schema: NodeSchema = {\n    protocolVersion: 0,\n    nodeName: '',\n    types: [],\n    instances: [],\n    limits: { paramSetBatchBytes: 0 },\n  };\n  const r = new ProtoReader(blob);\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.NodeSchema.protocolVersion:\n        schema.protocolVersion = r.readVarint();\n        break;\n      case FIELD.NodeSchema.nodeName:\n        schema.nodeName = r.readString();\n        break;\n      case FIELD.NodeSchema.types:\n        schema.types.push(decodeBlockType(r.readMessage()));\n        break;\n      case FIELD.NodeSchema.instances:\n        schema.instances.push(decodeBlockArray(r.readMessage()));\n        break;\n      case FIELD.NodeSchema.limits:\n        schema.limits = decodeLimits(r.readMessage());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  if (schema.protocolVersion === 0) {\n    throw new ProtoError(`schema protocol_version is 0 (unset)`);\n  }\n  for (const arr of schema.instances) {\n    if (arr.blockTypeIndex >= schema.types.length) {\n      throw new ProtoError(\n        `BlockArray.type_id ${arr.blockTypeIndex} out of range (#types=${schema.types.length})`,\n      );\n    }\n  }\n  return {\n    schema,\n    versionAheadOfMaster: schema.protocolVersion > PROTOCOL_VERSION,\n  };\n}\n\n/** Shim for callers that don't need the metadata — prefer {@link decodeSchemaWithMeta}. */\nexport function decodeSchema(blob: Uint8Array): NodeSchema {\n  return decodeSchemaWithMeta(blob).schema;\n}\n\n/** Wire size in bytes for a single field (scalar or fixed array). */\nexport function fieldWireSize(field: SchemaField): number {\n  return scalarSize(field.type) * (field.arrayLen === 0 ? 1 : field.arrayLen);\n}\n","import {\n  packScalarF32Le,\n  packScalarF64Le,\n  packScalarIntLe,\n  ScalarType,\n  scalarName,\n  scalarSize,\n  signExtend,\n  unpackScalarF32Le,\n  unpackScalarF64Le,\n  unpackScalarIntLe,\n} from './scalar-codec.js';\nimport { fieldWireSize, type SchemaField } from './schema.js';\n\n/**\n * Field-driven dict ⇄ Uint8Array codec. The runtime equivalent of what\n * codegen would otherwise emit per message — encode/decode is a pure\n * function of the field list ({@link SchemaField}[]) and the JS dict.\n *\n * Conventions (matches CLAUDE.md \"値の表現規約\"):\n * - dict keys are the schema field name verbatim\n * - scalar ↔ JS `number`, except U64/I64 ↔ `bigint`\n * - bool ↔ JS `boolean`\n * - fixed-length array (`arrayLen > 0`) ↔ regular JS array\n *   (`number[]` / `bigint[]` / `boolean[]`) of exactly `arrayLen` elements\n *\n * Throws on missing / wrong-shape inputs. Decode tolerates extra trailing\n * bytes (mirrors C++ side: the master ignores trailing slop so that future\n * schema additions don't break older decoders).\n */\n\nexport class DynamicCodecError extends Error {\n  constructor(message: string) {\n    super(message);\n    this.name = 'DynamicCodecError';\n  }\n}\n\n/** Tag union of accepted JS value shapes for one field. */\nexport type FieldValue = number | bigint | boolean | number[] | bigint[] | boolean[];\n\n/** Dict shape — string-keyed values, one entry per field. */\nexport type Dict = Record<string, FieldValue>;\n\nfunction isInt64(type: ScalarType): boolean {\n  return type === ScalarType.U64 || type === ScalarType.I64;\n}\n\nfunction packOneScalar(\n  type: ScalarType,\n  value: number | bigint | boolean,\n  out: Uint8Array,\n  offset: number,\n  fieldName: string,\n): void {\n  switch (type) {\n    case ScalarType.Bool: {\n      if (typeof value !== 'boolean') {\n        throw new DynamicCodecError(\n          `field '${fieldName}': expected boolean for bool, got ${typeof value}`,\n        );\n      }\n      out[offset] = value ? 1 : 0;\n      return;\n    }\n    case ScalarType.F32: {\n      if (typeof value !== 'number') {\n        throw new DynamicCodecError(\n          `field '${fieldName}': expected number for f32, got ${typeof value}`,\n        );\n      }\n      packScalarF32Le(value, out, offset);\n      return;\n    }\n    case ScalarType.F64: {\n      if (typeof value !== 'number') {\n        throw new DynamicCodecError(\n          `field '${fieldName}': expected number for f64, got ${typeof value}`,\n        );\n      }\n      packScalarF64Le(value, out, offset);\n      return;\n    }\n    default: {\n      // Integer types\n      if (isInt64(type)) {\n        if (typeof value !== 'bigint') {\n          throw new DynamicCodecError(\n            `field '${fieldName}': expected bigint for ${scalarName(type)}, got ${typeof value}`,\n          );\n        }\n      } else {\n        if (typeof value !== 'number') {\n          throw new DynamicCodecError(\n            `field '${fieldName}': expected number for ${scalarName(type)}, got ${typeof value}`,\n          );\n        }\n      }\n      packScalarIntLe(type, value as number | bigint, out, offset);\n      return;\n    }\n  }\n}\n\nfunction unpackOneScalar(\n  type: ScalarType,\n  src: Uint8Array,\n  offset: number,\n): number | bigint | boolean {\n  switch (type) {\n    case ScalarType.Bool:\n      return (src[offset] ?? 0) !== 0;\n    case ScalarType.F32:\n      return unpackScalarF32Le(src, offset);\n    case ScalarType.F64:\n      return unpackScalarF64Le(src, offset);\n    case ScalarType.I8:\n    case ScalarType.I16:\n    case ScalarType.I32: {\n      const bits = unpackScalarIntLe(type, src, offset);\n      return Number(signExtend(bits, scalarSize(type)));\n    }\n    case ScalarType.U8:\n    case ScalarType.U16:\n    case ScalarType.U32:\n      return Number(unpackScalarIntLe(type, src, offset));\n    case ScalarType.I64: {\n      const bits = unpackScalarIntLe(type, src, offset);\n      return signExtend(bits, 8);\n    }\n    case ScalarType.U64:\n      return unpackScalarIntLe(type, src, offset);\n  }\n}\n\n/**\n * Sum the wire size of a field list. The result is the byte count that\n * {@link encodeFields} will produce.\n */\nexport function fieldsWireSize(fields: readonly SchemaField[]): number {\n  let n = 0;\n  for (const f of fields) n += fieldWireSize(f);\n  return n;\n}\n\n/**\n * Encode a dict into the canonical little-endian wire bytes for `fields`.\n * Returns a fresh `Uint8Array`. Throws {@link DynamicCodecError} on a\n * missing or wrong-shape field.\n */\nexport function encodeFields(fields: readonly SchemaField[], value: Dict): Uint8Array {\n  const totalSize = fieldsWireSize(fields);\n  const out = new Uint8Array(totalSize);\n  let off = 0;\n  for (const f of fields) {\n    if (!f.txEnabled) {\n      // The master-side encoder still allocates wire room for the field —\n      // it's the planner's job to drop tx_disabled fields from the frame\n      // plan entirely. Here we just leave zeros and move on.\n      off += fieldWireSize(f);\n      continue;\n    }\n    const v = value[f.name];\n    if (v === undefined) {\n      throw new DynamicCodecError(`encodeFields: missing field '${f.name}'`);\n    }\n    if (f.arrayLen === 0) {\n      packOneScalar(f.type, v as number | bigint | boolean, out, off, f.name);\n      off += scalarSize(f.type);\n    } else {\n      if (!Array.isArray(v)) {\n        throw new DynamicCodecError(\n          `field '${f.name}': expected array of length ${f.arrayLen}, got ${typeof v}`,\n        );\n      }\n      if (v.length !== f.arrayLen) {\n        throw new DynamicCodecError(\n          `field '${f.name}': expected array length ${f.arrayLen}, got ${v.length}`,\n        );\n      }\n      const stride = scalarSize(f.type);\n      for (let i = 0; i < f.arrayLen; i++) {\n        packOneScalar(f.type, v[i] as number | bigint | boolean, out, off, f.name);\n        off += stride;\n      }\n    }\n  }\n  return out;\n}\n\n/**\n * Decode wire bytes into a dict keyed by field name. Extra trailing bytes\n * are ignored. Throws {@link DynamicCodecError} only if the payload is\n * shorter than the field list demands.\n */\nexport function decodeFields(fields: readonly SchemaField[], bytes: Uint8Array): Dict {\n  const expected = fieldsWireSize(fields);\n  if (bytes.length < expected) {\n    throw new DynamicCodecError(\n      `decodeFields: payload too short — need ${expected} bytes, got ${bytes.length}`,\n    );\n  }\n  const out: Dict = {};\n  let off = 0;\n  for (const f of fields) {\n    if (f.arrayLen === 0) {\n      out[f.name] = unpackOneScalar(f.type, bytes, off);\n      off += scalarSize(f.type);\n    } else {\n      const stride = scalarSize(f.type);\n      if (f.type === ScalarType.Bool) {\n        const arr: boolean[] = [];\n        for (let i = 0; i < f.arrayLen; i++) {\n          arr.push(unpackOneScalar(f.type, bytes, off) as boolean);\n          off += stride;\n        }\n        out[f.name] = arr;\n      } else if (isInt64(f.type)) {\n        const arr: bigint[] = [];\n        for (let i = 0; i < f.arrayLen; i++) {\n          arr.push(unpackOneScalar(f.type, bytes, off) as bigint);\n          off += stride;\n        }\n        out[f.name] = arr;\n      } else {\n        const arr: number[] = [];\n        for (let i = 0; i < f.arrayLen; i++) {\n          arr.push(unpackOneScalar(f.type, bytes, off) as number);\n          off += stride;\n        }\n        out[f.name] = arr;\n      }\n    }\n  }\n  return out;\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport { type Dict, decodeFields } from './dynamic-codec.js';\nimport type { FramePlan } from './node-agent.js';\nimport { Direction, fieldWireSize, type SchemaField } from './schema.js';\nimport type { SchemaIndex } from './schema-index.js';\n\n/**\n * Master-side decoder for S→M data-plane frames.\n *\n * Listens on the transport for standard-ID frames whose IDs match one of\n * the std_ids configured in any attached slave's {@link FramePlan}. For\n * each match, unpacks the topic entries packed into the frame's payload\n * (in FRAME_DEFINE order) using the schema field bitmask and publishes\n * a decoded {@link Dict} per topic to subscribers.\n *\n * Lifecycle:\n *   - `new DataPlaneReceiver({ transport })` registers an `onFrame` tap.\n *   - `attachSlave(nodeId, framePlan, schemaIndex)` claims a slave's std_ids.\n *   - `detachSlave(nodeId)` releases them (call on RUNNING → not-RUNNING).\n *   - `dispose()` unsubscribes and clears all state.\n *\n * Two slaves cannot publish on the same std_id — attaching the second\n * throws. This mirrors the bus-level reality: identical std_ids would\n * collide on the wire.\n *\n * M→S frames (master output, dir `Direction.M2S`) are skipped during\n * attach so the receiver doesn't try to decode echo or self-loopback\n * frames as if they were slave-published.\n */\nexport interface DataPlaneReceiverOptions {\n  transport: ITransport;\n  /** Non-fatal error sink (decode errors, listener throws). */\n  onError?: (err: Error) => void;\n  /** Clock override for tests. Default `() => Date.now()`. */\n  now?: () => number;\n}\n\nexport type TopicListener = (value: Dict, tsMs: number) => void;\n\nexport interface TopicSample {\n  readonly value: Dict;\n  readonly tsMs: number;\n}\n\nexport interface TopicStats {\n  /** Frames ever decoded into this topic since the slave attached. */\n  readonly count: number;\n  /** `now()` of the most recent frame. */\n  readonly lastRxMs: number;\n  /**\n   * Rolling rate over the last few samples (Hz). 0 until at least\n   * two frames have been seen.\n   */\n  readonly ratePerSec: number;\n}\n\ninterface PackedEntry {\n  path: string;\n  fields: SchemaField[];\n  offset: number;\n  size: number;\n}\n\ninterface FrameBucket {\n  nodeId: number;\n  stdId: number;\n  dir: Direction;\n  entries: PackedEntry[];\n}\n\ninterface TopicCache {\n  value: Dict;\n  tsMs: number;\n  count: number;\n  /** Ring of recent timestamps for ratePerSec. Capped at RATE_WINDOW. */\n  ts: number[];\n}\n\nconst RATE_WINDOW = 16;\n\nfunction maskedFieldsList(fields: readonly SchemaField[], mask: number): SchemaField[] {\n  const out: SchemaField[] = [];\n  for (let i = 0; i < fields.length; i++) {\n    const f = fields[i];\n    if (f === undefined) continue;\n    if ((mask & (1 << i)) !== 0) out.push(f);\n  }\n  return out;\n}\n\nfunction sumWireSize(fields: readonly SchemaField[]): number {\n  let s = 0;\n  for (const f of fields) s += fieldWireSize(f);\n  return s;\n}\n\nfunction buildBucket(framePlan: FramePlan, index: SchemaIndex, nodeId: number): FrameBucket {\n  let offset = 0;\n  const entries: PackedEntry[] = [];\n  for (const e of framePlan.entries) {\n    const desc = index.topicByIndex(e.topicIndex);\n    if (desc === undefined) {\n      // Schema/numbering mismatch — skip rather than throw so a partial\n      // plan still decodes the entries it can.\n      continue;\n    }\n    const fields = maskedFieldsList(desc.fields, e.fieldBitmask);\n    const size = sumWireSize(fields);\n    entries.push({ path: desc.path, fields, offset, size });\n    offset += size;\n  }\n  return { nodeId, stdId: framePlan.stdId, dir: framePlan.dir, entries };\n}\n\nfunction topicKey(nodeId: number, path: string): string {\n  return `${nodeId}/${path}`;\n}\n\nexport class DataPlaneReceiver {\n  readonly #onError: ((err: Error) => void) | undefined;\n  readonly #now: () => number;\n  readonly #unsubFrame: Unsubscribe;\n\n  readonly #buckets = new Map<number, FrameBucket>();\n  readonly #ownedByNode = new Map<number, Set<number>>();\n  readonly #latest = new Map<string, TopicCache>();\n  readonly #listeners = new Map<string, Set<TopicListener>>();\n  #version = 0;\n\n  constructor(opts: DataPlaneReceiverOptions) {\n    this.#onError = opts.onError;\n    this.#now = opts.now ?? (() => Date.now());\n    this.#unsubFrame = opts.transport.onFrame((f) => this.#onFrame(f));\n  }\n\n  /**\n   * Claim a slave's S→M std_ids. Re-attaching the same nodeId atomically\n   * detaches the prior plan first (re-provisioning case).\n   */\n  attachSlave(nodeId: number, framePlan: readonly FramePlan[], index: SchemaIndex): void {\n    this.detachSlave(nodeId);\n    const owned = new Set<number>();\n    for (const fp of framePlan) {\n      if (fp.dir !== Direction.S2M) continue; // master output — not decoded here\n      if (this.#buckets.has(fp.stdId)) {\n        const other = this.#buckets.get(fp.stdId);\n        throw new Error(\n          `DataPlaneReceiver: std_id 0x${fp.stdId.toString(16)} claimed by slave 0x${\n            other?.nodeId.toString(16) ?? '??'\n          }, cannot also attach slave 0x${nodeId.toString(16)}`,\n        );\n      }\n      this.#buckets.set(fp.stdId, buildBucket(fp, index, nodeId));\n      owned.add(fp.stdId);\n    }\n    this.#ownedByNode.set(nodeId, owned);\n  }\n\n  /** Release a slave's std_ids and drop its cached topic samples. */\n  detachSlave(nodeId: number): void {\n    const owned = this.#ownedByNode.get(nodeId);\n    if (!owned) return;\n    for (const id of owned) this.#buckets.delete(id);\n    this.#ownedByNode.delete(nodeId);\n    const prefix = `${nodeId}/`;\n    for (const k of [...this.#latest.keys()]) {\n      if (k.startsWith(prefix)) this.#latest.delete(k);\n    }\n  }\n\n  onTopic(nodeId: number, path: string, listener: TopicListener): Unsubscribe {\n    const key = topicKey(nodeId, path);\n    let set = this.#listeners.get(key);\n    if (!set) {\n      set = new Set();\n      this.#listeners.set(key, set);\n    }\n    set.add(listener);\n    return () => {\n      const s = this.#listeners.get(key);\n      if (!s) return;\n      s.delete(listener);\n      if (s.size === 0) this.#listeners.delete(key);\n    };\n  }\n\n  latest(nodeId: number, path: string): TopicSample | null {\n    const c = this.#latest.get(topicKey(nodeId, path));\n    return c === undefined ? null : { value: c.value, tsMs: c.tsMs };\n  }\n\n  stats(nodeId: number, path: string): TopicStats | null {\n    const c = this.#latest.get(topicKey(nodeId, path));\n    if (!c) return null;\n    let rate = 0;\n    if (c.ts.length >= 2) {\n      const newest = c.ts[c.ts.length - 1] ?? 0;\n      const oldest = c.ts[0] ?? 0;\n      const dt = newest - oldest;\n      if (dt > 0) rate = (1000 * (c.ts.length - 1)) / dt;\n    }\n    return { count: c.count, lastRxMs: c.tsMs, ratePerSec: rate };\n  }\n\n  /** Paths attached for this slave (in plan order). */\n  topicPathsFor(nodeId: number): string[] {\n    const owned = this.#ownedByNode.get(nodeId);\n    if (!owned) return [];\n    const out: string[] = [];\n    for (const id of owned) {\n      const b = this.#buckets.get(id);\n      if (b) for (const e of b.entries) out.push(e.path);\n    }\n    return out;\n  }\n\n  /** Bumps on every successfully decoded entry — cheap change detector. */\n  get version(): number {\n    return this.#version;\n  }\n\n  dispose(): void {\n    this.#unsubFrame();\n    this.#buckets.clear();\n    this.#ownedByNode.clear();\n    this.#latest.clear();\n    this.#listeners.clear();\n  }\n\n  #onFrame(f: CanFrame): void {\n    if (f.extended) return; // ext = config / svc planes\n    if (f.rtr) return;\n    const bucket = this.#buckets.get(f.id);\n    if (bucket === undefined) return;\n    const tsMs = this.#now();\n    for (const e of bucket.entries) {\n      if (e.offset + e.size > f.data.length) continue; // truncated frame\n      const slice = f.data.subarray(e.offset, e.offset + e.size);\n      let dict: Dict;\n      try {\n        dict = decodeFields(e.fields, slice);\n      } catch (err) {\n        this.#err(err);\n        continue;\n      }\n      this.#publish(bucket.nodeId, e.path, dict, tsMs);\n    }\n  }\n\n  #publish(nodeId: number, path: string, value: Dict, tsMs: number): void {\n    const key = topicKey(nodeId, path);\n    let c = this.#latest.get(key);\n    if (c === undefined) {\n      c = { value, tsMs, count: 0, ts: [] };\n      this.#latest.set(key, c);\n    } else {\n      c.value = value;\n      c.tsMs = tsMs;\n    }\n    c.count++;\n    c.ts.push(tsMs);\n    if (c.ts.length > RATE_WINDOW) c.ts.shift();\n    this.#version++;\n    const set = this.#listeners.get(key);\n    if (set !== undefined) {\n      for (const l of set) {\n        try {\n          l(value, tsMs);\n        } catch (err) {\n          this.#err(err);\n        }\n      }\n    }\n  }\n\n  #err(e: unknown): void {\n    if (this.#onError === undefined) return;\n    this.#onError(e instanceof Error ? e : new Error(String(e)));\n  }\n}\n","import { MAX_FRAME_PAYLOAD, STD_ID_MASK } from './can-id.js';\nimport type { FrameDefineEntry } from './config-plane.js';\nimport type { Direction } from './schema.js';\n\n/**\n * Frame planner — turns a list of \"I want field X at period Y\" requests into\n * the concrete FRAME_DEFINE bodies the master ships to the slave (§6.3).\n *\n * Port of `fibril_can_core/src/frame_planner.cpp` — same bucketing rules:\n *   - Group requests by (direction, period_us); never combine across either.\n *   - Inside a bucket, bin-pack whole topics into ≤64-byte frames.\n *   - A single topic whose declared fields exceed 64 bytes is the sole\n *     field-split exception (`emitOversizedTopic`).\n *\n * Determinism is load-bearing: codegen, bridge, and this TS master must\n * produce identical std_id assignments for the same input. Both the\n * bucket map and the per-bucket topic map iterate in ascending key order\n * (matching `std::map` in the C++ reference).\n */\n\nexport interface FieldRequest {\n  topicIndex: number;\n  /** 0..15, bit position in `fieldBitmask`. */\n  fieldId: number;\n  /** Wire size of this field. */\n  sizeBytes: number;\n  /** 0 = on-trigger only. */\n  periodUs: number;\n  dir: Direction;\n}\n\nexport interface FrameSpec {\n  stdCanId: number;\n  periodUs: number;\n  dir: Direction;\n  logicalBytes: number;\n  entries: FrameDefineEntry[];\n}\n\n/**\n * 11-bit Standard ID allocator with a free pool for IDs released after a\n * grace window (§11.4.1). `next()` returns `null` on exhaustion rather\n * than wrapping — wrapping past 0x7FF would alias on the wire.\n */\nexport class StdIdAllocator {\n  #next = 0x100;\n  // Sorted ascending by availableAtMs.\n  readonly #freePool: Array<{ availableAtMs: number; id: number }> = [];\n\n  next(nowMs: number = Date.now()): number | null {\n    if (this.#freePool.length > 0) {\n      const head = this.#freePool[0];\n      if (head !== undefined && head.availableAtMs <= nowMs) {\n        this.#freePool.shift();\n        return head.id;\n      }\n    }\n    if (this.#next > STD_ID_MASK) return null;\n    const id = this.#next;\n    this.#next += 1;\n    return id;\n  }\n\n  release(id: number, availableAtMs: number): void {\n    let lo = 0;\n    let hi = this.#freePool.length;\n    while (lo < hi) {\n      const mid = (lo + hi) >>> 1;\n      const entry = this.#freePool[mid];\n      if (entry !== undefined && entry.availableAtMs < availableAtMs) lo = mid + 1;\n      else hi = mid;\n    }\n    this.#freePool.splice(lo, 0, { availableAtMs, id });\n  }\n\n  reset(start = 0x100): void {\n    this.#next = start;\n    this.#freePool.length = 0;\n  }\n}\n\ninterface MakeFrameInput {\n  topics: Map<number, FieldRequest[]>;\n  dir: Direction;\n  periodUs: number;\n  alloc: StdIdAllocator;\n}\n\nfunction makeFrame(input: MakeFrameInput): FrameSpec | null {\n  const id = input.alloc.next();\n  if (id === null) return null;\n  const entries: FrameDefineEntry[] = [];\n  let bytes = 0;\n  for (const topicIndex of [...input.topics.keys()].sort((a, b) => a - b)) {\n    const fields = input.topics.get(topicIndex);\n    if (!fields) continue;\n    let mask = 0;\n    for (const r of fields) {\n      mask |= 1 << r.fieldId;\n      bytes += r.sizeBytes;\n    }\n    entries.push({ topicIndex, fieldBitmask: mask });\n  }\n  return {\n    stdCanId: id,\n    periodUs: input.periodUs,\n    dir: input.dir,\n    logicalBytes: Math.min(bytes, MAX_FRAME_PAYLOAD),\n    entries,\n  };\n}\n\nfunction emitOversizedTopic(\n  fields: FieldRequest[],\n  dir: Direction,\n  periodUs: number,\n  alloc: StdIdAllocator,\n  out: FrameSpec[],\n): boolean {\n  const sorted = [...fields].sort((a, b) => a.fieldId - b.fieldId);\n  let bin: FieldRequest[] = [];\n  let binBytes = 0;\n  const topicIndex = sorted[0]?.topicIndex ?? 0;\n  const flush = (): boolean => {\n    if (bin.length === 0) return true;\n    const one = new Map<number, FieldRequest[]>([[topicIndex, bin]]);\n    const f = makeFrame({ topics: one, dir, periodUs, alloc });\n    if (!f) return false;\n    out.push(f);\n    bin = [];\n    binBytes = 0;\n    return true;\n  };\n  for (const r of sorted) {\n    if (binBytes + r.sizeBytes > MAX_FRAME_PAYLOAD) {\n      if (!flush()) return false;\n    }\n    bin.push(r);\n    binBytes += r.sizeBytes;\n  }\n  return flush();\n}\n\n/**\n * Plan a slave's frame layout. Returns `null` if the StdIdAllocator runs\n * out of 11-bit IDs mid-plan — the caller MUST surface that; a partial\n * plan would silently drop fields.\n */\nexport function planFrames(\n  requests: readonly FieldRequest[],\n  alloc: StdIdAllocator,\n): FrameSpec[] | null {\n  // Bucket by (dir, period_us). Use a string key but iterate in numeric\n  // (dir, period) order to match std::map.\n  const buckets = new Map<string, FieldRequest[]>();\n  for (const r of requests) {\n    const key = `${r.dir}/${r.periodUs}`;\n    let bucket = buckets.get(key);\n    if (!bucket) {\n      bucket = [];\n      buckets.set(key, bucket);\n    }\n    bucket.push(r);\n  }\n  const sortedKeys = [...buckets.keys()].sort((a, b) => {\n    const [aDir, aPeriod] = a.split('/').map(Number) as [number, number];\n    const [bDir, bPeriod] = b.split('/').map(Number) as [number, number];\n    if (aDir !== bDir) return aDir - bDir;\n    return aPeriod - bPeriod;\n  });\n\n  const out: FrameSpec[] = [];\n  for (const key of sortedKeys) {\n    const requestsInBucket = buckets.get(key);\n    if (!requestsInBucket) continue;\n    const [dir, periodUs] = key.split('/').map(Number) as [number, number];\n\n    const byTopic = new Map<number, FieldRequest[]>();\n    for (const r of requestsInBucket) {\n      let arr = byTopic.get(r.topicIndex);\n      if (!arr) {\n        arr = [];\n        byTopic.set(r.topicIndex, arr);\n      }\n      arr.push(r);\n    }\n    const topicBytes = new Map<number, number>();\n    for (const [topicIndex, fields] of byTopic) {\n      let sum = 0;\n      for (const r of fields) sum += r.sizeBytes;\n      topicBytes.set(topicIndex, sum);\n    }\n\n    let currentBin = new Map<number, FieldRequest[]>();\n    let currentBytes = 0;\n    const flush = (): boolean => {\n      if (currentBin.size === 0) return true;\n      const f = makeFrame({ topics: currentBin, dir, periodUs, alloc });\n      if (!f) return false;\n      out.push(f);\n      currentBin = new Map();\n      currentBytes = 0;\n      return true;\n    };\n\n    const sortedTopics = [...byTopic.keys()].sort((a, b) => a - b);\n    for (const topicIndex of sortedTopics) {\n      const fields = byTopic.get(topicIndex);\n      if (!fields) continue;\n      const sz = topicBytes.get(topicIndex) ?? 0;\n      if (sz > MAX_FRAME_PAYLOAD) {\n        if (!flush()) return null;\n        if (!emitOversizedTopic(fields, dir, periodUs, alloc, out)) return null;\n        continue;\n      }\n      if (currentBytes + sz > MAX_FRAME_PAYLOAD) {\n        if (!flush()) return null;\n      }\n      currentBin.set(topicIndex, fields);\n      currentBytes += sz;\n    }\n    if (!flush()) return null;\n  }\n  return out;\n}\n","import type { FieldRequest, FrameSpec } from './frame-planner.js';\nimport { planFrames, StdIdAllocator } from './frame-planner.js';\nimport type { FramePlan } from './node-agent.js';\nimport type { NumberingResult } from './numbering.js';\nimport { Direction, fieldWireSize, type NodeSchema, type SchemaField } from './schema.js';\n\n/**\n * Per-field predicate handed to {@link buildDefaultS2MRequests} (and via\n * it, {@link defaultS2MFramePlan}) so callers can apply a runtime mask on\n * top of the schema-declared `txEnabled`.\n *\n * Contract:\n *   - Returning `false` skips the field entirely; the slave will not pack\n *     it into any S→M frame. Returning `true` keeps it.\n *   - Called only for S→M fields whose schema declares `txEnabled !==\n *     false` (schema-disabled fields are filtered out unconditionally).\n *   - `topicPath` is the same `'<expanded_ns>/<topic_name>'` string the\n *     master uses elsewhere (mirrors {@link SchemaIndex.topicPaths}), so\n *     UI override maps can key on the same identifier.\n */\nexport type S2MFieldFilter = (info: {\n  topicPath: string;\n  topicIndex: number;\n  fieldId: number;\n  fieldName: string;\n  field: SchemaField;\n}) => boolean;\n\nconst I_TOKEN = '{i}';\n\nfunction expandIToken(s: string, value: number): string {\n  if (!s.includes(I_TOKEN)) return s;\n  return s.split(I_TOKEN).join(String(value));\n}\n\nfunction joinPath(ns: string, name: string): string {\n  if (ns.length === 0) return name;\n  if (name.length === 0) return ns;\n  return `${ns}/${name}`;\n}\n\n/**\n * Synthesize the default {@link FieldRequest} list from a decoded schema +\n * numbering table — every S2M topic field at its declared period\n * (`field.periodUsOverride` if present, else the owning topic's\n * `defaultPeriodUs`), skipping `txEnabled === false` fields.\n *\n * Pass `filter` to layer a runtime per-field mask on top (UI toggles,\n * per-slave overrides). Schema-disabled fields are unconditionally\n * dropped before `filter` is consulted, so callers don't have to repeat\n * the `txEnabled` check.\n *\n * This is the natural input to {@link planFrames} when the master just\n * wants to \"observe everything the slave publishes\" — i.e. the\n * sniffer-style auto-provision path.\n */\nexport function buildDefaultS2MRequests(\n  schema: NodeSchema,\n  numbering: NumberingResult,\n  filter?: S2MFieldFilter,\n): FieldRequest[] {\n  const out: FieldRequest[] = [];\n  numbering.topics.byIndex.forEach((endpoint, flatIndex) => {\n    const block = schema.instances[endpoint.blockArray];\n    if (!block) return;\n    const type = schema.types[block.blockTypeIndex];\n    if (!type) return;\n    const topic = type.topics[endpoint.endpoint];\n    if (!topic) return;\n    if (topic.dir !== Direction.S2M) return;\n    // Reconstruct the topic path the same way SchemaIndex does so the\n    // filter sees the same identifier the UI shows. Computed lazily — we\n    // only need it when a filter is supplied.\n    let topicPath: string | null = null;\n    topic.fields.forEach((field, fieldId) => {\n      if (!field.txEnabled) return;\n      if (filter !== undefined) {\n        if (topicPath === null) {\n          topicPath = joinPath(expandIToken(block.rosNamespace, endpoint.instance), topic.name);\n        }\n        if (\n          !filter({\n            topicPath,\n            topicIndex: flatIndex,\n            fieldId,\n            fieldName: field.name,\n            field,\n          })\n        ) {\n          return;\n        }\n      }\n      out.push({\n        topicIndex: flatIndex,\n        fieldId,\n        sizeBytes: fieldWireSize(field),\n        periodUs: field.periodUsOverride ?? topic.defaultPeriodUs,\n        dir: topic.dir,\n      });\n    });\n  });\n  return out;\n}\n\n/**\n * One-line FramePlanFactory that subscribes to every S2M field at its\n * declared period using a freshly-allocated {@link StdIdAllocator}.\n *\n * Pass `filter` to apply a runtime per-field mask (e.g. a UI-controlled\n * field-tx-enable map). With no filter, every schema-enabled S→M field is\n * subscribed.\n *\n * Returns `[]` when planning fails (e.g. std_id exhaustion); the caller's\n * NodeAgent will then leave the slave in `provisioning` → `awaiting-announce`\n * with no frames defined, which is the right outcome — partial plans would\n * silently drop fields.\n */\nexport function defaultS2MFramePlan(\n  schema: NodeSchema,\n  numbering: NumberingResult,\n  filter?: S2MFieldFilter,\n): FramePlan[] {\n  const requests = buildDefaultS2MRequests(schema, numbering, filter);\n  const alloc = new StdIdAllocator();\n  const planned = planFrames(requests, alloc);\n  if (planned === null) return [];\n  return planned.map(\n    (s: FrameSpec): FramePlan => ({\n      stdId: s.stdCanId,\n      periodUs: s.periodUs,\n      dir: s.dir,\n      entries: s.entries,\n    }),\n  );\n}\n","import type { ITransport } from '@fibril/can-transport';\nimport { encodeMasterHeartbeat } from './config-plane.js';\n\n/**\n * Broadcasts CMD_MASTER_HEARTBEAT (§5.11) on a fixed period so slaves with\n * a `master_lost_us` watchdog configured do not silence their S→M traffic.\n *\n * Independent of any single {@link NodeAgent} — the heartbeat is a single\n * bus-wide broadcast that refreshes every slave's watchdog. Construct one\n * per transport.\n */\nexport class MasterHeartbeatBroadcaster {\n  #handle: ReturnType<typeof setInterval> | null = null;\n\n  constructor(\n    private readonly transport: ITransport,\n    private readonly periodMs: number = 100,\n  ) {}\n\n  start(): void {\n    if (this.#handle !== null) return;\n    const tick = (): void => {\n      if (!this.transport.isOpen) return;\n      void this.transport.send(encodeMasterHeartbeat()).catch(() => {\n        // Swallow — the transport's onError surfaces real failures.\n      });\n    };\n    // Send one immediately so a newly-attached slave doesn't wait a full\n    // period before its first refresh.\n    tick();\n    this.#handle = setInterval(tick, this.periodMs);\n  }\n\n  stop(): void {\n    if (this.#handle === null) return;\n    clearInterval(this.#handle);\n    this.#handle = null;\n  }\n\n  get running(): boolean {\n    return this.#handle !== null;\n  }\n}\n","import type { NodeSchema, SchemaBlockType } from './schema.js';\n\n/**\n * Flat-numbering tables for topics, services, and parameters (§4.2).\n *\n * Port of `fibril_can_core/src/numbering.cpp`. Numbering is a pure function\n * of (schema, instance-count-vector). The same tables are derived\n * independently by codegen (with max_count for static checks), the slave\n * runtime (with actual counts at boot) and the master (with counts from the\n * ANNOUNCE frame) — keeping this in one place is what guarantees they agree.\n */\n\n// Reserved service slots (§3.3) — must NOT be produced by numbering.\nexport const SERVICE_INDEX_CANCEL = 0xff;\nexport const SERVICE_INDEX_PARAM_SET = 0xfd;\n/** Maximum first-class service_index produced by numbering (inclusive). */\nexport const SERVICE_INDEX_MAX = 0xfc;\n/** Number of available first-class service slots. */\nexport const SERVICE_INDEX_CAPACITY = SERVICE_INDEX_MAX + 1;\n\nexport enum NumberingError {\n  Ok = 'ok',\n  ServiceIndexOverflow = 'service_index overflow (>253)',\n  TopicIndexOverflow = 'topic_index overflow (>65535)',\n  ParamIndexOverflow = 'param_index overflow (>65535)',\n  InstanceCountMismatch = 'actual_counts length != #instances',\n  BlockTypeOutOfRange = 'BlockArray::blockTypeIndex out of range',\n}\n\n/** Concrete location of one (instance, endpoint) within a NodeSchema. */\nexport interface EndpointKey {\n  /** Index into NodeSchema.instances. */\n  blockArray: number;\n  /** 0..count-1 */\n  instance: number;\n  /** 0..nEndpoints(type)-1 */\n  endpoint: number;\n}\n\n/** Forward + inverse maps for a single endpoint kind. */\nexport interface NumberingTable {\n  /**\n   * size = Σ_b(actualCounts[b] × nEndpoints(types[instances[b].blockTypeIndex]));\n   * the array index IS the flat numbering.\n   */\n  byIndex: EndpointKey[];\n  /** Per-block-array base offsets (size = #blockArrays + 1; last is total). */\n  bases: number[];\n}\n\nexport interface NumberingResult {\n  topics: NumberingTable;\n  services: NumberingTable;\n  params: NumberingTable;\n  status: NumberingError;\n}\n\ntype EndpointPicker = (bt: SchemaBlockType) => number;\n\nconst N_TOPICS: EndpointPicker = (bt) => bt.topics.length;\nconst N_SERVICES: EndpointPicker = (bt) => bt.services.length;\nconst N_PARAMS: EndpointPicker = (bt) => bt.params.length;\n\nfunction buildTable(\n  schema: NodeSchema,\n  counts: readonly number[],\n  pick: EndpointPicker,\n): NumberingTable {\n  const byIndex: EndpointKey[] = [];\n  const bases: number[] = [];\n  let base = 0;\n  bases.push(base);\n  for (let b = 0; b < schema.instances.length; b++) {\n    const arr = schema.instances[b];\n    if (!arr) continue;\n    const type = schema.types[arr.blockTypeIndex];\n    if (!type) continue; // validated separately in computeNumbering\n    const n = pick(type);\n    const count = counts[b] ?? 0;\n    for (let inst = 0; inst < count; inst++) {\n      for (let ep = 0; ep < n; ep++) {\n        byIndex.push({ blockArray: b, instance: inst, endpoint: ep });\n      }\n    }\n    base += n * count;\n    bases.push(base);\n  }\n  return { byIndex, bases };\n}\n\n/**\n * Compute the three numbering tables. `actualCounts` must have the same\n * length as `schema.instances`. The result has `status !== Ok` if input is\n * malformed or service_index would overflow into the reserved range\n * (§4.2 §9.4).\n *\n * On error the returned tables are empty but still safe to inspect.\n */\nexport function computeNumbering(\n  schema: NodeSchema,\n  actualCounts: readonly number[],\n): NumberingResult {\n  const empty: NumberingTable = { byIndex: [], bases: [] };\n  const fail = (status: NumberingError): NumberingResult => ({\n    topics: empty,\n    services: empty,\n    params: empty,\n    status,\n  });\n\n  if (actualCounts.length !== schema.instances.length) {\n    return fail(NumberingError.InstanceCountMismatch);\n  }\n  for (const arr of schema.instances) {\n    if (arr.blockTypeIndex >= schema.types.length) {\n      return fail(NumberingError.BlockTypeOutOfRange);\n    }\n  }\n\n  const topics = buildTable(schema, actualCounts, N_TOPICS);\n  const services = buildTable(schema, actualCounts, N_SERVICES);\n  const params = buildTable(schema, actualCounts, N_PARAMS);\n\n  if (topics.byIndex.length > 0xffff) {\n    return {\n      topics: empty,\n      services: empty,\n      params: empty,\n      status: NumberingError.TopicIndexOverflow,\n    };\n  }\n  if (params.byIndex.length > 0xffff) {\n    return {\n      topics: empty,\n      services: empty,\n      params: empty,\n      status: NumberingError.ParamIndexOverflow,\n    };\n  }\n  if (services.byIndex.length > SERVICE_INDEX_CAPACITY) {\n    return {\n      topics: empty,\n      services: empty,\n      params: empty,\n      status: NumberingError.ServiceIndexOverflow,\n    };\n  }\n\n  return { topics, services, params, status: NumberingError.Ok };\n}\n","/**\n * SHA-256 helpers for the schema blob (§5.4, §9.3).\n *\n * Both codegen (C++) and the bridge (C++) hash the entire schema blob with\n * SHA-256 and pack the first 8 bytes as little-endian u64 into the ANNOUNCE\n * frame. This module is the master-side equivalent: hash the blob we\n * received over SCHEMA_DATA and compare with the schema_hash the slave\n * advertised in ANNOUNCE.\n *\n * Uses Web Crypto (`crypto.subtle`) — available in modern browsers and Node\n * ≥ 19 / Deno / Bun, no polyfill needed for our target environments.\n */\n\nexport async function sha256(bytes: Uint8Array): Promise<Uint8Array> {\n  if (typeof crypto === 'undefined' || !crypto.subtle) {\n    throw new Error('crypto.subtle is not available in this environment');\n  }\n  // Copy into a fresh ArrayBuffer-backed view so crypto.subtle accepts it\n  // regardless of whether `bytes` is backed by SharedArrayBuffer.\n  const owned = new Uint8Array(bytes);\n  const digest = await crypto.subtle.digest('SHA-256', owned);\n  return new Uint8Array(digest);\n}\n\n/**\n * Compute the ANNOUNCE-shape schema hash: the first 8 bytes of SHA-256(blob),\n * interpreted as a little-endian u64. Mirrors\n * `fibril_can_core/sha256::hash_prefix_u64`.\n */\nexport async function schemaHashPrefix(blob: Uint8Array): Promise<bigint> {\n  const digest = await sha256(blob);\n  let result = 0n;\n  for (let i = 0; i < 8; i++) {\n    result |= BigInt(digest[i] ?? 0) << BigInt(i * 8);\n  }\n  return result;\n}\n","import type { NumberingResult } from './numbering.js';\nimport type { ScalarType } from './scalar-codec.js';\nimport { type Direction, fieldWireSize, type NodeSchema, type SchemaField } from './schema.js';\n\n/**\n * Schema-driven path lookup. Resolves `'<expanded_ns>/<endpoint_name>'`\n * style paths to the flat (topic|service|param) index plus the field IR\n * needed to drive {@link ./dynamic-codec.ts}.\n *\n * Paths are local to a single slave (one {@link NodeAgent}). The block-array\n * `ros_namespace` is expanded by substituting `{i}` with the instance index\n * (mirrors `expand_i_token` in `fibril_can_bridge::node_agent_internal.hpp`).\n *\n * Two endpoints of the same kind sharing a path is a schema error — the\n * index throws on construction. Same path across different kinds (e.g. a\n * topic and a service named `motor0/foo`) is allowed because the caller\n * selects the kind explicitly via `topic()` / `service()` / `param()`.\n */\n\nconst I_TOKEN = '{i}';\n\nfunction expandIToken(s: string, value: number): string {\n  if (!s.includes(I_TOKEN)) return s;\n  return s.split(I_TOKEN).join(String(value));\n}\n\nfunction joinPath(ns: string, name: string): string {\n  if (ns.length === 0) return name;\n  if (name.length === 0) return ns;\n  return `${ns}/${name}`;\n}\n\n/** Resolved descriptor for one S→M or M→S topic. */\nexport interface TopicDescriptor {\n  readonly kind: 'topic';\n  readonly path: string;\n  readonly topicIndex: number;\n  readonly dir: Direction;\n  readonly fields: readonly SchemaField[];\n  readonly defaultPeriodUs: number;\n  readonly wireSize: number;\n}\n\n/** Resolved descriptor for one Service. */\nexport interface ServiceDescriptor {\n  readonly kind: 'service';\n  readonly path: string;\n  readonly serviceIndex: number;\n  readonly requestFields: readonly SchemaField[];\n  readonly responseFields: readonly SchemaField[];\n  readonly requestWireSize: number;\n  readonly responseWireSize: number;\n}\n\n/** Resolved descriptor for one Param (single-field). */\nexport interface ParamDescriptor {\n  readonly kind: 'param';\n  readonly path: string;\n  readonly paramIndex: number;\n  readonly type: ScalarType;\n  /** 0 = scalar; >0 = fixed-length array of `type`. */\n  readonly arrayLen: number;\n  readonly wireSize: number;\n  readonly defaultValue: Uint8Array;\n  readonly minValue: Uint8Array;\n  readonly maxValue: Uint8Array;\n}\n\nexport type EndpointDescriptor = TopicDescriptor | ServiceDescriptor | ParamDescriptor;\n\nfunction sumFieldsWireSize(fields: readonly SchemaField[]): number {\n  let n = 0;\n  for (const f of fields) n += fieldWireSize(f);\n  return n;\n}\n\n/**\n * Path → descriptor index for one slave. Built once from\n * (schema, numbering) and reused for the lifetime of a snapshot.\n */\nexport class SchemaIndex {\n  readonly #topicsByPath = new Map<string, TopicDescriptor>();\n  readonly #servicesByPath = new Map<string, ServiceDescriptor>();\n  readonly #paramsByPath = new Map<string, ParamDescriptor>();\n  readonly #topicsByIndex = new Map<number, TopicDescriptor>();\n  readonly #servicesByIndex = new Map<number, ServiceDescriptor>();\n  readonly #paramsByIndex = new Map<number, ParamDescriptor>();\n\n  constructor(schema: NodeSchema, numbering: NumberingResult, instanceCounts: readonly number[]) {\n    if (instanceCounts.length !== schema.instances.length) {\n      throw new RangeError(\n        `SchemaIndex: instanceCounts.length (${instanceCounts.length}) != schema.instances.length (${schema.instances.length})`,\n      );\n    }\n    for (let arrIdx = 0; arrIdx < schema.instances.length; arrIdx++) {\n      const arr = schema.instances[arrIdx];\n      if (!arr) continue;\n      const block = schema.types[arr.blockTypeIndex];\n      if (!block) continue;\n      const topicBase = numbering.topics.bases[arrIdx];\n      const serviceBase = numbering.services.bases[arrIdx];\n      const paramBase = numbering.params.bases[arrIdx];\n      if (topicBase === undefined || serviceBase === undefined || paramBase === undefined) {\n        // Numbering failed earlier — bases for this block array are absent.\n        continue;\n      }\n      const instCount = instanceCounts[arrIdx] ?? 0;\n\n      for (let inst = 0; inst < instCount; inst++) {\n        const ns = expandIToken(arr.rosNamespace, inst);\n\n        for (let ep = 0; ep < block.topics.length; ep++) {\n          const t = block.topics[ep];\n          if (!t) continue;\n          const path = joinPath(ns, t.name);\n          const idx = topicBase + inst * block.topics.length + ep;\n          const desc: TopicDescriptor = {\n            kind: 'topic',\n            path,\n            topicIndex: idx,\n            dir: t.dir,\n            fields: t.fields,\n            defaultPeriodUs: t.defaultPeriodUs,\n            wireSize: sumFieldsWireSize(t.fields),\n          };\n          if (this.#topicsByPath.has(path)) {\n            throw new Error(`SchemaIndex: duplicate topic path '${path}'`);\n          }\n          this.#topicsByPath.set(path, desc);\n          this.#topicsByIndex.set(idx, desc);\n        }\n\n        for (let ep = 0; ep < block.services.length; ep++) {\n          const s = block.services[ep];\n          if (!s) continue;\n          const path = joinPath(ns, s.name);\n          const idx = serviceBase + inst * block.services.length + ep;\n          const desc: ServiceDescriptor = {\n            kind: 'service',\n            path,\n            serviceIndex: idx,\n            requestFields: s.request,\n            responseFields: s.response,\n            requestWireSize: sumFieldsWireSize(s.request),\n            responseWireSize: sumFieldsWireSize(s.response),\n          };\n          if (this.#servicesByPath.has(path)) {\n            throw new Error(`SchemaIndex: duplicate service path '${path}'`);\n          }\n          this.#servicesByPath.set(path, desc);\n          this.#servicesByIndex.set(idx, desc);\n        }\n\n        for (let ep = 0; ep < block.params.length; ep++) {\n          const p = block.params[ep];\n          if (!p) continue;\n          const path = joinPath(ns, p.name);\n          const idx = paramBase + inst * block.params.length + ep;\n          const wireSize = fieldWireSize({\n            name: p.name,\n            type: p.type,\n            arrayLen: p.arrayLen,\n            txEnabled: true,\n          });\n          const desc: ParamDescriptor = {\n            kind: 'param',\n            path,\n            paramIndex: idx,\n            type: p.type,\n            arrayLen: p.arrayLen,\n            wireSize,\n            defaultValue: p.defaultValue,\n            minValue: p.minValue,\n            maxValue: p.maxValue,\n          };\n          if (this.#paramsByPath.has(path)) {\n            throw new Error(`SchemaIndex: duplicate param path '${path}'`);\n          }\n          this.#paramsByPath.set(path, desc);\n          this.#paramsByIndex.set(idx, desc);\n        }\n      }\n    }\n  }\n\n  topic(path: string): TopicDescriptor | undefined {\n    return this.#topicsByPath.get(path);\n  }\n  service(path: string): ServiceDescriptor | undefined {\n    return this.#servicesByPath.get(path);\n  }\n  param(path: string): ParamDescriptor | undefined {\n    return this.#paramsByPath.get(path);\n  }\n\n  topicByIndex(idx: number): TopicDescriptor | undefined {\n    return this.#topicsByIndex.get(idx);\n  }\n  serviceByIndex(idx: number): ServiceDescriptor | undefined {\n    return this.#servicesByIndex.get(idx);\n  }\n  paramByIndex(idx: number): ParamDescriptor | undefined {\n    return this.#paramsByIndex.get(idx);\n  }\n\n  /** All topic paths in numbering order. Useful for debugging / sniffer UI. */\n  topicPaths(): string[] {\n    return [...this.#topicsByPath.keys()];\n  }\n  servicePaths(): string[] {\n    return [...this.#servicesByPath.keys()];\n  }\n  paramPaths(): string[] {\n    return [...this.#paramsByPath.keys()];\n  }\n}\n","/**\n * Sequential u8 allocator used for the config-plane `seq` field shared by\n * every command this master has issued to a given slave. Wraps at 256,\n * matching `BridgeNode::alloc_seq` in\n * `fibril_can_bridge/src/bridge_node.cpp` (the bridge wraps on the same\n * boundary; the AckTracker indexes by the wrapped value).\n */\nexport class SeqAllocator {\n  #next = 0;\n\n  next(): number {\n    const v = this.#next & 0xff;\n    this.#next = (this.#next + 1) & 0xff;\n    return v;\n  }\n\n  reset(): void {\n    this.#next = 0;\n  }\n}\n","import type { CanFrameTx } from '@fibril/can-transport';\nimport {\n  CHAN_SVC_REQUEST,\n  MAX_FRAME_PAYLOAD,\n  makeExtId,\n  SEG_FIRST_DATA,\n  SEG_MAX_SEQ,\n  SEG_MAX_TOTAL,\n  SEG_REST_DATA,\n  segOffset,\n} from './can-id.js';\n/**\n * Build the §7.4 SVC_REQUEST frame stream for a master→slave call. Mirrors\n * `make_svc_request_frames` in\n * `fibril_can_bridge/include/fibril_can_bridge/svc_request.hpp`.\n *\n * - ≤64 byte payload → one SINGLE frame (seg=0).\n * - Larger → seq=0 carries `[0]=0 [1..2]=total_len + ≤61B data`, subsequent\n *   seqs carry `[0]=seq + ≤63B data`. Throws on payloads >1024B.\n */\nexport function makeSvcRequestFrames(\n  nodeId: number,\n  svcIdx: number,\n  callId: number,\n  payload: Uint8Array,\n): CanFrameTx[] {\n  if (payload.length > SEG_MAX_TOTAL) {\n    throw new RangeError(\n      `service request payload ${payload.length} exceeds SEG_MAX_TOTAL (${SEG_MAX_TOTAL})`,\n    );\n  }\n  if (payload.length <= MAX_FRAME_PAYLOAD) {\n    return [\n      {\n        id: makeExtId(CHAN_SVC_REQUEST, nodeId, svcIdx, callId, 0),\n        extended: true,\n        fd: true,\n        data: payload,\n      },\n    ];\n  }\n  const total = payload.length;\n  const rest = total - SEG_FIRST_DATA;\n  const extras = Math.ceil(rest / SEG_REST_DATA);\n  const nSegs = 1 + extras;\n  if (nSegs - 1 > SEG_MAX_SEQ) {\n    throw new RangeError(`segmented request would need ${nSegs} segments (cap ${SEG_MAX_SEQ + 1})`);\n  }\n  const out: CanFrameTx[] = [];\n  for (let seq = 0; seq < nSegs; seq++) {\n    let body: Uint8Array;\n    if (seq === 0) {\n      const take = Math.min(total, SEG_FIRST_DATA);\n      body = new Uint8Array(3 + take);\n      body[0] = 0;\n      body[1] = total & 0xff;\n      body[2] = (total >>> 8) & 0xff;\n      body.set(payload.subarray(0, take), 3);\n    } else {\n      const off = segOffset(seq);\n      const take = Math.min(SEG_REST_DATA, total - off);\n      body = new Uint8Array(1 + take);\n      body[0] = seq;\n      body.set(payload.subarray(off, off + take), 1);\n    }\n    out.push({\n      id: makeExtId(CHAN_SVC_REQUEST, nodeId, svcIdx, callId, 1),\n      extended: true,\n      fd: true,\n      data: body,\n    });\n  }\n  return out;\n}\n\n/**\n * Build §7.4 response segments. Used by mock slaves and any TS slave runtime.\n * `channel` is the channel field (typically `CHAN_SVC_RESPONSE`); the payload\n * is `[status, ...response]` so the caller bakes status into the buffer.\n */\nexport function makeSvcSegmentedFrames(\n  channel: number,\n  nodeId: number,\n  svcIdx: number,\n  callId: number,\n  payload: Uint8Array,\n): CanFrameTx[] {\n  if (payload.length > SEG_MAX_TOTAL) {\n    throw new RangeError(\n      `service response payload ${payload.length} exceeds SEG_MAX_TOTAL (${SEG_MAX_TOTAL})`,\n    );\n  }\n  if (payload.length <= MAX_FRAME_PAYLOAD) {\n    return [\n      {\n        id: makeExtId(channel, nodeId, svcIdx, callId, 0),\n        extended: true,\n        fd: true,\n        data: payload,\n      },\n    ];\n  }\n  const total = payload.length;\n  const rest = total - SEG_FIRST_DATA;\n  const extras = Math.ceil(rest / SEG_REST_DATA);\n  const nSegs = 1 + extras;\n  if (nSegs - 1 > SEG_MAX_SEQ) {\n    throw new RangeError(\n      `segmented response would need ${nSegs} segments (cap ${SEG_MAX_SEQ + 1})`,\n    );\n  }\n  const out: CanFrameTx[] = [];\n  for (let seq = 0; seq < nSegs; seq++) {\n    let body: Uint8Array;\n    if (seq === 0) {\n      const take = Math.min(total, SEG_FIRST_DATA);\n      body = new Uint8Array(3 + take);\n      body[0] = 0;\n      body[1] = total & 0xff;\n      body[2] = (total >>> 8) & 0xff;\n      body.set(payload.subarray(0, take), 3);\n    } else {\n      const off = segOffset(seq);\n      const take = Math.min(SEG_REST_DATA, total - off);\n      body = new Uint8Array(1 + take);\n      body[0] = seq;\n      body.set(payload.subarray(off, off + take), 1);\n    }\n    out.push({\n      id: makeExtId(channel, nodeId, svcIdx, callId, 1),\n      extended: true,\n      fd: true,\n      data: body,\n    });\n  }\n  return out;\n}\n\n/**\n * Bitmask of segment seqs required to reassemble a `totalLen`-byte payload.\n * Identical formula to `expected_mask` in\n * `fibril_can_bridge/src/node_agent.cpp` and the slave's `seg_expected_mask`.\n */\nexport function segExpectedMask(totalLen: number): number {\n  if (totalLen <= 0) return 0;\n  if (totalLen <= SEG_FIRST_DATA) return 1;\n  const rest = totalLen - SEG_FIRST_DATA;\n  const extras = Math.ceil(rest / SEG_REST_DATA);\n  const nSegs = 1 + extras;\n  if (nSegs >= 32) return 0xffffffff;\n  return (1 << nSegs) - 1;\n}\n\n/**\n * Per-(svc, call_id) reassembly slot. The caller drives one of these per\n * outstanding incoming segmented transfer.\n */\nexport class SegmentReassembler {\n  totalLen = 0;\n  rxBitmap = 0;\n  lastRxMs = 0;\n  #buffer: Uint8Array = new Uint8Array(0);\n\n  /**\n   * Ingest one seg=1 frame. `data` is the frame payload (with the seq /\n   * total_len header still attached). Returns the fully-assembled payload\n   * once every required segment has arrived; otherwise null. Returns null\n   * on protocol violations and resets the slot.\n   */\n  ingest(data: Uint8Array, nowMs: number): Uint8Array | null {\n    if (data.length === 0) return this.#reset();\n    const seq = data[0] ?? 0;\n    if (seq > SEG_MAX_SEQ) return this.#reset();\n    this.lastRxMs = nowMs;\n\n    if (seq === 0) {\n      if (data.length < 3) return this.#reset();\n      const total = ((data[1] ?? 0) | ((data[2] ?? 0) << 8)) & 0xffff;\n      if (total === 0 || total > SEG_MAX_TOTAL) return this.#reset();\n      if (this.totalLen !== 0 && this.totalLen !== total) {\n        this.totalLen = total;\n        this.rxBitmap = 0;\n        this.#buffer = new Uint8Array(total);\n      } else {\n        this.totalLen = total;\n        if (this.#buffer.length < total) {\n          const grown = new Uint8Array(total);\n          grown.set(this.#buffer.subarray(0, Math.min(this.#buffer.length, total)));\n          this.#buffer = grown;\n        }\n      }\n      const segDataLen = Math.min(data.length - 3, SEG_FIRST_DATA, total);\n      if (segDataLen > 0) this.#buffer.set(data.subarray(3, 3 + segDataLen), 0);\n    } else {\n      const off = segOffset(seq);\n      const segDataLen = Math.min(data.length - 1, SEG_REST_DATA);\n      if (off + segDataLen > SEG_MAX_TOTAL) return this.#reset();\n      if (this.totalLen !== 0 && off + segDataLen > this.totalLen) return this.#reset();\n      if (this.#buffer.length < off + segDataLen) {\n        const grown = new Uint8Array(off + segDataLen);\n        grown.set(this.#buffer);\n        this.#buffer = grown;\n      }\n      if (segDataLen > 0) this.#buffer.set(data.subarray(1, 1 + segDataLen), off);\n    }\n    this.rxBitmap |= 1 << seq;\n    if (this.totalLen === 0) return null;\n    const need = segExpectedMask(this.totalLen);\n    if ((this.rxBitmap & ~need) !== 0) return this.#reset();\n    if ((this.rxBitmap & need) !== need) return null;\n    const out = this.#buffer.slice(0, this.totalLen);\n    this.#reset();\n    return out;\n  }\n\n  #reset(): null {\n    this.totalLen = 0;\n    this.rxBitmap = 0;\n    this.#buffer = new Uint8Array(0);\n    return null;\n  }\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport {\n  CHAN_SVC_REQUEST,\n  CHAN_SVC_RESPONSE,\n  extChannel,\n  extIndex,\n  extNodeId,\n  extSeg,\n  extSeq,\n  makeExtId,\n  SVC_ACCEPTED,\n  SVC_CANCEL,\n} from './can-id.js';\nimport { padToDlc } from './dlc.js';\nimport { makeSvcRequestFrames, SegmentReassembler } from './segmented-transfer.js';\n\n/** Per-call options. */\nexport interface ServiceCallOptions {\n  /** Pre-encoded request payload (no status byte — that's response-only). */\n  request: Uint8Array;\n  /** Override default timeout. Default 250 ms (matches bridge `service_timeout_`). */\n  timeoutMs?: number;\n  /** Cancel via AbortSignal — fires SVC_CANCEL (§7.5) to the slave. */\n  signal?: AbortSignal;\n}\n\n/** Resolved service response. `status === 0` (SVC_OK) is the success path. */\nexport interface ServiceResult {\n  status: number;\n  data: Uint8Array;\n}\n\n/** Throwable error union for `ServiceClient.call`. */\nexport class ServiceCallError extends Error {\n  constructor(message: string, options?: ErrorOptions) {\n    super(message, options);\n    this.name = new.target.name;\n  }\n}\nexport class ServiceTimeoutError extends ServiceCallError {\n  constructor(message = 'service call timed out') {\n    super(message);\n  }\n}\nexport class ServiceUnavailableError extends ServiceCallError {\n  constructor(message = 'service unavailable (slave lost or reprovisioned)') {\n    super(message);\n  }\n}\nexport class ServiceCancelledError extends ServiceCallError {\n  constructor(message = 'service call cancelled') {\n    super(message);\n  }\n}\nexport class NoCallSlotError extends ServiceCallError {\n  constructor(serviceIndex: number) {\n    super(`no free call_id slot for service_index ${serviceIndex}`);\n  }\n}\n\ninterface PendingCall {\n  serviceIndex: number;\n  callId: number;\n  deadlineMs: number;\n  timeoutMs: number;\n  resolve: (r: ServiceResult) => void;\n  reject: (err: Error) => void;\n  reassembler: SegmentReassembler;\n  signal?: AbortSignal;\n  abortListener?: () => void;\n  acceptedSeen: boolean;\n}\n\n/** Cap on simultaneous in-flight segmented transfers. Matches bridge. */\nconst REASM_MAX_CONCURRENT = 16;\n/** §7.4 reassembly TTL. */\nconst SEG_TIMEOUT_MS = 100;\n\n/**\n * Single-slave master service-call client. Port of NodeAgent's\n * begin_service_call / on_service_response / on_service_segment flow but\n * Promise-based and AbortSignal-aware.\n *\n * One {@link ServiceClient} attaches to the transport and demuxes incoming\n * SVC_RESPONSE frames for a single `nodeId`. NodeAgent owns one per slave\n * and exposes it on the running snapshot.\n */\nexport class ServiceClient {\n  readonly nodeId: number;\n  readonly #transport: ITransport;\n  readonly #defaultTimeoutMs: number;\n  readonly #now: () => number;\n\n  #unsub: Unsubscribe | null = null;\n\n  // Round-robin per-service call_id allocator. 0xFF is reserved as the\n  // \"no free slot\" sentinel.\n  readonly #nextCallId = new Map<number, number>();\n  // Active calls keyed by (svc << 8) | call_id.\n  readonly #pending = new Map<number, PendingCall>();\n\n  constructor(opts: {\n    nodeId: number;\n    transport: ITransport;\n    defaultTimeoutMs?: number;\n    now?: () => number;\n  }) {\n    this.nodeId = opts.nodeId;\n    this.#transport = opts.transport;\n    this.#defaultTimeoutMs = opts.defaultTimeoutMs ?? 250;\n    this.#now = opts.now ?? (() => Date.now());\n  }\n\n  attach(): void {\n    if (this.#unsub !== null) return;\n    this.#unsub = this.#transport.onFrame((f: CanFrame) => this.#onFrame(f));\n  }\n\n  detach(): void {\n    if (this.#unsub === null) return;\n    this.#unsub();\n    this.#unsub = null;\n  }\n\n  /** Number of in-flight calls. Testing / introspection. */\n  get pendingCount(): number {\n    return this.#pending.size;\n  }\n\n  /**\n   * Sweep call deadlines and segment-reassembly TTLs. The owning agent\n   * should call this from its periodic sweep loop.\n   */\n  sweep(nowMs: number = this.#now()): void {\n    for (const [key, call] of this.#pending) {\n      if (call.deadlineMs <= nowMs) {\n        this.#pending.delete(key);\n        this.#detachAbort(call);\n        call.reject(new ServiceTimeoutError());\n        continue;\n      }\n      // Drop a partially-reassembled response if the slave has gone silent\n      // mid-transfer for more than the TTL — matches sweep_service_segments.\n      if (call.reassembler.totalLen !== 0 && nowMs - call.reassembler.lastRxMs > SEG_TIMEOUT_MS) {\n        // Reset the slot but keep the call active so the slave can retry\n        // (e.g. another response variant) until the outer deadline expires.\n        call.reassembler.totalLen = 0;\n        call.reassembler.rxBitmap = 0;\n      }\n    }\n  }\n\n  /** Reject every in-flight call as Unavailable. NodeAgent calls this on lost / reprovision. */\n  failAll(reason = 'slave reprovisioning'): void {\n    const pending = [...this.#pending.values()];\n    this.#pending.clear();\n    for (const c of pending) {\n      this.#detachAbort(c);\n      c.reject(new ServiceUnavailableError(reason));\n    }\n  }\n\n  async call(serviceIndex: number, opts: ServiceCallOptions): Promise<ServiceResult> {\n    if (serviceIndex < 0 || serviceIndex > 0xff) {\n      throw new RangeError(`serviceIndex out of range: ${serviceIndex}`);\n    }\n    const callId = this.#allocCallId(serviceIndex);\n    if (callId === 0xff) throw new NoCallSlotError(serviceIndex);\n\n    const timeoutMs = opts.timeoutMs ?? this.#defaultTimeoutMs;\n    const key = (serviceIndex << 8) | callId;\n    if (this.#pending.size >= REASM_MAX_CONCURRENT * 4) {\n      // Pathological fan-out across many services; let the caller back off.\n      // (REASM cap is per-active-segment-stream; this is a softer guard.)\n      throw new NoCallSlotError(serviceIndex);\n    }\n\n    return new Promise<ServiceResult>((resolve, reject) => {\n      const call: PendingCall = {\n        serviceIndex,\n        callId,\n        deadlineMs: this.#now() + timeoutMs,\n        timeoutMs,\n        resolve,\n        reject,\n        reassembler: new SegmentReassembler(),\n        acceptedSeen: false,\n      };\n      if (opts.signal) {\n        call.signal = opts.signal;\n        if (opts.signal.aborted) {\n          reject(new ServiceCancelledError());\n          return;\n        }\n        call.abortListener = () => {\n          if (!this.#pending.has(key)) return;\n          this.#pending.delete(key);\n          this.#detachAbort(call);\n          // SPEC §7.5 — send SVC_CANCEL so the slave doesn't keep computing.\n          // Best-effort; if the transport is closed the slave will time out.\n          void this.#sendCancel(call.serviceIndex, call.callId).catch(() => {});\n          reject(new ServiceCancelledError());\n        };\n        opts.signal.addEventListener('abort', call.abortListener, { once: true });\n      }\n      this.#pending.set(key, call);\n      // Emit request frames — fire-and-forget; transport errors surface as\n      // a timeout rather than killing the promise immediately so a brief\n      // disconnect doesn't drop calls mid-flight.\n      const frames = makeSvcRequestFrames(this.nodeId, serviceIndex, callId, opts.request);\n      for (const f of frames) {\n        void this.#transport.send(f).catch(() => {});\n      }\n    });\n  }\n\n  // ---------------------------------------------------------------------\n  // Frame ingress\n  // ---------------------------------------------------------------------\n\n  #onFrame(f: CanFrame): void {\n    if (!f.extended) return;\n    if (extNodeId(f.id) !== this.nodeId) return;\n    if (extChannel(f.id) !== CHAN_SVC_RESPONSE) return;\n    const svcIdx = extIndex(f.id);\n    const callId = extSeq(f.id);\n    const seg = extSeg(f.id);\n    const key = (svcIdx << 8) | callId;\n    const call = this.#pending.get(key);\n    if (!call) return;\n\n    if (seg === 0) {\n      // Single-frame response — first byte is status, rest is payload.\n      if (f.data.length === 0) return;\n      const status = f.data[0] ?? 0;\n      const data = f.data.slice(1);\n      this.#finishMaybeAccepted(key, call, status, data);\n      return;\n    }\n    // Segmented response — accumulate.\n    const assembled = call.reassembler.ingest(f.data, this.#now());\n    if (assembled === null) return;\n    if (assembled.length === 0) return;\n    const status = assembled[0] ?? 0;\n    const data = assembled.slice(1);\n    this.#finishMaybeAccepted(key, call, status, data);\n  }\n\n  #finishMaybeAccepted(key: number, call: PendingCall, status: number, data: Uint8Array): void {\n    if (status === SVC_ACCEPTED) {\n      // §7.2 — two-stage reply. The slave commits to answering but is\n      // still computing. Extend the deadline by another full timeout\n      // window and wait for the real status.\n      if (!call.acceptedSeen) {\n        call.acceptedSeen = true;\n        call.deadlineMs = this.#now() + call.timeoutMs;\n      }\n      return;\n    }\n    this.#pending.delete(key);\n    this.#detachAbort(call);\n    call.resolve({ status, data });\n  }\n\n  #allocCallId(svcIdx: number): number {\n    let next = this.#nextCallId.get(svcIdx) ?? 0;\n    for (let i = 0; i < 0xff; i++) {\n      if (next === 0xff) next = 0;\n      const key = (svcIdx << 8) | next;\n      if (!this.#pending.has(key)) {\n        this.#nextCallId.set(svcIdx, (next + 1) & 0xff);\n        return next;\n      }\n      next = (next + 1) & 0xff;\n    }\n    return 0xff;\n  }\n\n  async #sendCancel(svcIdx: number, callId: number): Promise<void> {\n    // SVC_CANCEL goes on the SvcRequest channel addressed to the canonical\n    // 0xFF service_index (§7.5). Payload is the (svc_idx, call_id) of the\n    // call being cancelled.\n    const payload = padToDlc(new Uint8Array([svcIdx & 0xff, callId & 0xff]));\n    await this.#transport.send({\n      id: makeExtId(CHAN_SVC_REQUEST, this.nodeId, SVC_CANCEL, 0, 0),\n      extended: true,\n      fd: true,\n      data: payload,\n    });\n  }\n\n  #detachAbort(call: PendingCall): void {\n    if (call.signal && call.abortListener) {\n      call.signal.removeEventListener('abort', call.abortListener);\n      call.abortListener = undefined;\n    }\n  }\n}\n","import { SVC_PARAM_SET } from './can-id.js';\nimport {\n  packScalarF32Le,\n  packScalarF64Le,\n  packScalarIntLe,\n  ScalarType,\n  scalarName,\n  scalarSize,\n  signExtend,\n  unpackScalarF32Le,\n  unpackScalarF64Le,\n  unpackScalarIntLe,\n} from './scalar-codec.js';\nimport type { ParamDescriptor } from './schema-index.js';\nimport type { ServiceClient } from './service-client.js';\n\n/**\n * Schema-driven typed wrapper around PARAM_SET (SPEC §8.2, reserved\n * service_index 0xFD).\n *\n * Per SPEC §8.1 PARAM is M→S one-way: the master holds the source of truth\n * and re-injects defaults at provisioning time, so this wrapper exposes\n * `.set()` only — there's no `.get()` that queries the slave. The\n * descriptor's decoded default is available via `defaultValue()` for\n * reference / hydration of master-side state.\n *\n * The wire shape for one PARAM_SET request is:\n *   [0] count = 1\n *   [1..2] u16 param_index (LE)\n *   [3..]  value (scalar little-endian or fixed-array contiguous)\n *\n * Response is `[0] status [1..2] failed_param_index (when status != OK)`.\n * `set()` resolves with the status code; non-OK includes `failedIndex` so\n * the caller can correlate with a multi-param batch (single-param sets\n * always blame this param).\n */\n\nexport class ParamCodecError extends Error {\n  constructor(message: string) {\n    super(message);\n    this.name = 'ParamCodecError';\n  }\n}\n\nexport interface TypedParamSetOptions {\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}\n\nexport interface TypedParamSetResult {\n  /** SPEC §7.2 status (0 = SVC_OK). */\n  readonly status: number;\n  /**\n   * On `status != SVC_OK`, the slave-reported param_index that failed.\n   * For a single-param call this is always `descriptor.paramIndex` if the\n   * slave fills the field, else `null` (slave omitted the field).\n   */\n  readonly failedIndex: number | null;\n}\n\nfunction packValueInto(\n  desc: ParamDescriptor,\n  value: unknown,\n  out: Uint8Array,\n  offset: number,\n): void {\n  if (desc.arrayLen === 0) {\n    packOneScalar(desc.type, value, out, offset, desc.path);\n    return;\n  }\n  if (!Array.isArray(value)) {\n    throw new ParamCodecError(\n      `param '${desc.path}': expected array of length ${desc.arrayLen}, got ${typeof value}`,\n    );\n  }\n  if (value.length !== desc.arrayLen) {\n    throw new ParamCodecError(\n      `param '${desc.path}': expected array length ${desc.arrayLen}, got ${value.length}`,\n    );\n  }\n  const stride = scalarSize(desc.type);\n  for (let i = 0; i < desc.arrayLen; i++) {\n    packOneScalar(desc.type, value[i], out, offset + i * stride, desc.path);\n  }\n}\n\nfunction packOneScalar(\n  type: ScalarType,\n  value: unknown,\n  out: Uint8Array,\n  offset: number,\n  pathForErr: string,\n): void {\n  switch (type) {\n    case ScalarType.Bool:\n      if (typeof value !== 'boolean') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected boolean for bool, got ${typeof value}`,\n        );\n      }\n      out[offset] = value ? 1 : 0;\n      return;\n    case ScalarType.F32:\n      if (typeof value !== 'number') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected number for f32, got ${typeof value}`,\n        );\n      }\n      packScalarF32Le(value, out, offset);\n      return;\n    case ScalarType.F64:\n      if (typeof value !== 'number') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected number for f64, got ${typeof value}`,\n        );\n      }\n      packScalarF64Le(value, out, offset);\n      return;\n    default:\n      if (type === ScalarType.U64 || type === ScalarType.I64) {\n        if (typeof value !== 'bigint') {\n          throw new ParamCodecError(\n            `param '${pathForErr}': expected bigint for ${scalarName(type)}, got ${typeof value}`,\n          );\n        }\n      } else if (typeof value !== 'number') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected number for ${scalarName(type)}, got ${typeof value}`,\n        );\n      }\n      packScalarIntLe(type, value as number | bigint, out, offset);\n  }\n}\n\nfunction unpackScalar(\n  type: ScalarType,\n  src: Uint8Array,\n  offset: number,\n): number | bigint | boolean {\n  switch (type) {\n    case ScalarType.Bool:\n      return (src[offset] ?? 0) !== 0;\n    case ScalarType.F32:\n      return unpackScalarF32Le(src, offset);\n    case ScalarType.F64:\n      return unpackScalarF64Le(src, offset);\n    case ScalarType.I8:\n    case ScalarType.I16:\n    case ScalarType.I32: {\n      const bits = unpackScalarIntLe(type, src, offset);\n      return Number(signExtend(bits, scalarSize(type)));\n    }\n    case ScalarType.U8:\n    case ScalarType.U16:\n    case ScalarType.U32:\n      return Number(unpackScalarIntLe(type, src, offset));\n    case ScalarType.I64:\n      return signExtend(unpackScalarIntLe(type, src, offset), 8);\n    case ScalarType.U64:\n      return unpackScalarIntLe(type, src, offset);\n  }\n}\n\nfunction unpackValue(desc: ParamDescriptor, src: Uint8Array): unknown {\n  if (src.length < desc.wireSize) return null;\n  if (desc.arrayLen === 0) {\n    return unpackScalar(desc.type, src, 0);\n  }\n  const stride = scalarSize(desc.type);\n  const out: Array<number | bigint | boolean> = [];\n  for (let i = 0; i < desc.arrayLen; i++) {\n    out.push(unpackScalar(desc.type, src, i * stride));\n  }\n  return out;\n}\n\n/** Build a PARAM_SET request payload for a single (descriptor, value) pair. */\nexport function encodeParamSetSingle(desc: ParamDescriptor, value: unknown): Uint8Array {\n  const out = new Uint8Array(1 + 2 + desc.wireSize);\n  out[0] = 1; // count\n  out[1] = desc.paramIndex & 0xff;\n  out[2] = (desc.paramIndex >>> 8) & 0xff;\n  packValueInto(desc, value, out, 3);\n  return out;\n}\n\nexport class TypedParam<T> {\n  readonly path: string;\n  readonly descriptor: ParamDescriptor;\n  readonly #client: ServiceClient;\n\n  constructor(client: ServiceClient, descriptor: ParamDescriptor) {\n    this.#client = client;\n    this.descriptor = descriptor;\n    this.path = descriptor.path;\n  }\n\n  /**\n   * Decode the schema-embedded default value (SPEC §9.1 `default`). Useful\n   * to seed the master-side persistence store. Returns `null` if the\n   * descriptor carries no default payload.\n   */\n  defaultValue(): T | null {\n    if (this.descriptor.defaultValue.length === 0) return null;\n    return unpackValue(this.descriptor, this.descriptor.defaultValue) as T;\n  }\n\n  /** Send a PARAM_SET with a single entry for this param. */\n  async set(value: T, opts: TypedParamSetOptions = {}): Promise<TypedParamSetResult> {\n    const request = encodeParamSetSingle(this.descriptor, value);\n    const result = await this.#client.call(SVC_PARAM_SET, {\n      request,\n      timeoutMs: opts.timeoutMs,\n      signal: opts.signal,\n    });\n    let failedIndex: number | null = null;\n    if (result.status !== 0 && result.data.length >= 2) {\n      failedIndex = (result.data[0] ?? 0) | ((result.data[1] ?? 0) << 8);\n    }\n    return { status: result.status, failedIndex };\n  }\n}\n","import { type Dict, decodeFields, encodeFields } from './dynamic-codec.js';\nimport type { ServiceDescriptor } from './schema-index.js';\nimport type { ServiceClient } from './service-client.js';\n\n/**\n * Schema-driven typed wrapper around {@link ServiceClient.call}.\n *\n * The generic parameters are compile-time only: at runtime, encoding is\n * driven entirely by the {@link ServiceDescriptor}'s field list. Callers\n * supply `Req` / `Resp` interfaces matching the schema fields by name —\n * the runtime trusts the dict layout and packs by field iteration order.\n *\n * Returned on success: `{ status, data }` where `status` is the SPEC §7.2\n * service status (0 = OK) and `data` is the decoded response dict typed as\n * `Resp`. Non-OK responses still return a `data` object — the slave is\n * required to fill the response payload even on failure (§7.2), and the\n * decoder will best-effort attempt it; if the body is shorter than the\n * schema demands, `data` is `null` instead of throwing (so callers can\n * surface the status to the user without losing the whole response).\n */\nexport interface TypedServiceResult<Resp extends Dict> {\n  readonly status: number;\n  readonly data: Resp | null;\n}\n\nexport interface TypedServiceCallOptions {\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}\n\nexport class TypedService<Req extends Dict, Resp extends Dict> {\n  readonly path: string;\n  readonly descriptor: ServiceDescriptor;\n  readonly #client: ServiceClient;\n\n  constructor(client: ServiceClient, descriptor: ServiceDescriptor) {\n    this.#client = client;\n    this.descriptor = descriptor;\n    this.path = descriptor.path;\n  }\n\n  /** Encode `request`, dispatch via the service plane, decode the response. */\n  async call(request: Req, opts: TypedServiceCallOptions = {}): Promise<TypedServiceResult<Resp>> {\n    const encoded = encodeFields(this.descriptor.requestFields, request);\n    const result = await this.#client.call(this.descriptor.serviceIndex, {\n      request: encoded,\n      timeoutMs: opts.timeoutMs,\n      signal: opts.signal,\n    });\n    let data: Resp | null = null;\n    if (this.descriptor.responseFields.length === 0) {\n      // Schema says no payload — keep `data` null so callers don't get an empty\n      // object that looks like decoded content.\n      data = Object.freeze({}) as unknown as Resp;\n    } else if (result.data.length >= this.descriptor.responseWireSize) {\n      data = decodeFields(this.descriptor.responseFields, result.data) as Resp;\n    }\n    return { status: result.status, data };\n  }\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport { type AckOutcome, AckTracker } from './ack-tracker.js';\nimport {\n  CHAN_CONFIG,\n  CMD_ACK,\n  CMD_ANNOUNCE,\n  CMD_HEARTBEAT,\n  CMD_NAK,\n  CMD_SCHEMA_DATA,\n  DIR_RX_M2S,\n  DIR_TX_S2M,\n  extChannel,\n  extIndex,\n  extNodeId,\n  extSeq,\n  STATE_RUNNING,\n  STATE_SUSPENDED,\n} from './can-id.js';\nimport {\n  type AnnounceMsg,\n  decodeAnnounce,\n  decodeHeartbeat,\n  decodeNak,\n  decodeSchemaData,\n  encodeDiscoverTo,\n  encodeFrameDefine,\n  encodeSchemaRead,\n  encodeStart,\n  encodeStop,\n  type FrameDefineEntry,\n  SchemaAccumulator,\n} from './config-plane.js';\nimport type { Dict } from './dynamic-codec.js';\nimport { computeNumbering, type NumberingResult } from './numbering.js';\nimport { Direction, decodeSchemaWithMeta, type NodeSchema } from './schema.js';\nimport { schemaHashPrefix } from './schema-hash.js';\nimport { SchemaIndex } from './schema-index.js';\nimport { SeqAllocator } from './seq-allocator.js';\nimport { ServiceClient } from './service-client.js';\nimport { TypedParam } from './typed-param.js';\nimport { TypedService } from './typed-service.js';\n\n/**\n * One planned data-plane CAN frame, supplied by the caller (typically a\n * frame planner — P6) and consumed by {@link NodeAgent} when it issues\n * FRAME_DEFINE during bring-up. Mirrors `FrameSpec` in\n * `fibril_can_bridge/include/fibril_can_bridge/frame_planner.hpp`.\n */\nexport interface FramePlan {\n  stdId: number;\n  periodUs: number;\n  dir: Direction;\n  entries: readonly FrameDefineEntry[];\n}\n\n/**\n * Per-bring-up context handed to a {@link FramePlanFactory} callback so the\n * caller can branch on the specific slave being provisioned (e.g. read an\n * external per-nodeId field-enable override map). The same factory is\n * shared across every {@link NodeAgent} the controller spawns, so this is\n * the only way for the factory to discriminate slaves.\n */\nexport interface FramePlanContext {\n  /** The slave being provisioned (1..0x7E). */\n  readonly nodeId: number;\n}\n\n/**\n * Builds the FRAME_DEFINE plan for a slave once its schema is decoded and\n * numbered. The optional `ctx` argument carries the nodeId so callers that\n * keep per-slave overrides (e.g. UI-controlled S→M field toggles) can fork\n * on it without threading state through {@link NodeAgentOptions}. The\n * 2-arg form is still accepted — extra parameters are simply ignored.\n */\nexport type FramePlanFactory =\n  | ((\n      schema: NodeSchema,\n      numbering: NumberingResult,\n      ctx: FramePlanContext,\n    ) => readonly FramePlan[])\n  | readonly FramePlan[];\n\n/** Phase machine — public for observers. */\nexport type NodeProvisionState =\n  | { kind: 'idle' }\n  | { kind: 'awaiting-announce' }\n  | { kind: 'schema-reading'; received: number; total: number }\n  | { kind: 'numbering' }\n  | { kind: 'provisioning'; pendingDefines: number }\n  /**\n   * FRAME_DEFINE completed successfully but START has been withheld by\n   * the {@link NodeAgentOptions.autoStart} gate. `startNow()` moves the\n   * agent forward. `reprovision()` / a fresh ANNOUNCE re-enter the flow\n   * from bring-up.\n   */\n  | { kind: 'awaiting-start' }\n  | { kind: 'running' }\n  /** Slave reported node_state = SUSPENDED. Reverts to running on the next non-SUSPENDED HEARTBEAT. */\n  | { kind: 'suspended' }\n  | { kind: 'lost'; reason: string }\n  | { kind: 'blocked'; reason: string };\n\n/** Snapshot available once the slave reaches RUNNING. */\nexport interface NodeRunningSnapshot {\n  nodeId: number;\n  schemaHash: bigint;\n  bootId: number;\n  instanceCounts: Uint8Array;\n  blob: Uint8Array;\n  schema: NodeSchema;\n  numbering: NumberingResult;\n  framePlan: readonly FramePlan[];\n  /** std_id → topic_index map for the data plane (one entry per FRAME_DEFINE). */\n  stdIdToTopicIndex: Map<number, number>;\n  /** §7 master-side RPC client. Stays valid for the lifetime of the snapshot. */\n  services: ServiceClient;\n  /**\n   * Path → IR descriptor lookup. Drives the typed accessors below.\n   * Exposed for sniffer-style introspection (`index.topicPaths()` etc.).\n   */\n  index: SchemaIndex;\n  /**\n   * Schema-driven typed RPC wrapper. Throws if `path` is unknown. Generic\n   * `Req` / `Resp` are compile-time only — runtime encoding is driven by\n   * the schema's field list.\n   */\n  service<Req extends Dict, Resp extends Dict>(path: string): TypedService<Req, Resp>;\n  /**\n   * Schema-driven PARAM_SET wrapper. Throws if `path` is unknown.\n   * `T` is `number` for scalar params (except U64/I64 → `bigint`),\n   * `boolean` for bool, or the array form for fixed-length array params.\n   */\n  param<T = number | bigint | boolean | number[] | bigint[] | boolean[]>(\n    path: string,\n  ): TypedParam<T>;\n}\n\nexport interface NodeAgentOptions {\n  /** 1..0x7E — broadcast (0x7F) is rejected. */\n  nodeId: number;\n  /** Already open()'d transport. The agent attaches its own onFrame. */\n  transport: ITransport;\n  /** Strategy for building the FRAME_DEFINE plan. */\n  framePlan: FramePlanFactory;\n  /**\n   * Per-config-command ACK timeout in ms. Slaves must ACK within this\n   * window or the agent abandons the bring-up attempt and waits for the\n   * next ANNOUNCE. Default 250 ms (matches bridge's\n   * `bring_up_ack_timeout_`).\n   */\n  ackTimeoutMs?: number;\n  /**\n   * SCHEMA_READ chunk byte limit. SPEC §4.3 caps a single response at the\n   * SINGLE-frame payload (≤59 data bytes after the 4-byte offset header).\n   * Default 59.\n   */\n  schemaChunkSize?: number;\n  /**\n   * Multiplier on `ackTimeoutMs` used as the schema-read retry budget.\n   * Default 3 (one initial + two retries).\n   */\n  schemaReadRetries?: number;\n  /**\n   * Heartbeat-loss budget. The agent expects a HEARTBEAT every 100 ms\n   * (§14); after this much silence it transitions to `lost`. Default 350.\n   */\n  heartbeatTimeoutMs?: number;\n  /** Per-call default timeout for `services.call()`. Default `ackTimeoutMs`. */\n  serviceTimeoutMs?: number;\n  /**\n   * Gate consulted right before START is issued. When it returns `false`,\n   * the agent stops in {@link NodeProvisionState} `awaiting-start` after\n   * FRAME_DEFINE ACKs come back; the caller commits with `startNow()`.\n   * Read fresh at each decision point so callers can flip the setting at\n   * runtime without reconstructing the agent. Default `() => true`.\n   */\n  autoStart?: () => boolean;\n  /** Optional state-change observer. */\n  onState?: (state: NodeProvisionState) => void;\n  /** Optional non-fatal error observer (decode warnings, hash mismatch). */\n  onError?: (err: Error) => void;\n  /**\n   * Override for the wall clock. Tests pass a deterministic counter.\n   * Default `() => Date.now()`.\n   */\n  now?: () => number;\n}\n\nconst DEFAULT_OPTS = {\n  ackTimeoutMs: 250,\n  schemaChunkSize: 59,\n  schemaReadRetries: 3,\n  heartbeatTimeoutMs: 350,\n} as const;\n\ninterface SchemaReadProgress {\n  expectedTotal: number;\n  acc: SchemaAccumulator;\n  inflightSeq: number;\n  inflightLen: number;\n  retriesLeft: number;\n  inflightDeadlineMs: number;\n}\n\ninterface ProvisioningProgress {\n  generation: number;\n  pendingDefines: number;\n  anyFailure: boolean;\n  firstNakReason: number;\n  plan: readonly FramePlan[];\n  stdIdToTopicIndex: Map<number, number>;\n}\n\n/**\n * Snapshot of everything {@link NodeAgent.#issueStart} needs. Held while\n * we are parked in `awaiting-start` so `startNow()` can resume without\n * re-running FRAME_DEFINE.\n */\ninterface PendingStart {\n  a: AnnouncedRecord;\n  schema: NodeSchema;\n  blob: Uint8Array;\n  numbering: NumberingResult;\n  generation: number;\n  progress: ProvisioningProgress;\n}\n\ninterface AnnouncedRecord {\n  schemaHash: bigint;\n  bootId: number;\n  blobLen: number;\n  protocolVersion: number;\n  instanceCounts: Uint8Array;\n}\n\n/**\n * Per-slave provisioning state machine. Mirrors\n * `fibril_can_bridge::NodeAgent` lifecycle entry points but trimmed for the\n * single-threaded TS master — no ROS entity creation, no PARAM_SET\n * re-injection (P5), no plan computation (P6).\n *\n * Lifecycle: `idle` → `awaiting-announce` → `schema-reading` (skipped if\n * blob already cached on this agent instance) → `numbering` →\n * `provisioning` → `running`. HEARTBEAT loss drops to `lost`; the next\n * ANNOUNCE restarts the flow.\n */\nexport class NodeAgent {\n  readonly nodeId: number;\n  readonly #transport: ITransport;\n  readonly #framePlan: FramePlanFactory;\n  readonly #ackTimeoutMs: number;\n  readonly #schemaChunkSize: number;\n  readonly #schemaReadRetries: number;\n  readonly #heartbeatTimeoutMs: number;\n  readonly #autoStart: () => boolean;\n  readonly #onState?: (s: NodeProvisionState) => void;\n  readonly #onError?: (e: Error) => void;\n  readonly #now: () => number;\n\n  readonly #seq = new SeqAllocator();\n  readonly #acks: AckTracker;\n  readonly #services: ServiceClient;\n\n  #unsubFrame: Unsubscribe | null = null;\n  #sweepHandle: ReturnType<typeof setInterval> | null = null;\n  #stopped = false;\n\n  #state: NodeProvisionState = { kind: 'idle' };\n  #announce: AnnouncedRecord | null = null;\n  #schemaRead: SchemaReadProgress | null = null;\n  #provisioning: ProvisioningProgress | null = null;\n  #pendingStart: PendingStart | null = null;\n  #snapshot: NodeRunningSnapshot | null = null;\n  #generation = 0;\n\n  // Cache of (hash → decoded schema + blob) collected so a reboot with the\n  // same schema skips SCHEMA_READ. Mirrors NodeRegistry's blob cache.\n  readonly #blobCache = new Map<bigint, { blob: Uint8Array; schema: NodeSchema }>();\n\n  #lastHeartbeatMs: number | null = null;\n\n  constructor(opts: NodeAgentOptions) {\n    if (opts.nodeId < 1 || opts.nodeId > 0x7e) {\n      throw new RangeError(`nodeId must be 1..0x7E, got ${opts.nodeId}`);\n    }\n    this.nodeId = opts.nodeId;\n    this.#transport = opts.transport;\n    this.#framePlan = opts.framePlan;\n    this.#ackTimeoutMs = opts.ackTimeoutMs ?? DEFAULT_OPTS.ackTimeoutMs;\n    this.#schemaChunkSize = opts.schemaChunkSize ?? DEFAULT_OPTS.schemaChunkSize;\n    this.#schemaReadRetries = opts.schemaReadRetries ?? DEFAULT_OPTS.schemaReadRetries;\n    this.#heartbeatTimeoutMs = opts.heartbeatTimeoutMs ?? DEFAULT_OPTS.heartbeatTimeoutMs;\n    this.#autoStart = opts.autoStart ?? (() => true);\n    this.#onState = opts.onState;\n    this.#onError = opts.onError;\n    this.#now = opts.now ?? (() => Date.now());\n    this.#acks = new AckTracker(this.#now);\n    this.#services = new ServiceClient({\n      nodeId: this.nodeId,\n      transport: this.#transport,\n      defaultTimeoutMs: opts.serviceTimeoutMs ?? this.#ackTimeoutMs,\n      now: this.#now,\n    });\n  }\n\n  /** Service-plane RPC client for this slave. Always available. */\n  get services(): ServiceClient {\n    return this.#services;\n  }\n\n  get state(): NodeProvisionState {\n    return this.#state;\n  }\n\n  get snapshot(): NodeRunningSnapshot | null {\n    return this.#snapshot;\n  }\n\n  /**\n   * Attach to the transport and wait for ANNOUNCE. Resolves immediately —\n   * progress flows via {@link state} / {@link snapshot} / `onState`. Call\n   * `stop()` to detach.\n   */\n  async start(): Promise<void> {\n    if (this.#stopped) {\n      throw new Error('NodeAgent.start() after stop() is not supported — construct a new agent');\n    }\n    if (this.#unsubFrame !== null) return; // idempotent\n    this.#unsubFrame = this.#transport.onFrame((f: CanFrame) => this.#onFrame(f));\n    this.#services.attach();\n    // Poll ACK timeouts, HEARTBEAT-lost watchdog, service deadlines / seg\n    // TTL at a fixed cadence. 50 ms is well below ackTimeoutMs (250) and\n    // gives boot_id changes a reasonable response window.\n    this.#sweepHandle = setInterval(() => this.#sweep(), 50);\n    this.#setState({ kind: 'awaiting-announce' });\n  }\n\n  /**\n   * Re-run the FRAME_DEFINE / START handshake against the live slave using\n   * the most recent ANNOUNCE + cached schema. The {@link FramePlanFactory}\n   * is invoked again — callers that key off an external mutable state\n   * (e.g. per-field TX-enable overrides) will see the latest values.\n   *\n   * The agent must have observed an ANNOUNCE already; `reprovision()`\n   * before that throws. RUNNING is required so that the slave is known to\n   * be reachable — calling during `lost` would race the heartbeat\n   * watchdog. Pending service calls are failed and the current snapshot is\n   * torn down before the new bring-up begins, mirroring what happens on a\n   * boot_id change.\n   */\n  async reprovision(): Promise<void> {\n    if (this.#stopped) throw new Error('NodeAgent.reprovision() after stop()');\n    const a = this.#announce;\n    if (a === null) {\n      throw new Error('NodeAgent.reprovision() called before ANNOUNCE');\n    }\n    const cached = this.#blobCache.get(a.schemaHash);\n    if (!cached) {\n      // Shouldn't happen — every successful ANNOUNCE caches the blob — but\n      // be explicit instead of silently falling back to schema-read.\n      throw new Error('NodeAgent.reprovision(): no cached schema for current ANNOUNCE');\n    }\n    this.#reprovisionState();\n    await this.#beginBringUp(\n      {\n        schemaHash: a.schemaHash,\n        bootId: a.bootId,\n        blobLen: a.blobLen,\n        protocolVersion: a.protocolVersion,\n        instanceCounts: a.instanceCounts,\n      },\n      cached.schema,\n      cached.blob,\n    );\n  }\n\n  /** Detach, send STOP if currently RUNNING, clear all in-flight state. */\n  async stop(): Promise<void> {\n    if (this.#stopped) return;\n    this.#stopped = true;\n    if (this.#sweepHandle !== null) {\n      clearInterval(this.#sweepHandle);\n      this.#sweepHandle = null;\n    }\n    if (this.#unsubFrame !== null) {\n      this.#unsubFrame();\n      this.#unsubFrame = null;\n    }\n    this.#services.detach();\n    this.#services.failAll('NodeAgent.stop()');\n    if (this.#state.kind === 'running' && this.#transport.isOpen) {\n      try {\n        await this.#transport.send(encodeStop(this.nodeId, this.#seq.next()));\n      } catch (e) {\n        this.#error(e);\n      }\n    }\n    this.#acks.clear();\n    this.#schemaRead = null;\n    this.#provisioning = null;\n    this.#pendingStart = null;\n    this.#snapshot = null;\n    this.#setState({ kind: 'idle' });\n  }\n\n  // ---------------------------------------------------------------------\n  // Frame ingress\n  // ---------------------------------------------------------------------\n\n  #onFrame(f: CanFrame): void {\n    if (!f.extended) return;\n    if (extNodeId(f.id) !== this.nodeId) return;\n    if (extChannel(f.id) !== CHAN_CONFIG) return;\n    const cmd = extIndex(f.id);\n    const seq = extSeq(f.id);\n    switch (cmd) {\n      case CMD_ANNOUNCE:\n        this.#handleAnnounce(f.data);\n        break;\n      case CMD_HEARTBEAT:\n        this.#handleHeartbeat(f.data);\n        break;\n      case CMD_SCHEMA_DATA:\n        this.#handleSchemaData(seq, f.data);\n        break;\n      case CMD_ACK:\n        this.#acks.onAck(seq);\n        break;\n      case CMD_NAK: {\n        const m = decodeNak(f.data);\n        if (m) this.#acks.onNak(seq, m.reason);\n        break;\n      }\n      default:\n        break;\n    }\n  }\n\n  #sweep(): void {\n    const now = this.#now();\n    this.#acks.sweep(now);\n    this.#services.sweep(now);\n    if (this.#lastHeartbeatMs !== null && this.#state.kind !== 'lost') {\n      if (now - this.#lastHeartbeatMs > this.#heartbeatTimeoutMs) {\n        this.#enterLost('heartbeat timeout');\n      }\n    }\n    if (this.#schemaRead && this.#schemaRead.inflightDeadlineMs <= now) {\n      this.#onSchemaReadStall();\n    }\n  }\n\n  // ---------------------------------------------------------------------\n  // ANNOUNCE\n  // ---------------------------------------------------------------------\n\n  #handleAnnounce(data: Uint8Array): void {\n    const a = decodeAnnounce(data);\n    if (!a) {\n      this.#error(new Error('malformed ANNOUNCE'));\n      return;\n    }\n    const prev = this.#announce;\n    const isReboot = prev !== null && prev.bootId !== a.bootId;\n    const isHashChange = prev !== null && prev.schemaHash !== a.schemaHash;\n\n    this.#announce = {\n      schemaHash: a.schemaHash,\n      bootId: a.bootId,\n      blobLen: a.blobLen,\n      protocolVersion: a.protocolVersion,\n      instanceCounts: a.instanceCounts,\n    };\n\n    // Fresh boot or schema change always reprovisions. A repeat ANNOUNCE\n    // with the same (hash, boot_id) while we're mid-bring-up is the SPEC\n    // §5.4 \"× 3 spontaneous\" stream — skip it to avoid clobbering state.\n    if (this.#state.kind === 'running' && !isReboot && !isHashChange) return;\n    if (this.#state.kind === 'provisioning' && !isReboot && !isHashChange) return;\n    if (this.#state.kind === 'awaiting-start' && !isReboot && !isHashChange) return;\n    if (this.#state.kind === 'schema-reading' && !isReboot && !isHashChange) return;\n\n    this.#reprovisionState();\n\n    // Cached blob short-circuit.\n    const cached = this.#blobCache.get(a.schemaHash);\n    if (cached) {\n      void this.#beginBringUp(a, cached.schema, cached.blob);\n      return;\n    }\n    this.#startSchemaRead(a);\n  }\n\n  // ---------------------------------------------------------------------\n  // HEARTBEAT\n  // ---------------------------------------------------------------------\n\n  #handleHeartbeat(data: Uint8Array): void {\n    const h = decodeHeartbeat(data);\n    if (!h) {\n      this.#error(new Error('malformed HEARTBEAT'));\n      return;\n    }\n    this.#lastHeartbeatMs = this.#now();\n    if (this.#announce && this.#announce.bootId !== h.bootId) {\n      // §5.4 — boot_id changed without an ANNOUNCE arriving first (we may\n      // have missed the ANNOUNCE×3 burst). Drop everything and wait for\n      // the next ANNOUNCE.\n      this.#announce = null;\n      this.#reprovisionState();\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    // Recover from `lost`: a fresh heartbeat with the same boot_id means\n    // the slave is alive again. The data plane is still wired (we did not\n    // teardown the snapshot), so jump straight back to `running` if we\n    // had one. Alternatively, the previous bring-up may have parked in\n    // `awaiting-start` (autoStart gate blocked START) — put it back\n    // there so `startNow()` can still commit.\n    if (this.#state.kind === 'lost') {\n      if (this.#snapshot !== null) {\n        this.#setState({ kind: 'running' });\n      } else if (this.#pendingStart !== null) {\n        this.#setState({ kind: 'awaiting-start' });\n      }\n    }\n\n    // Snapshot gate: before START ACK the wire byte just echoes the\n    // pre-RUNNING lifecycle.\n    if (this.#snapshot !== null) {\n      const isSuspended = h.state === STATE_SUSPENDED;\n      if (isSuspended && this.#state.kind === 'running') {\n        this.#setState({ kind: 'suspended' });\n      } else if (!isSuspended && this.#state.kind === 'suspended') {\n        this.#setState({ kind: 'running' });\n      }\n    }\n  }\n\n  // ---------------------------------------------------------------------\n  // SCHEMA_READ\n  // ---------------------------------------------------------------------\n\n  #startSchemaRead(a: AnnounceMsg): void {\n    const progress: SchemaReadProgress = {\n      expectedTotal: a.blobLen,\n      acc: new SchemaAccumulator(a.blobLen),\n      inflightSeq: 0,\n      inflightLen: 0,\n      retriesLeft: this.#schemaReadRetries,\n      inflightDeadlineMs: 0,\n    };\n    this.#schemaRead = progress;\n    this.#setState({ kind: 'schema-reading', received: 0, total: a.blobLen });\n    this.#issueSchemaReadChunk(progress, false);\n  }\n\n  #issueSchemaReadChunk(p: SchemaReadProgress, retry: boolean): void {\n    const remaining = Math.max(0, p.expectedTotal - p.acc.length);\n    if (remaining === 0) return;\n    const len = Math.min(remaining, this.#schemaChunkSize);\n    const seq = retry ? p.inflightSeq : this.#seq.next();\n    p.inflightSeq = seq;\n    p.inflightLen = len;\n    p.inflightDeadlineMs = this.#now() + this.#ackTimeoutMs;\n    void this.#transport\n      .send(encodeSchemaRead(this.nodeId, p.acc.length, len, seq))\n      .catch((e: unknown) => this.#error(e));\n  }\n\n  #onSchemaReadStall(): void {\n    const p = this.#schemaRead;\n    if (!p) return;\n    if (p.retriesLeft <= 0) {\n      this.#error(new Error(`schema-read stalled (offset ${p.acc.length} of ${p.expectedTotal})`));\n      this.#schemaRead = null;\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    p.retriesLeft -= 1;\n    this.#issueSchemaReadChunk(p, true);\n  }\n\n  #handleSchemaData(seq: number, data: Uint8Array): void {\n    const p = this.#schemaRead;\n    if (!p) return;\n    const m = decodeSchemaData(data);\n    if (!m) {\n      this.#error(new Error('malformed SCHEMA_DATA'));\n      return;\n    }\n    if (m.offset !== p.acc.length) return; // out-of-order, drop\n    const took = p.acc.append(m, p.inflightLen);\n    if (took === 0) return;\n    p.retriesLeft = this.#schemaReadRetries;\n    if (!p.acc.complete) {\n      this.#setState({ kind: 'schema-reading', received: p.acc.length, total: p.expectedTotal });\n      this.#issueSchemaReadChunk(p, false);\n      return;\n    }\n    const blob = p.acc.bytes();\n    this.#schemaRead = null;\n    void this.#finishSchemaRead(blob);\n    void seq;\n  }\n\n  async #finishSchemaRead(blob: Uint8Array): Promise<void> {\n    const a = this.#announce;\n    if (!a) return;\n    // SPEC §5.4 — verify the SHA-256 prefix matches what ANNOUNCE\n    // pre-committed; mismatch means torn transfer / mid-flight reboot.\n    let actualHash: bigint;\n    try {\n      actualHash = await schemaHashPrefix(blob);\n    } catch (e) {\n      this.#error(e);\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    if (actualHash !== a.schemaHash) {\n      this.#error(\n        new Error(\n          `schema hash mismatch: announced ${a.schemaHash.toString(16)}, actual ${actualHash.toString(16)}`,\n        ),\n      );\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    let schema: NodeSchema;\n    let versionAheadOfMaster: boolean;\n    try {\n      ({ schema, versionAheadOfMaster } = decodeSchemaWithMeta(blob));\n    } catch (e) {\n      this.#error(e);\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    if (versionAheadOfMaster) {\n      this.#error(\n        new Error(\n          `node ${this.nodeId}: schema protocol_version=${schema.protocolVersion} exceeds master-known — proceeding with best-effort`,\n        ),\n      );\n    }\n    this.#blobCache.set(a.schemaHash, { blob, schema });\n    await this.#beginBringUp(a, schema, blob);\n  }\n\n  // ---------------------------------------------------------------------\n  // Bring-up: FRAME_DEFINE → START\n  // ---------------------------------------------------------------------\n\n  async #beginBringUp(a: AnnouncedRecord, schema: NodeSchema, blob: Uint8Array): Promise<void> {\n    this.#setState({ kind: 'numbering' });\n    const numbering = computeNumbering(schema, Array.from(a.instanceCounts));\n    if (numbering.status !== 'ok') {\n      this.#error(new Error(`numbering failed: ${numbering.status}`));\n      this.#setState({ kind: 'blocked', reason: `numbering: ${numbering.status}` });\n      return;\n    }\n    const plan: readonly FramePlan[] =\n      typeof this.#framePlan === 'function'\n        ? this.#framePlan(schema, numbering, { nodeId: this.nodeId })\n        : this.#framePlan;\n\n    // Targeted DISCOVER so the slave clears any stale frame table from a\n    // previous master session — mirrors send_frame_defines().\n    try {\n      await this.#transport.send(encodeDiscoverTo(this.nodeId));\n    } catch (e) {\n      this.#error(e);\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n\n    const gen = ++this.#generation;\n    const stdIdToTopicIndex = new Map<number, number>();\n    for (const fp of plan) {\n      for (const entry of fp.entries) {\n        // First entry wins as the \"primary\" mapping when multiple topics\n        // share a frame (rare but the planner permits it).\n        if (!stdIdToTopicIndex.has(fp.stdId)) {\n          stdIdToTopicIndex.set(fp.stdId, entry.topicIndex);\n        }\n      }\n    }\n    const progress: ProvisioningProgress = {\n      generation: gen,\n      pendingDefines: plan.length,\n      anyFailure: false,\n      firstNakReason: 0,\n      plan,\n      stdIdToTopicIndex,\n    };\n    this.#provisioning = progress;\n\n    if (plan.length === 0) {\n      // No frames to define — straight to START (or park in awaiting-start).\n      // Set 'provisioning' first so a DISCOVER-echo ANNOUNCE that arrives\n      // before the (synchronous) autoStart decision hits the early-return\n      // in #handleAnnounce instead of restarting bring-up from 'numbering'.\n      this.#provisioning.pendingDefines = 0;\n      this.#setState({ kind: 'provisioning', pendingDefines: 0 });\n      this.#maybeIssueStart(a, schema, blob, numbering, gen, progress);\n      return;\n    }\n    this.#setState({ kind: 'provisioning', pendingDefines: plan.length });\n\n    const deadline = this.#now() + this.#ackTimeoutMs;\n    for (const fp of plan) {\n      const seq = this.#seq.next();\n      this.#acks.track(seq, deadline, (outcome) =>\n        this.#onFrameDefineOutcome(a, schema, blob, numbering, gen, outcome),\n      );\n      // SPEC §5.6 — the wire `dir` byte is 0 for S→M, 1 for M→S; this is the\n      // opposite of the schema `Direction` enum (M2S=0, S2M=1, inherited from\n      // the proto3 default-zero convention). Mirror the C++ bridge mapping in\n      // `fibril_can_bridge/src/node_agent_routes.cpp` so the slave doesn't\n      // reject FRAME_DEFINE with NAK_DIR_MISMATCH (0x08).\n      const wireDir = fp.dir === Direction.S2M ? DIR_TX_S2M : DIR_RX_M2S;\n      void this.#transport\n        .send(encodeFrameDefine(this.nodeId, seq, fp.stdId, fp.periodUs, wireDir, fp.entries))\n        .catch((e: unknown) => this.#error(e));\n    }\n  }\n\n  #onFrameDefineOutcome(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n    outcome: AckOutcome,\n  ): void {\n    const p = this.#provisioning;\n    if (!p || p.generation !== gen) return;\n    if (outcome.kind !== 'acked') {\n      if (!p.anyFailure) {\n        p.anyFailure = true;\n        p.firstNakReason = outcome.kind === 'naked' ? outcome.reason : 0;\n      }\n    }\n    if (p.pendingDefines === 0) return;\n    p.pendingDefines -= 1;\n    this.#setState({ kind: 'provisioning', pendingDefines: p.pendingDefines });\n    if (p.pendingDefines > 0) return;\n    if (p.anyFailure) {\n      this.#error(new Error(`FRAME_DEFINE failed (first NAK reason ${p.firstNakReason})`));\n      this.#provisioning = null;\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    this.#maybeIssueStart(a, schema, blob, numbering, gen, p);\n  }\n\n  /**\n   * FRAME_DEFINE has succeeded (or been skipped). Consult the autoStart\n   * gate and either fire START immediately or park in `awaiting-start`,\n   * remembering enough context that `startNow()` can resume without\n   * re-running FRAME_DEFINE.\n   */\n  #maybeIssueStart(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n    progress: ProvisioningProgress,\n  ): void {\n    if (this.#autoStart()) {\n      this.#issueStart(a, schema, blob, numbering, gen);\n      return;\n    }\n    // Hold the bring-up in-flight so `startNow()` can pick up where we\n    // left off. `#provisioning` stays live too — a reprovision path\n    // (fresh ANNOUNCE, boot_id change, explicit reprovision()) clears\n    // both via `#reprovisionState()`.\n    this.#pendingStart = { a, schema, blob, numbering, generation: gen, progress };\n    this.#setState({ kind: 'awaiting-start' });\n  }\n\n  /**\n   * Commit the deferred START when {@link NodeAgentOptions.autoStart}\n   * gated the previous bring-up. Only legal in `awaiting-start`; any\n   * other state throws so callers spot logic bugs instead of racing\n   * with a fresh ANNOUNCE.\n   */\n  async startNow(): Promise<void> {\n    if (this.#stopped) throw new Error('NodeAgent.startNow() after stop()');\n    if (this.#state.kind !== 'awaiting-start' || this.#pendingStart === null) {\n      throw new Error(`NodeAgent.startNow() called in state '${this.#state.kind}'`);\n    }\n    const p = this.#pendingStart;\n    this.#pendingStart = null;\n    this.#setState({ kind: 'provisioning', pendingDefines: 0 });\n    this.#issueStart(p.a, p.schema, p.blob, p.numbering, p.generation);\n  }\n\n  #issueStart(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n  ): void {\n    const seq = this.#seq.next();\n    const deadline = this.#now() + this.#ackTimeoutMs;\n    this.#acks.track(seq, deadline, (outcome) =>\n      this.#onStartOutcome(a, schema, blob, numbering, gen, outcome),\n    );\n    void this.#transport.send(encodeStart(this.nodeId, seq)).catch((e: unknown) => this.#error(e));\n  }\n\n  #onStartOutcome(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n    outcome: AckOutcome,\n  ): void {\n    const p = this.#provisioning;\n    if (!p || p.generation !== gen) return;\n    if (outcome.kind !== 'acked') {\n      this.#error(\n        new Error(\n          `START ${outcome.kind === 'naked' ? `NAKed reason=${outcome.reason}` : 'timed out'}`,\n        ),\n      );\n      this.#provisioning = null;\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    const index = new SchemaIndex(schema, numbering, Array.from(a.instanceCounts));\n    const client = this.#services;\n    this.#snapshot = {\n      nodeId: this.nodeId,\n      schemaHash: a.schemaHash,\n      bootId: a.bootId,\n      instanceCounts: a.instanceCounts,\n      blob,\n      schema,\n      numbering,\n      framePlan: p.plan,\n      stdIdToTopicIndex: p.stdIdToTopicIndex,\n      services: client,\n      index,\n      service<Req extends Dict, Resp extends Dict>(path: string): TypedService<Req, Resp> {\n        const desc = index.service(path);\n        if (!desc) {\n          throw new Error(`unknown service path '${path}'`);\n        }\n        return new TypedService<Req, Resp>(client, desc);\n      },\n      param<T>(path: string): TypedParam<T> {\n        const desc = index.param(path);\n        if (!desc) {\n          throw new Error(`unknown param path '${path}'`);\n        }\n        return new TypedParam<T>(client, desc);\n      },\n    };\n    this.#provisioning = null;\n    this.#setState({ kind: 'running' });\n    void STATE_RUNNING; // referenced for future per-state hooks\n  }\n\n  // ---------------------------------------------------------------------\n  // Helpers\n  // ---------------------------------------------------------------------\n\n  #reprovisionState(): void {\n    this.#acks.clear();\n    this.#services.failAll('NodeAgent reprovision');\n    this.#schemaRead = null;\n    this.#provisioning = null;\n    this.#pendingStart = null;\n    this.#snapshot = null;\n  }\n\n  #enterLost(reason: string): void {\n    if (this.#state.kind === 'lost') return;\n    this.#setState({ kind: 'lost', reason });\n  }\n\n  #setState(s: NodeProvisionState): void {\n    this.#state = s;\n    this.#onState?.(s);\n  }\n\n  #error(e: unknown): void {\n    const err = e instanceof Error ? e : new Error(String(e));\n    this.#onError?.(err);\n  }\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport {\n  CHAN_CONFIG,\n  CMD_ANNOUNCE,\n  CMD_HEARTBEAT,\n  extChannel,\n  extIndex,\n  extNodeId,\n  NODE_ID_BROADCAST,\n} from './can-id.js';\nimport { encodeDiscover } from './config-plane.js';\nimport { DataPlaneReceiver } from './data-plane.js';\nimport { MasterHeartbeatBroadcaster } from './master-heartbeat.js';\nimport {\n  type FramePlanFactory,\n  NodeAgent,\n  type NodeProvisionState,\n  type NodeRunningSnapshot,\n} from './node-agent.js';\n\n/**\n * Multi-slave coordinator.\n *\n * One {@link MasterController} owns:\n *   - a single transport (the bus)\n *   - one {@link MasterHeartbeatBroadcaster} (shared across slaves)\n *   - a single broadcast DISCOVER at start() to flush every slave's frame\n *     table and pull fresh ANNOUNCEs onto the bus\n *   - a `Map<nodeId, NodeAgent>` of provisioned slaves — auto-spawned on\n *     the first ANNOUNCE / HEARTBEAT from a previously-unseen nodeId\n *\n * Periodic broadcast DISCOVER is intentionally NOT done. Broadcast\n * DISCOVER is destructive (§5.11): every receiving slave clears its frame\n * table and drops to UNPROVISIONED. Late-joining slaves are covered by\n * their own spontaneous ANNOUNCE × 3 at boot (§5.4); the user-initiated\n * \"Discover\" button (`discoverNow()`) is the escape hatch for the rare\n * case where the master came up first and missed the burst.\n *\n * Provisioning per slave still goes through {@link NodeAgent}. The\n * controller is the right place to add cross-slave concerns later (PARAM\n * persistence, name ownership, lab-mode multiplexers) without bloating\n * `NodeAgent`.\n *\n * The controller does NOT replace `NodeAgent` for single-slave embedded\n * use cases (e.g. tests, a fixed-topology setup); it sits one layer above\n * and is the natural entrypoint for the Web UI.\n */\n\n/** Default policy hooks applied to every spawned NodeAgent. */\nexport interface MasterControllerOptions {\n  /** Already-open()'d transport. The controller attaches its own onFrame. */\n  transport: ITransport;\n  /** Strategy applied to every spawned NodeAgent. Required. */\n  framePlan: FramePlanFactory;\n  /** MASTER_HEARTBEAT broadcast period in ms. Default 100 (§5.11). */\n  heartbeatPeriodMs?: number;\n  /**\n   * Broadcast DISCOVER period in ms. Default 0 (disabled). Setting >0 is\n   * destructive — every periodic broadcast DISCOVER wipes every slave's\n   * frame table and forces re-provisioning, breaking S→M topic flow until\n   * each NodeAgent re-pushes its FRAME_DEFINEs. Useful only for very\n   * niche reconnect-storm scenarios; prefer `discoverNow()` for on-demand\n   * rediscovery and rely on slave spontaneous ANNOUNCE × 3 (§5.4) for\n   * normal late-join.\n   */\n  discoverPeriodMs?: number;\n  /**\n   * Send a single broadcast DISCOVER inside `start()` to flush stale\n   * slave state from a previous master session. Default true. Set false\n   * in tests that drive ANNOUNCE manually and need a quiet bus.\n   */\n  initialDiscover?: boolean;\n  /** Per-NodeAgent ACK timeout in ms. Default 250 (matches NodeAgent). */\n  ackTimeoutMs?: number;\n  /** Per-NodeAgent HEARTBEAT-loss budget in ms. Default 350. */\n  heartbeatTimeoutMs?: number;\n  /** Per-service-call default timeout in ms. Default `ackTimeoutMs`. */\n  serviceTimeoutMs?: number;\n  /**\n   * Read-through gate applied to every spawned NodeAgent right before it\n   * issues START. Callers pass a getter (not a boolean) so the flag can\n   * be flipped at runtime — see `NodeAgentOptions.autoStart`. Default\n   * `() => true`.\n   */\n  autoStart?: () => boolean;\n  /** Optional clock override (tests). Default `() => Date.now()`. */\n  now?: () => number;\n  /** Optional non-fatal error sink. */\n  onError?: (err: Error) => void;\n}\n\n/** Snapshot of one slave's state as observed by the controller. */\nexport interface ControllerSlaveSnapshot {\n  readonly nodeId: number;\n  readonly state: NodeProvisionState;\n  /** Truthy once the slave reaches RUNNING for the first time. */\n  readonly running: NodeRunningSnapshot | null;\n  /** `now()` when HEARTBEAT was last seen. null if never. */\n  readonly lastHeartbeatMs: number | null;\n  /** boot_id observed (from ANNOUNCE or HEARTBEAT). null if neither yet. */\n  readonly bootId: number | null;\n  /** schema_hash observed in ANNOUNCE. null if not yet ANNOUNCEd. */\n  readonly schemaHash: bigint | null;\n}\n\nexport type ControllerListener = (snapshots: readonly ControllerSlaveSnapshot[]) => void;\n\ninterface SlaveRecord {\n  agent: NodeAgent;\n  state: NodeProvisionState;\n  lastHeartbeatMs: number | null;\n  bootId: number | null;\n  schemaHash: bigint | null;\n}\n\n/** Snapshot type derived from CMD_HEARTBEAT payload — minimal. */\nfunction readU32Le(p: Uint8Array, off: number): number {\n  return (\n    ((p[off] ?? 0) |\n      ((p[off + 1] ?? 0) << 8) |\n      ((p[off + 2] ?? 0) << 16) |\n      ((p[off + 3] ?? 0) << 24)) >>>\n    0\n  );\n}\nfunction readU64Le(p: Uint8Array, off: number): bigint {\n  let r = 0n;\n  for (let i = 0; i < 8; i++) r |= BigInt(p[off + i] ?? 0) << BigInt(i * 8);\n  return r;\n}\n\nexport class MasterController {\n  readonly #transport: ITransport;\n  readonly #framePlan: FramePlanFactory;\n  readonly #heartbeatBroadcaster: MasterHeartbeatBroadcaster;\n  readonly #dataPlane: DataPlaneReceiver;\n  readonly #discoverPeriodMs: number;\n  readonly #initialDiscover: boolean;\n  readonly #ackTimeoutMs: number;\n  readonly #heartbeatTimeoutMs: number;\n  readonly #serviceTimeoutMs: number | undefined;\n  readonly #autoStart: () => boolean;\n  readonly #now: () => number;\n  readonly #onError?: (err: Error) => void;\n\n  readonly #slaves = new Map<number, SlaveRecord>();\n  readonly #listeners = new Set<ControllerListener>();\n\n  #unsubFrame: Unsubscribe | null = null;\n  #discoverHandle: ReturnType<typeof setInterval> | null = null;\n  #started = false;\n\n  constructor(opts: MasterControllerOptions) {\n    this.#transport = opts.transport;\n    this.#framePlan = opts.framePlan;\n    this.#heartbeatBroadcaster = new MasterHeartbeatBroadcaster(\n      opts.transport,\n      opts.heartbeatPeriodMs ?? 100,\n    );\n    this.#dataPlane = new DataPlaneReceiver({\n      transport: opts.transport,\n      ...(opts.onError !== undefined ? { onError: opts.onError } : {}),\n      ...(opts.now !== undefined ? { now: opts.now } : {}),\n    });\n    this.#discoverPeriodMs = opts.discoverPeriodMs ?? 0;\n    this.#initialDiscover = opts.initialDiscover ?? true;\n    this.#ackTimeoutMs = opts.ackTimeoutMs ?? 250;\n    this.#heartbeatTimeoutMs = opts.heartbeatTimeoutMs ?? 350;\n    this.#serviceTimeoutMs = opts.serviceTimeoutMs;\n    this.#autoStart = opts.autoStart ?? (() => true);\n    this.#now = opts.now ?? (() => Date.now());\n    this.#onError = opts.onError;\n  }\n\n  /**\n   * Master-side decoder for S→M topic frames. Auto-attached / detached as\n   * each slave transitions in and out of `running`. Subscribe with\n   * `dataPlane.onTopic(nodeId, path, listener)`; read latest values with\n   * `dataPlane.latest(nodeId, path)`.\n   */\n  get dataPlane(): DataPlaneReceiver {\n    return this.#dataPlane;\n  }\n\n  /**\n   * Attach to the transport, start MASTER_HEARTBEAT, fire one initial\n   * broadcast DISCOVER to flush stale slave state from a previous master\n   * session. New slaves auto-spawn a NodeAgent on first sight.\n   */\n  start(): void {\n    if (this.#started) return;\n    this.#started = true;\n    this.#heartbeatBroadcaster.start();\n    this.#unsubFrame = this.#transport.onFrame((f) => this.#onFrame(f));\n    if (this.#initialDiscover) {\n      // Single broadcast: pulls every slave back to UNPROVISIONED + a\n      // fresh ANNOUNCE, so we don't try to drive a slave that thinks it's\n      // still running under the previous master's frame table.\n      void this.#transport.send(encodeDiscover()).catch((e) => this.#error(e));\n    }\n    if (this.#discoverPeriodMs > 0) {\n      this.#discoverHandle = setInterval(() => {\n        void this.#transport.send(encodeDiscover()).catch((e) => this.#error(e));\n      }, this.#discoverPeriodMs);\n    }\n  }\n\n  /** Stop all internals, stop every NodeAgent, detach from the transport. */\n  async stop(): Promise<void> {\n    if (!this.#started) return;\n    this.#started = false;\n    if (this.#discoverHandle !== null) {\n      clearInterval(this.#discoverHandle);\n      this.#discoverHandle = null;\n    }\n    this.#heartbeatBroadcaster.stop();\n    if (this.#unsubFrame) {\n      this.#unsubFrame();\n      this.#unsubFrame = null;\n    }\n    const stops = [...this.#slaves.values()].map((r) => r.agent.stop().catch(() => {}));\n    this.#slaves.clear();\n    this.#dataPlane.dispose();\n    await Promise.all(stops);\n    this.#emit();\n  }\n\n  /** Snapshot of all known slaves. Stable identity per call. */\n  snapshots(): ControllerSlaveSnapshot[] {\n    return [...this.#slaves.values()]\n      .map((r) => ({\n        nodeId: r.agent.nodeId,\n        state: r.state,\n        running: r.agent.snapshot,\n        lastHeartbeatMs: r.lastHeartbeatMs,\n        bootId: r.bootId,\n        schemaHash: r.schemaHash,\n      }))\n      .sort((a, b) => a.nodeId - b.nodeId);\n  }\n\n  /** Subscribe to slave-set / state-change updates. Fires on every change. */\n  onChange(cb: ControllerListener): Unsubscribe {\n    this.#listeners.add(cb);\n    // Prime the listener with the current snapshot so it doesn't need to\n    // race against the first state event.\n    cb(this.snapshots());\n    return () => {\n      this.#listeners.delete(cb);\n    };\n  }\n\n  /**\n   * Access the NodeAgent for one slave, if it exists. Returns null until\n   * the slave has been observed. Useful for service / param calls from\n   * code that already knows the nodeId.\n   */\n  agent(nodeId: number): NodeAgent | null {\n    return this.#slaves.get(nodeId)?.agent ?? null;\n  }\n\n  /** Issue an ad-hoc broadcast DISCOVER (between periodic firings). */\n  async discoverNow(): Promise<void> {\n    await this.#transport.send(encodeDiscover());\n  }\n\n  /**\n   * Commit the deferred START on one slave that is parked in\n   * `awaiting-start` because the autoStart gate blocked its bring-up.\n   * Returns `false` if the slave is unknown or not currently waiting\n   * for a manual start; otherwise resolves once START has been queued\n   * on the wire (the RUNNING transition arrives later via `onChange`).\n   */\n  async startNode(nodeId: number): Promise<boolean> {\n    const rec = this.#slaves.get(nodeId);\n    if (!rec) return false;\n    if (rec.state.kind !== 'awaiting-start') return false;\n    try {\n      await rec.agent.startNow();\n      return true;\n    } catch (e) {\n      this.#error(e);\n      return false;\n    }\n  }\n\n  /**\n   * Re-run the FRAME_DEFINE / START handshake for one slave so the\n   * {@link FramePlanFactory} is consulted again. Use when external state\n   * the factory closes over has changed (e.g. per-field TX-enable\n   * toggles). Returns `false` when the slave is unknown or has never\n   * ANNOUNCEd; otherwise resolves once the new bring-up has been kicked\n   * off (it does not await the next RUNNING transition — listen via\n   * {@link onChange} instead).\n   */\n  async reprovision(nodeId: number): Promise<boolean> {\n    const rec = this.#slaves.get(nodeId);\n    if (!rec) return false;\n    try {\n      await rec.agent.reprovision();\n      return true;\n    } catch (e) {\n      this.#error(e);\n      return false;\n    }\n  }\n\n  // ---------------------------------------------------------------------\n  // Frame ingress\n  // ---------------------------------------------------------------------\n\n  #onFrame(f: CanFrame): void {\n    if (!f.extended) return;\n    if (extChannel(f.id) !== CHAN_CONFIG) return;\n    const nodeId = extNodeId(f.id);\n    if (nodeId === 0 || nodeId === NODE_ID_BROADCAST) return; // master frames + reserved\n\n    const cmd = extIndex(f.id);\n    // Spawn-on-first-sight on ANNOUNCE or HEARTBEAT — both prove a slave is\n    // alive on this nodeId. SCHEMA_DATA / ACK / NAK never arrive before a\n    // master command, so we only key off ANNOUNCE/HEARTBEAT for spawn.\n    if (cmd === CMD_ANNOUNCE) {\n      const rec = this.#ensureSlave(nodeId);\n      // ANNOUNCE payload layout (§5.4): [0..7] schema_hash u64\n      //   [8] proto [9] boot_id [10..13] blob_len [14..] instance_counts\n      if (f.data.length >= 14) {\n        rec.schemaHash = readU64Le(f.data, 0);\n        rec.bootId = f.data[9] ?? rec.bootId ?? null;\n        void readU32Le; // referenced for future use\n      }\n      this.#emit();\n      return;\n    }\n    if (cmd === CMD_HEARTBEAT) {\n      const rec = this.#ensureSlave(nodeId);\n      rec.lastHeartbeatMs = this.#now();\n      if (f.data.length >= 1) {\n        // HEARTBEAT payload: [0] boot_id [1] state [2] fault_summary\n        rec.bootId = f.data[0] ?? rec.bootId ?? null;\n      }\n      this.#emit();\n    }\n  }\n\n  #ensureSlave(nodeId: number): SlaveRecord {\n    let rec = this.#slaves.get(nodeId);\n    if (rec) return rec;\n    const agent = new NodeAgent({\n      nodeId,\n      transport: this.#transport,\n      framePlan: this.#framePlan,\n      ackTimeoutMs: this.#ackTimeoutMs,\n      heartbeatTimeoutMs: this.#heartbeatTimeoutMs,\n      ...(this.#serviceTimeoutMs !== undefined ? { serviceTimeoutMs: this.#serviceTimeoutMs } : {}),\n      autoStart: this.#autoStart,\n      now: this.#now,\n      onState: (s) => {\n        const r = this.#slaves.get(nodeId);\n        if (!r) return;\n        r.state = s;\n        if (s.kind === 'running' && r.agent.snapshot !== null) {\n          try {\n            this.#dataPlane.attachSlave(nodeId, r.agent.snapshot.framePlan, r.agent.snapshot.index);\n          } catch (e) {\n            this.#error(e);\n          }\n        } else {\n          this.#dataPlane.detachSlave(nodeId);\n        }\n        this.#emit();\n      },\n      onError: (e) => this.#error(e),\n    });\n    rec = {\n      agent,\n      state: { kind: 'idle' },\n      lastHeartbeatMs: null,\n      bootId: null,\n      schemaHash: null,\n    };\n    this.#slaves.set(nodeId, rec);\n    void agent.start();\n    this.#emit();\n    return rec;\n  }\n\n  #emit(): void {\n    const snap = this.snapshots();\n    for (const cb of this.#listeners) {\n      try {\n        cb(snap);\n      } catch (e) {\n        this.#error(e);\n      }\n    }\n  }\n\n  #error(e: unknown): void {\n    if (!this.#onError) return;\n    this.#onError(e instanceof Error ? e : new Error(String(e)));\n  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Caller polls via {@link sweep}. */\n\nexport type AckOutcome =\n  | { kind: 'acked' }\n  | { kind: 'naked'; reason: number }\n  | { kind: 'timed-out' };\n\nexport type AckCallback = (outcome: AckOutcome) => void;\n\ninterface AckEntry {\n  deadlineMs: number;\n  cb: AckCallback;\n}\n\nexport class AckTracker {\n  readonly #pending = new Map<number, AckEntry>();\n  readonly #now: () => number;\n\n  constructor(now: () => number = () => Date.now()) {\n    this.#now = now;\n  }\n\n  get pendingCount(): number {\n    return this.#pending.size;\n  }\n\n  /** Returns false if `seq` is already tracked; the existing entry is kept. */\n  track(seq: number, deadlineMs: number, cb: AckCallback): boolean {\n    const key = seq & 0xff;\n    if (this.#pending.has(key)) return false;\n    this.#pending.set(key, { deadlineMs, cb });\n    return true;\n  }\n\n  /** Idempotent — fires `acked` if `seq` is pending. */\n  onAck(seq: number): void {\n    const key = seq & 0xff;\n    const e = this.#pending.get(key);\n    if (!e) return;\n    this.#pending.delete(key);\n    e.cb({ kind: 'acked' });\n  }\n\n  /** Idempotent — fires `naked` with the reason if `seq` is pending. */\n  onNak(seq: number, reason: number): void {\n    const key = seq & 0xff;\n    const e = this.#pending.get(key);\n    if (!e) return;\n    this.#pending.delete(key);\n    e.cb({ kind: 'naked', reason });\n  }\n\n  /** Fire `timed-out` for every entry whose deadline elapsed by `nowMs`. */\n  sweep(nowMs: number = this.#now()): void {\n    for (const [seq, entry] of this.#pending) {\n      if (entry.deadlineMs <= nowMs) {\n        this.#pending.delete(seq);\n        entry.cb({ kind: 'timed-out' });\n      }\n    }\n  }\n\n  /** Drop every entry without firing callbacks. 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Higher values\n// still parse.\nexport const PROTOCOL_VERSION = 2;\nexport const MAX_FRAME_PAYLOAD = 64;\n\n// Channel (§3.2)\nexport const CHAN_CONFIG = 0;\nexport const CHAN_SVC_REQUEST = 1;\nexport const CHAN_SVC_RESPONSE = 2;\n\nexport const NODE_ID_BROADCAST = 0x7f;\n\n// Standard ID mask (§3.1)\nexport const STD_ID_MASK = 0x7ff;\n\n// Reserved service indices (§3.3)\nexport const SVC_PARAM_SET = 0xfd;\nexport const SVC_CANCEL = 0xff;\nexport const SVC_MAX_FIRST_CLASS = 0xfc;\n\n// Config-plane command codes (§5.2)\nexport const CMD_DISCOVER = 0x01;\nexport const CMD_ANNOUNCE = 0x02;\nexport const CMD_SCHEMA_READ = 0x03;\nexport const CMD_SCHEMA_DATA = 0x04;\nexport const CMD_HEARTBEAT = 0x05;\nexport const CMD_MASTER_HEARTBEAT = 0x07;\nexport const CMD_FRAME_DEFINE = 0x10;\nexport const CMD_HB_PERIOD = 0x13;\nexport const CMD_START = 0x20;\nexport const CMD_STOP = 0x21;\nexport const CMD_ACK = 0x7e;\nexport const CMD_NAK = 0x7f;\n\n// NAK reason codes (§5.9)\nexport const NAK_UNKNOWN_CMD = 0x01;\nexport const NAK_BAD_LENGTH = 0x02;\nexport const NAK_BAD_PARAM = 0x03;\nexport const NAK_NO_RESOURCE = 0x04;\nexport const NAK_BAD_STATE = 0x05;\nexport const NAK_ID_CONFLICT = 0x06;\nexport const NAK_INDEX_RANGE = 0x07;\nexport const NAK_DIR_MISMATCH = 0x08;\nexport const NAK_SIZE_OVERFLOW = 0x09;\n\n// Node states (§2.4)\nexport const STATE_UNPROVISIONED = 0;\nexport const STATE_PROVISIONED = 1;\nexport const STATE_RUNNING = 2;\nexport const STATE_FAULT = 3;\nexport const STATE_SUSPENDED = 4;\n\n/** Human-readable name for a node_state byte. Unknown values → `unknown(N)`. */\nexport function stateName(state: number): string {\n  switch (state) {\n    case STATE_UNPROVISIONED:\n      return \"UNPROVISIONED\";\n    case STATE_PROVISIONED:\n      return \"PROVISIONED\";\n    case STATE_RUNNING:\n      return \"RUNNING\";\n    case STATE_FAULT:\n      return \"FAULT\";\n    case STATE_SUSPENDED:\n      return \"SUSPENDED\";\n    default:\n      return `unknown(${state})`;\n  }\n}\n\n// Fault summary (§5.8)\nexport const FAULT_NONE = 0;\nexport const FAULT_NOMEM = 1;\nexport const FAULT_INDEX_OVERFLOW = 2;\nexport const FAULT_ID_CONFLICT = 3;\n\n// Direction (§5.6 of FRAME_DEFINE)\nexport const DIR_TX_S2M = 0;\nexport const DIR_RX_M2S = 1;\n\n// Service status (§7.2)\nexport const SVC_OK = 0x00;\nexport const SVC_ACCEPTED = 0x01;\nexport const SVC_APP_ERROR = 0x02;\nexport const SVC_BUSY = 0x03;\nexport const SVC_UNAVAIL = 0x04;\nexport const SVC_BAD_INDEX = 0x05;\nexport const SVC_BAD_VALUE = 0x06;\nexport const SVC_BAD_LENGTH = 0x08;\n\n// Segmented service transfer (§7.4)\nexport const SEG_FIRST_DATA = 61;\nexport const SEG_REST_DATA = 63;\nexport const SEG_MAX_TOTAL = 1024;\nexport const SEG_MAX_SEQ = 31;\n\n/** Byte offset of segment `seq` within the reassembled buffer (§7.4). */\nexport function segOffset(seq: number): number {\n  return seq === 0 ? 0 : SEG_FIRST_DATA + (seq - 1) * SEG_REST_DATA;\n}\n\n/**\n * Build a 29-bit Extended ID from its bitfields (§3.2). Inputs are masked\n * down to their respective field widths.\n */\nexport function makeExtId(\n  channel: number,\n  nodeId: number,\n  index: number,\n  seq: number,\n  seg = 0,\n): number {\n  return (\n    (((channel & 0x7) << 26) |\n      ((nodeId & 0x7f) << 19) |\n      ((index & 0xff) << 11) |\n      ((seq & 0xff) << 3) |\n      ((seg & 0x1) << 2)) >>>\n    0\n  );\n}\n\nexport function extChannel(id: number): number {\n  return (id >>> 26) & 0x7;\n}\nexport function extNodeId(id: number): number {\n  return (id >>> 19) & 0x7f;\n}\nexport function extIndex(id: number): number {\n  return (id >>> 11) & 0xff;\n}\nexport function extSeq(id: number): number {\n  return (id >>> 3) & 0xff;\n}\nexport function extSeg(id: number): number {\n  return (id >>> 2) & 0x1;\n}\n","import { MAX_FRAME_PAYLOAD } from './can-id.js';\n\n/** Valid CAN FD payload sizes, ascending. */\nexport const FD_DLC_STEPS = Object.freeze([\n  0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64,\n]) as readonly number[];\n\n/** Round `bytes` up to the next valid CAN FD payload step (caps at 64). */\nexport function quantizeDlc(bytes: number): number {\n  if (bytes >= MAX_FRAME_PAYLOAD) return MAX_FRAME_PAYLOAD;\n  for (const step of FD_DLC_STEPS) {\n    if (step >= bytes) return step;\n  }\n  return MAX_FRAME_PAYLOAD;\n}\n\n/**\n * Pad `data` to the next DLC step with zeros. Over-length input (>64 B, which\n * the slave would misparse) is returned unchanged so the backend rejects it.\n */\nexport function padToDlc(data: Uint8Array): Uint8Array {\n  if (data.length >= MAX_FRAME_PAYLOAD) return data;\n  const padded = new Uint8Array(quantizeDlc(data.length));\n  padded.set(data);\n  return padded;\n}\n","import type { CanFrameTx } from '@fibril/can-transport';\nimport {\n  CHAN_CONFIG,\n  CMD_DISCOVER,\n  CMD_FRAME_DEFINE,\n  CMD_MASTER_HEARTBEAT,\n  CMD_SCHEMA_READ,\n  CMD_START,\n  CMD_STOP,\n  makeExtId,\n  NODE_ID_BROADCAST,\n} from './can-id.js';\nimport { padToDlc } from './dlc.js';\n\n/**\n * Config-plane wire codec. All integers little-endian; decoders return `null`\n * on malformed input; encoders produce CAN-FD frames padded to the next DLC step.\n */\n\n// ---------------------------------------------------------------------------\n// Message shapes (decoded form of S→M payloads)\n// ---------------------------------------------------------------------------\n\n/** ANNOUNCE payload (S→M, §5.4). */\nexport interface AnnounceMsg {\n  schemaHash: bigint;\n  protocolVersion: number;\n  bootId: number;\n  blobLen: number;\n  /** Length K, indexed by block-type ordinal. */\n  instanceCounts: Uint8Array;\n}\n\n/** HEARTBEAT payload (S→M, §5.8). */\nexport interface HeartbeatMsg {\n  bootId: number;\n  state: number;\n  faultSummary: number;\n}\n\n/** SCHEMA_DATA payload (S→M, §5.5). */\nexport interface SchemaDataMsg {\n  offset: number;\n  bytes: Uint8Array;\n}\n\n/** NAK payload (S→M, §5.9). */\nexport interface NakMsg {\n  cmd: number;\n  reason: number;\n}\n\n/** One entry inside a FRAME_DEFINE command (§5.6). */\nexport interface FrameDefineEntry {\n  topicIndex: number;\n  fieldBitmask: number;\n}\n\n// ---------------------------------------------------------------------------\n// Little-endian primitive helpers (private)\n// ---------------------------------------------------------------------------\n\nfunction readU32Le(p: Uint8Array, off: number): number {\n  return (\n    ((p[off] ?? 0) |\n      ((p[off + 1] ?? 0) << 8) |\n      ((p[off + 2] ?? 0) << 16) |\n      ((p[off + 3] ?? 0) << 24)) >>>\n    0\n  );\n}\nfunction readU64Le(p: Uint8Array, off: number): bigint {\n  let r = 0n;\n  for (let i = 0; i < 8; i++) {\n    r |= BigInt(p[off + i] ?? 0) << BigInt(i * 8);\n  }\n  return r;\n}\nfunction pushU16(buf: number[], x: number): void {\n  buf.push(x & 0xff, (x >>> 8) & 0xff);\n}\nfunction pushU32(buf: number[], x: number): void {\n  buf.push(x & 0xff, (x >>> 8) & 0xff, (x >>> 16) & 0xff, (x >>> 24) & 0xff);\n}\n\n// ---------------------------------------------------------------------------\n// Decoders\n// ---------------------------------------------------------------------------\n\nexport function decodeAnnounce(data: Uint8Array): AnnounceMsg | null {\n  if (data.length < 18) return null;\n  const k = data[17] ?? 0;\n  if (data.length < 18 + k) return null;\n  return {\n    schemaHash: readU64Le(data, 0),\n    protocolVersion: data[8] ?? 0,\n    bootId: readU32Le(data, 9),\n    blobLen: readU32Le(data, 13),\n    instanceCounts: data.slice(18, 18 + k),\n  };\n}\n\nexport function decodeHeartbeat(data: Uint8Array): HeartbeatMsg | null {\n  if (data.length < 6) return null;\n  return {\n    bootId: readU32Le(data, 0),\n    state: data[4] ?? 0,\n    faultSummary: data[5] ?? 0,\n  };\n}\n\nexport function decodeSchemaData(data: Uint8Array): SchemaDataMsg | null {\n  if (data.length < 4) return null;\n  return {\n    offset: readU32Le(data, 0),\n    bytes: data.slice(4),\n  };\n}\n\nexport function decodeNak(data: Uint8Array): NakMsg | null {\n  if (data.length < 2) return null;\n  return { cmd: data[0] ?? 0, reason: data[1] ?? 0 };\n}\n\n// ---------------------------------------------------------------------------\n// Encoders — master-initiated commands\n// ---------------------------------------------------------------------------\n\nfunction configFrame(nodeId: number, cmd: number, seq: number, data: Uint8Array): CanFrameTx {\n  // Mark every emitted frame as FD — payloads may quantize past 8 bytes.\n  return {\n    id: makeExtId(CHAN_CONFIG, nodeId, cmd, seq, 0),\n    extended: true,\n    fd: true,\n    data,\n  };\n}\n\n/** Broadcast DISCOVER — all nodes re-announce and clear their frame tables. */\nexport function encodeDiscover(): CanFrameTx {\n  return configFrame(NODE_ID_BROADCAST, CMD_DISCOVER, 0, new Uint8Array(0));\n}\n\n/** Targeted DISCOVER for a single node (§5.11 reprovisioning). */\nexport function encodeDiscoverTo(nodeId: number): CanFrameTx {\n  return configFrame(nodeId, CMD_DISCOVER, 0, new Uint8Array(0));\n}\n\n/** Broadcast MASTER_HEARTBEAT (§5.11). Refreshes slave master-lost watchdogs. */\nexport function encodeMasterHeartbeat(): CanFrameTx {\n  return configFrame(NODE_ID_BROADCAST, CMD_MASTER_HEARTBEAT, 0, new Uint8Array(0));\n}\n\nexport function encodeSchemaRead(\n  nodeId: number,\n  offset: number,\n  length: number,\n  seq: number,\n): CanFrameTx {\n  const buf: number[] = [];\n  pushU32(buf, offset);\n  buf.push(length & 0xff);\n  return configFrame(nodeId, CMD_SCHEMA_READ, seq, padToDlc(new Uint8Array(buf)));\n}\n\nexport function encodeFrameDefine(\n  nodeId: number,\n  seq: number,\n  stdId: number,\n  periodUs: number,\n  dir: number,\n  entries: readonly FrameDefineEntry[],\n): CanFrameTx {\n  const buf: number[] = [];\n  pushU16(buf, stdId);\n  pushU32(buf, periodUs);\n  buf.push(dir & 0xff);\n  buf.push(entries.length & 0xff);\n  for (const e of entries) {\n    pushU16(buf, e.topicIndex);\n    pushU16(buf, e.fieldBitmask);\n  }\n  return configFrame(nodeId, CMD_FRAME_DEFINE, seq, padToDlc(new Uint8Array(buf)));\n}\n\nexport function encodeStart(nodeId: number, seq: number): CanFrameTx {\n  return configFrame(nodeId, CMD_START, seq, new Uint8Array(0));\n}\n\nexport function encodeStop(nodeId: number, seq: number): CanFrameTx {\n  return configFrame(nodeId, CMD_STOP, seq, new Uint8Array(0));\n}\n\n// ---------------------------------------------------------------------------\n// Schema blob reassembly\n// ---------------------------------------------------------------------------\n\n/**\n * SCHEMA_DATA reassembly. Clips each chunk against `expectedChunkLen` and\n * the remaining blob length so DLC padding is discarded. Out-of-order\n * chunks are rejected ({@link append} returns 0).\n */\nexport class SchemaAccumulator {\n  readonly #buf: number[] = [];\n  readonly #blobTotalLen: number;\n\n  constructor(blobTotalLen: number) {\n    this.#blobTotalLen = blobTotalLen;\n  }\n\n  get length(): number {\n    return this.#buf.length;\n  }\n\n  get blobTotalLen(): number {\n    return this.#blobTotalLen;\n  }\n\n  get complete(): boolean {\n    return this.#buf.length >= this.#blobTotalLen;\n  }\n\n  bytes(): Uint8Array {\n    return new Uint8Array(this.#buf);\n  }\n\n  /**\n   * Append `chunk` if its offset matches the current accumulator length.\n   * Returns the number of bytes actually appended (0 on rejection).\n   */\n  append(chunk: SchemaDataMsg, expectedChunkLen: number): number {\n    if (chunk.offset !== this.#buf.length) return 0;\n    const remaining = Math.max(0, this.#blobTotalLen - chunk.offset);\n    const cap = Math.min(expectedChunkLen, remaining);\n    const take = Math.min(chunk.bytes.length, cap);\n    for (let i = 0; i < take; i++) {\n      this.#buf.push(chunk.bytes[i] ?? 0);\n    }\n    return take;\n  }\n}\n","/**\n * Scalar type enum and little-endian wire codecs. The ordinal values are\n * part of the protobuf schema blob and must not be renumbered.\n */\n\nexport enum ScalarType {\n  Bool = 0,\n  U8 = 1,\n  I8 = 2,\n  U16 = 3,\n  I16 = 4,\n  U32 = 5,\n  I32 = 6,\n  U64 = 7,\n  I64 = 8,\n  F32 = 9,\n  F64 = 10,\n}\n\nexport const SCALAR_NAMES = Object.freeze([\n  'bool',\n  'u8',\n  'i8',\n  'u16',\n  'i16',\n  'u32',\n  'i32',\n  'u64',\n  'i64',\n  'f32',\n  'f64',\n]) as readonly string[];\n\n/** Wire size in bytes of one scalar element. bool is 1 byte. */\nexport function scalarSize(type: ScalarType): number {\n  switch (type) {\n    case ScalarType.Bool:\n    case ScalarType.U8:\n    case ScalarType.I8:\n      return 1;\n    case ScalarType.U16:\n    case ScalarType.I16:\n      return 2;\n    case ScalarType.U32:\n    case ScalarType.I32:\n    case ScalarType.F32:\n      return 4;\n    case ScalarType.U64:\n    case ScalarType.I64:\n    case ScalarType.F64:\n      return 8;\n  }\n}\n\nexport function scalarName(type: ScalarType): string | undefined {\n  return SCALAR_NAMES[type];\n}\n\nexport function scalarFromName(name: string): ScalarType | undefined {\n  const idx = SCALAR_NAMES.indexOf(name);\n  return idx >= 0 ? (idx as ScalarType) : undefined;\n}\n\n/**\n * Pack an int/bool as little-endian into `out[offset..offset+scalarSize(type))`.\n * `number` is widened to bigint so signed negatives sign-extend to 64-bit\n * two's complement before truncation, matching C++ `pack_scalar_int_le`.\n */\nexport function packScalarIntLe(\n  type: ScalarType,\n  value: number | bigint,\n  out: Uint8Array,\n  offset = 0,\n): void {\n  const bytes = scalarSize(type);\n  const mask = (1n << 64n) - 1n;\n  const bits = (typeof value === 'bigint' ? value : BigInt(value)) & mask;\n  for (let i = 0; i < bytes; i++) {\n    out[offset + i] = Number((bits >> BigInt(i * 8)) & 0xffn);\n  }\n}\n\n/** Bit-cast a float32 to its IEEE-754 little-endian representation. */\nexport function packScalarF32Le(value: number, out: Uint8Array, offset = 0): void {\n  new DataView(out.buffer, out.byteOffset, out.byteLength).setFloat32(offset, value, true);\n}\n\n/** Bit-cast a float64 to its IEEE-754 little-endian representation. */\nexport function packScalarF64Le(value: number, out: Uint8Array, offset = 0): void {\n  new DataView(out.buffer, out.byteOffset, out.byteLength).setFloat64(offset, value, true);\n}\n\n/**\n * Inverse of {@link packScalarIntLe}. Returns the raw bit pattern as bigint;\n * caller interprets sign via {@link sign-extend} helpers below.\n */\nexport function unpackScalarIntLe(type: ScalarType, src: Uint8Array, offset = 0): bigint {\n  const bytes = scalarSize(type);\n  let bits = 0n;\n  for (let i = 0; i < bytes; i++) {\n    bits |= BigInt(src[offset + i] ?? 0) << BigInt(i * 8);\n  }\n  return bits;\n}\n\nexport function unpackScalarF32Le(src: Uint8Array, offset = 0): number {\n  return new DataView(src.buffer, src.byteOffset, src.byteLength).getFloat32(offset, true);\n}\n\nexport function unpackScalarF64Le(src: Uint8Array, offset = 0): number {\n  return new DataView(src.buffer, src.byteOffset, src.byteLength).getFloat64(offset, true);\n}\n\n/**\n * Sign-extend a bigint that was read as an unsigned `bytes`-byte field to a\n * signed bigint. Useful for I8/I16/I32/I64 after {@link unpackScalarIntLe}.\n */\nexport function signExtend(bits: bigint, bytes: number): bigint {\n  const width = BigInt(bytes * 8);\n  const signBit = 1n << (width - 1n);\n  return (bits & signBit) === 0n ? bits : bits - (1n << width);\n}\n","/**\n * Minimal proto3 reader — varint + length-delimited (used by the schema\n * blob) with fixed32 / fixed64 skipped to tolerate future fields.\n * See https://protobuf.dev/programming-guides/encoding/.\n */\n\nexport const WIRE_VARINT = 0;\nconst WIRE_FIXED64 = 1;\nexport const WIRE_LENGTH_DELIM = 2;\nconst WIRE_FIXED32 = 5;\n\nexport class ProtoReader {\n  private pos = 0;\n\n  constructor(\n    private readonly buf: Uint8Array,\n    private readonly end: number = buf.length,\n  ) {}\n\n  get done(): boolean {\n    return this.pos >= this.end;\n  }\n  get position(): number {\n    return this.pos;\n  }\n\n  /** Read a base-128 varint as a JS number (schema uses uint32 only). */\n  readVarint(): number {\n    let result = 0;\n    let shift = 0;\n    while (this.pos < this.end) {\n      const b = this.buf[this.pos++];\n      if (b === undefined) throw new ProtoError('truncated varint');\n      result |= (b & 0x7f) << shift;\n      if ((b & 0x80) === 0) return result >>> 0;\n      shift += 7;\n      if (shift >= 32) {\n        // Drain any oversized varint and truncate to low 32 bits.\n        while (this.pos < this.end) {\n          const c = this.buf[this.pos++];\n          if (c === undefined) throw new ProtoError('truncated varint');\n          if ((c & 0x80) === 0) break;\n        }\n        return result >>> 0;\n      }\n    }\n    throw new ProtoError('truncated varint');\n  }\n\n  /** Read a length-delimited byte slice (no copy). */\n  readBytes(): Uint8Array {\n    const len = this.readVarint();\n    if (this.pos + len > this.end) throw new ProtoError('truncated length-delimited field');\n    const slice = this.buf.subarray(this.pos, this.pos + len);\n    this.pos += len;\n    return slice;\n  }\n\n  /** Read a length-delimited UTF-8 string. */\n  readString(): string {\n    const bytes = this.readBytes();\n    return new TextDecoder('utf-8', { fatal: false }).decode(bytes);\n  }\n\n  /** Read a length-delimited sub-message and return a new reader scoped to it. */\n  readMessage(): ProtoReader {\n    const bytes = this.readBytes();\n    return new ProtoReader(bytes);\n  }\n\n  /** Read a tag as `{field, wire}`. Unknown fields dispatch to {@link skipValue}. */\n  readTag(): { field: number; wire: number } {\n    const tag = this.readVarint();\n    return { field: tag >>> 3, wire: tag & 0x7 };\n  }\n\n  /** Discard the value associated with `wire`. Used to tolerate unknown fields. */\n  skipValue(wire: number): void {\n    switch (wire) {\n      case WIRE_VARINT:\n        this.readVarint();\n        return;\n      case WIRE_LENGTH_DELIM:\n        this.readBytes();\n        return;\n      case WIRE_FIXED32:\n        if (this.pos + 4 > this.end) throw new ProtoError('truncated fixed32');\n        this.pos += 4;\n        return;\n      case WIRE_FIXED64:\n        if (this.pos + 8 > this.end) throw new ProtoError('truncated fixed64');\n        this.pos += 8;\n        return;\n      default:\n        throw new ProtoError(`unsupported wire type ${wire}`);\n    }\n  }\n}\n\nexport class ProtoError extends Error {\n  constructor(message: string) {\n    super(message);\n    this.name = 'ProtoError';\n  }\n}\n","import { PROTOCOL_VERSION } from './can-id.js';\nimport { ProtoError, ProtoReader } from './proto-reader.js';\nimport { ScalarType, scalarSize } from './scalar-codec.js';\n\n/**\n * NodeSchema IR + protobuf decoder for the schema blob. Master-side notes:\n *   - Proto `topic_id` / `service_id` / `param_id` / BlockType `type_id`\n *     are accepted but discarded — the master derives indices from\n *     {@link computeNumbering}.\n *   - Proto wire `tx_disabled` inverts to IR `tx_enabled`.\n *   - `BlockArray.type_id` (proto) → `BlockArray.blockTypeIndex` (IR).\n * Unknown fields are skipped so future schema additions don't break masters.\n */\n\n// --- Field numbers (proto3) ---------------------------------------------------\n\nconst FIELD = {\n  Field: {\n    name: 1,\n    type: 2,\n    arrayLen: 3,\n    periodUsOverride: 4,\n    txDisabled: 5,\n  },\n  RosMapping: {\n    rosType: 1,\n    rosName: 2,\n    fieldMap: 3,\n  },\n  Topic: {\n    name: 2,\n    dir: 3,\n    fields: 4,\n    defaultPeriodUs: 5,\n    ros: 6,\n  },\n  Service: {\n    name: 2,\n    request: 3,\n    response: 4,\n    ros: 5,\n  },\n  Param: {\n    name: 2,\n    type: 3,\n    arrayLen: 4,\n    defaultValue: 5,\n    minValue: 6,\n    maxValue: 7,\n  },\n  BlockType: {\n    name: 2,\n    topics: 3,\n    services: 4,\n    params: 5,\n  },\n  BlockArray: {\n    typeId: 1,\n    rosNamespace: 2,\n  },\n  Limits: {\n    paramSetBatchBytes: 1,\n  },\n  NodeSchema: {\n    protocolVersion: 1,\n    nodeName: 2,\n    types: 3,\n    instances: 4,\n    limits: 5,\n  },\n} as const;\n\n// --- IR ---------------------------------------------------------------------\n\nexport enum Direction {\n  M2S = 0,\n  S2M = 1,\n}\n\nexport interface SchemaField {\n  name: string;\n  type: ScalarType;\n  /** 0 = scalar; >0 = fixed-length array of `type`. */\n  arrayLen: number;\n  /** Per-field override of the owning topic's defaultPeriodUs; undefined = inherit. */\n  periodUsOverride?: number;\n  /** Master-side planner skips this field if false. Defaults to true. */\n  txEnabled: boolean;\n}\n\nexport interface RosMapping {\n  rosType: string;\n  rosName: string;\n  fieldMap: string[];\n}\n\nexport interface SchemaTopic {\n  name: string;\n  dir: Direction;\n  fields: SchemaField[];\n  defaultPeriodUs: number;\n  ros: RosMapping;\n}\n\nexport interface SchemaService {\n  name: string;\n  request: SchemaField[];\n  response: SchemaField[];\n  ros: RosMapping;\n}\n\nexport interface SchemaParam {\n  name: string;\n  type: ScalarType;\n  arrayLen: number;\n  /** Little-endian packed payload. Always present for default; min/max may be empty. */\n  defaultValue: Uint8Array;\n  minValue: Uint8Array;\n  maxValue: Uint8Array;\n}\n\nexport interface SchemaBlockType {\n  name: string;\n  topics: SchemaTopic[];\n  services: SchemaService[];\n  params: SchemaParam[];\n}\n\nexport interface SchemaBlockArray {\n  /** Index into NodeSchema.types (was `type_id` on the wire). */\n  blockTypeIndex: number;\n  rosNamespace: string;\n}\n\nexport interface WireLimits {\n  /** 0 = use bridge default. */\n  paramSetBatchBytes: number;\n}\n\nexport interface NodeSchema {\n  protocolVersion: number;\n  nodeName: string;\n  types: SchemaBlockType[];\n  instances: SchemaBlockArray[];\n  limits: WireLimits;\n}\n\n// --- Field decoders ---------------------------------------------------------\n\nfunction decodeField(r: ProtoReader): SchemaField {\n  const f: SchemaField = {\n    name: '',\n    type: ScalarType.Bool,\n    arrayLen: 0,\n    txEnabled: true,\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Field.name:\n        f.name = r.readString();\n        break;\n      case FIELD.Field.type: {\n        const v = r.readVarint();\n        if (v > ScalarType.F64) {\n          throw new ProtoError(`Field.type out of range: ${v}`);\n        }\n        f.type = v as ScalarType;\n        break;\n      }\n      case FIELD.Field.arrayLen:\n        f.arrayLen = r.readVarint();\n        break;\n      case FIELD.Field.periodUsOverride: {\n        const v = r.readVarint();\n        if (v !== 0) f.periodUsOverride = v;\n        break;\n      }\n      case FIELD.Field.txDisabled: {\n        const v = r.readVarint();\n        f.txEnabled = v === 0;\n        break;\n      }\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return f;\n}\n\nfunction decodeRos(r: ProtoReader): RosMapping {\n  const ros: RosMapping = { rosType: '', rosName: '', fieldMap: [] };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.RosMapping.rosType:\n        ros.rosType = r.readString();\n        break;\n      case FIELD.RosMapping.rosName:\n        ros.rosName = r.readString();\n        break;\n      case FIELD.RosMapping.fieldMap:\n        ros.fieldMap.push(r.readString());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return ros;\n}\n\nfunction decodeTopic(r: ProtoReader): SchemaTopic {\n  // proto3 absent-field defaults: enum → 0 (= M2S), so an omitted `dir`\n  // means M2S, NOT the IR struct default of S2M. Mirrors C++ parse_schema.\n  const t: SchemaTopic = {\n    name: '',\n    dir: Direction.M2S,\n    fields: [],\n    defaultPeriodUs: 0,\n    ros: { rosType: '', rosName: '', fieldMap: [] },\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Topic.name:\n        t.name = r.readString();\n        break;\n      case FIELD.Topic.dir: {\n        const v = r.readVarint();\n        if (v !== Direction.M2S && v !== Direction.S2M) {\n          throw new ProtoError(`Topic.dir out of range: ${v}`);\n        }\n        t.dir = v;\n        break;\n      }\n      case FIELD.Topic.fields:\n        t.fields.push(decodeField(r.readMessage()));\n        break;\n      case FIELD.Topic.defaultPeriodUs:\n        t.defaultPeriodUs = r.readVarint();\n        break;\n      case FIELD.Topic.ros:\n        t.ros = decodeRos(r.readMessage());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return t;\n}\n\nfunction decodeService(r: ProtoReader): SchemaService {\n  const s: SchemaService = {\n    name: '',\n    request: [],\n    response: [],\n    ros: { rosType: '', rosName: '', fieldMap: [] },\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Service.name:\n        s.name = r.readString();\n        break;\n      case FIELD.Service.request:\n        s.request.push(decodeField(r.readMessage()));\n        break;\n      case FIELD.Service.response:\n        s.response.push(decodeField(r.readMessage()));\n        break;\n      case FIELD.Service.ros:\n        s.ros = decodeRos(r.readMessage());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return s;\n}\n\nfunction decodeParam(r: ProtoReader): SchemaParam {\n  const p: SchemaParam = {\n    name: '',\n    type: ScalarType.Bool,\n    arrayLen: 0,\n    defaultValue: new Uint8Array(0),\n    minValue: new Uint8Array(0),\n    maxValue: new Uint8Array(0),\n  };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Param.name:\n        p.name = r.readString();\n        break;\n      case FIELD.Param.type: {\n        const v = r.readVarint();\n        if (v > ScalarType.F64) throw new ProtoError(`Param.type out of range: ${v}`);\n        p.type = v as ScalarType;\n        break;\n      }\n      case FIELD.Param.arrayLen:\n        p.arrayLen = r.readVarint();\n        break;\n      case FIELD.Param.defaultValue:\n        p.defaultValue = new Uint8Array(r.readBytes());\n        break;\n      case FIELD.Param.minValue:\n        p.minValue = new Uint8Array(r.readBytes());\n        break;\n      case FIELD.Param.maxValue:\n        p.maxValue = new Uint8Array(r.readBytes());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return p;\n}\n\nfunction decodeBlockType(r: ProtoReader): SchemaBlockType {\n  const b: SchemaBlockType = { name: '', topics: [], services: [], params: [] };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.BlockType.name:\n        b.name = r.readString();\n        break;\n      case FIELD.BlockType.topics:\n        b.topics.push(decodeTopic(r.readMessage()));\n        break;\n      case FIELD.BlockType.services:\n        b.services.push(decodeService(r.readMessage()));\n        break;\n      case FIELD.BlockType.params:\n        b.params.push(decodeParam(r.readMessage()));\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return b;\n}\n\nfunction decodeBlockArray(r: ProtoReader): SchemaBlockArray {\n  const a: SchemaBlockArray = { blockTypeIndex: 0, rosNamespace: '' };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.BlockArray.typeId:\n        a.blockTypeIndex = r.readVarint();\n        break;\n      case FIELD.BlockArray.rosNamespace:\n        a.rosNamespace = r.readString();\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return a;\n}\n\nfunction decodeLimits(r: ProtoReader): WireLimits {\n  const l: WireLimits = { paramSetBatchBytes: 0 };\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.Limits.paramSetBatchBytes:\n        l.paramSetBatchBytes = r.readVarint();\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  return l;\n}\n\nexport interface DecodeSchemaResult {\n  schema: NodeSchema;\n  /** True when the blob's protocolVersion exceeds this build's {@link PROTOCOL_VERSION}. */\n  versionAheadOfMaster: boolean;\n}\n\n/**\n * Parse a schema blob into the master-side IR. Throws {@link ProtoError}\n * on malformed input or `protocolVersion === 0` (proto3 leaves an unset\n * uint32 at 0, so zero means it was never populated).\n */\nexport function decodeSchemaWithMeta(blob: Uint8Array): DecodeSchemaResult {\n  const schema: NodeSchema = {\n    protocolVersion: 0,\n    nodeName: '',\n    types: [],\n    instances: [],\n    limits: { paramSetBatchBytes: 0 },\n  };\n  const r = new ProtoReader(blob);\n  while (!r.done) {\n    const { field, wire } = r.readTag();\n    switch (field) {\n      case FIELD.NodeSchema.protocolVersion:\n        schema.protocolVersion = r.readVarint();\n        break;\n      case FIELD.NodeSchema.nodeName:\n        schema.nodeName = r.readString();\n        break;\n      case FIELD.NodeSchema.types:\n        schema.types.push(decodeBlockType(r.readMessage()));\n        break;\n      case FIELD.NodeSchema.instances:\n        schema.instances.push(decodeBlockArray(r.readMessage()));\n        break;\n      case FIELD.NodeSchema.limits:\n        schema.limits = decodeLimits(r.readMessage());\n        break;\n      default:\n        r.skipValue(wire);\n    }\n  }\n  if (schema.protocolVersion === 0) {\n    throw new ProtoError(`schema protocol_version is 0 (unset)`);\n  }\n  for (const arr of schema.instances) {\n    if (arr.blockTypeIndex >= schema.types.length) {\n      throw new ProtoError(\n        `BlockArray.type_id ${arr.blockTypeIndex} out of range (#types=${schema.types.length})`,\n      );\n    }\n  }\n  return {\n    schema,\n    versionAheadOfMaster: schema.protocolVersion > PROTOCOL_VERSION,\n  };\n}\n\n/** Shim for callers that don't need the metadata — prefer {@link decodeSchemaWithMeta}. */\nexport function decodeSchema(blob: Uint8Array): NodeSchema {\n  return decodeSchemaWithMeta(blob).schema;\n}\n\n/** Wire size in bytes for a single field (scalar or fixed array). */\nexport function fieldWireSize(field: SchemaField): number {\n  return scalarSize(field.type) * (field.arrayLen === 0 ? 1 : field.arrayLen);\n}\n","import {\n  packScalarF32Le,\n  packScalarF64Le,\n  packScalarIntLe,\n  ScalarType,\n  scalarName,\n  scalarSize,\n  signExtend,\n  unpackScalarF32Le,\n  unpackScalarF64Le,\n  unpackScalarIntLe,\n} from './scalar-codec.js';\nimport { fieldWireSize, type SchemaField } from './schema.js';\n\n/**\n * Field-driven dict ⇄ Uint8Array codec. Throws on shape mismatch; decode\n * tolerates trailing bytes so future schema additions don't break decoders.\n */\n\nexport class DynamicCodecError extends Error {\n  constructor(message: string) {\n    super(message);\n    this.name = 'DynamicCodecError';\n  }\n}\n\nexport type FieldValue = number | bigint | boolean | number[] | bigint[] | boolean[];\nexport type Dict = Record<string, FieldValue>;\n\nfunction isInt64(type: ScalarType): boolean {\n  return type === ScalarType.U64 || type === ScalarType.I64;\n}\n\nfunction packOneScalar(\n  type: ScalarType,\n  value: number | bigint | boolean,\n  out: Uint8Array,\n  offset: number,\n  fieldName: string,\n): void {\n  switch (type) {\n    case ScalarType.Bool: {\n      if (typeof value !== 'boolean') {\n        throw new DynamicCodecError(\n          `field '${fieldName}': expected boolean for bool, got ${typeof value}`,\n        );\n      }\n      out[offset] = value ? 1 : 0;\n      return;\n    }\n    case ScalarType.F32: {\n      if (typeof value !== 'number') {\n        throw new DynamicCodecError(\n          `field '${fieldName}': expected number for f32, got ${typeof value}`,\n        );\n      }\n      packScalarF32Le(value, out, offset);\n      return;\n    }\n    case ScalarType.F64: {\n      if (typeof value !== 'number') {\n        throw new DynamicCodecError(\n          `field '${fieldName}': expected number for f64, got ${typeof value}`,\n        );\n      }\n      packScalarF64Le(value, out, offset);\n      return;\n    }\n    default: {\n      if (isInt64(type)) {\n        if (typeof value !== 'bigint') {\n          throw new DynamicCodecError(\n            `field '${fieldName}': expected bigint for ${scalarName(type)}, got ${typeof value}`,\n          );\n        }\n      } else {\n        if (typeof value !== 'number') {\n          throw new DynamicCodecError(\n            `field '${fieldName}': expected number for ${scalarName(type)}, got ${typeof value}`,\n          );\n        }\n      }\n      packScalarIntLe(type, value as number | bigint, out, offset);\n      return;\n    }\n  }\n}\n\nfunction unpackOneScalar(\n  type: ScalarType,\n  src: Uint8Array,\n  offset: number,\n): number | bigint | boolean {\n  switch (type) {\n    case ScalarType.Bool:\n      return (src[offset] ?? 0) !== 0;\n    case ScalarType.F32:\n      return unpackScalarF32Le(src, offset);\n    case ScalarType.F64:\n      return unpackScalarF64Le(src, offset);\n    case ScalarType.I8:\n    case ScalarType.I16:\n    case ScalarType.I32: {\n      const bits = unpackScalarIntLe(type, src, offset);\n      return Number(signExtend(bits, scalarSize(type)));\n    }\n    case ScalarType.U8:\n    case ScalarType.U16:\n    case ScalarType.U32:\n      return Number(unpackScalarIntLe(type, src, offset));\n    case ScalarType.I64: {\n      const bits = unpackScalarIntLe(type, src, offset);\n      return signExtend(bits, 8);\n    }\n    case ScalarType.U64:\n      return unpackScalarIntLe(type, src, offset);\n  }\n}\n\n/**\n * Sum the wire size of a field list. The result is the byte count that\n * {@link encodeFields} will produce.\n */\nexport function fieldsWireSize(fields: readonly SchemaField[]): number {\n  let n = 0;\n  for (const f of fields) n += fieldWireSize(f);\n  return n;\n}\n\n/** Encode a dict into little-endian wire bytes. Throws on missing / wrong-shape fields. */\nexport function encodeFields(fields: readonly SchemaField[], value: Dict): Uint8Array {\n  const totalSize = fieldsWireSize(fields);\n  const out = new Uint8Array(totalSize);\n  let off = 0;\n  for (const f of fields) {\n    if (!f.txEnabled) {\n      // Slot stays reserved (zero-filled); the frame planner is responsible\n      // for excluding tx_disabled fields from the plan entirely.\n      off += fieldWireSize(f);\n      continue;\n    }\n    const v = value[f.name];\n    if (v === undefined) {\n      throw new DynamicCodecError(`encodeFields: missing field '${f.name}'`);\n    }\n    if (f.arrayLen === 0) {\n      packOneScalar(f.type, v as number | bigint | boolean, out, off, f.name);\n      off += scalarSize(f.type);\n    } else {\n      if (!Array.isArray(v)) {\n        throw new DynamicCodecError(\n          `field '${f.name}': expected array of length ${f.arrayLen}, got ${typeof v}`,\n        );\n      }\n      if (v.length !== f.arrayLen) {\n        throw new DynamicCodecError(\n          `field '${f.name}': expected array length ${f.arrayLen}, got ${v.length}`,\n        );\n      }\n      const stride = scalarSize(f.type);\n      for (let i = 0; i < f.arrayLen; i++) {\n        packOneScalar(f.type, v[i] as number | bigint | boolean, out, off, f.name);\n        off += stride;\n      }\n    }\n  }\n  return out;\n}\n\n/** Decode wire bytes into a dict. Trailing bytes are ignored; throws only if too short. */\nexport function decodeFields(fields: readonly SchemaField[], bytes: Uint8Array): Dict {\n  const expected = fieldsWireSize(fields);\n  if (bytes.length < expected) {\n    throw new DynamicCodecError(\n      `decodeFields: payload too short — need ${expected} bytes, got ${bytes.length}`,\n    );\n  }\n  const out: Dict = {};\n  let off = 0;\n  for (const f of fields) {\n    if (f.arrayLen === 0) {\n      out[f.name] = unpackOneScalar(f.type, bytes, off);\n      off += scalarSize(f.type);\n    } else {\n      const stride = scalarSize(f.type);\n      if (f.type === ScalarType.Bool) {\n        const arr: boolean[] = [];\n        for (let i = 0; i < f.arrayLen; i++) {\n          arr.push(unpackOneScalar(f.type, bytes, off) as boolean);\n          off += stride;\n        }\n        out[f.name] = arr;\n      } else if (isInt64(f.type)) {\n        const arr: bigint[] = [];\n        for (let i = 0; i < f.arrayLen; i++) {\n          arr.push(unpackOneScalar(f.type, bytes, off) as bigint);\n          off += stride;\n        }\n        out[f.name] = arr;\n      } else {\n        const arr: number[] = [];\n        for (let i = 0; i < f.arrayLen; i++) {\n          arr.push(unpackOneScalar(f.type, bytes, off) as number);\n          off += stride;\n        }\n        out[f.name] = arr;\n      }\n    }\n  }\n  return out;\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport { type Dict, decodeFields } from './dynamic-codec.js';\nimport type { FramePlan } from './node-agent.js';\nimport { Direction, fieldWireSize, type SchemaField } from './schema.js';\nimport type { SchemaIndex } from './schema-index.js';\n\n/**\n * Master-side decoder for S→M data-plane frames. `attachSlave` claims a\n * slave's std_ids; two slaves cannot share a std_id (throws). M→S frames\n * are skipped so echo / self-loopback isn't decoded as slave-published.\n */\nexport interface DataPlaneReceiverOptions {\n  transport: ITransport;\n  /** Non-fatal error sink (decode errors, listener throws). */\n  onError?: (err: Error) => void;\n  /** Clock override for tests. Default `() => Date.now()`. */\n  now?: () => number;\n}\n\nexport type TopicListener = (value: Dict, tsMs: number) => void;\n\nexport interface TopicSample {\n  readonly value: Dict;\n  readonly tsMs: number;\n}\n\nexport interface TopicStats {\n  readonly count: number;\n  /** `now()` of the most recent frame. */\n  readonly lastRxMs: number;\n  /** Rolling rate in Hz over the last {@link RATE_WINDOW} samples; 0 with <2 samples. */\n  readonly ratePerSec: number;\n}\n\ninterface PackedEntry {\n  path: string;\n  fields: SchemaField[];\n  offset: number;\n  size: number;\n}\n\ninterface FrameBucket {\n  nodeId: number;\n  stdId: number;\n  dir: Direction;\n  entries: PackedEntry[];\n}\n\ninterface TopicCache {\n  value: Dict;\n  tsMs: number;\n  count: number;\n  /** Rolling window of timestamps for ratePerSec, capped at RATE_WINDOW. */\n  ts: number[];\n}\n\nconst RATE_WINDOW = 16;\n\nfunction maskedFieldsList(fields: readonly SchemaField[], mask: number): SchemaField[] {\n  const out: SchemaField[] = [];\n  for (let i = 0; i < fields.length; i++) {\n    const f = fields[i];\n    if (f === undefined) continue;\n    if ((mask & (1 << i)) !== 0) out.push(f);\n  }\n  return out;\n}\n\nfunction sumWireSize(fields: readonly SchemaField[]): number {\n  let s = 0;\n  for (const f of fields) s += fieldWireSize(f);\n  return s;\n}\n\nfunction buildBucket(framePlan: FramePlan, index: SchemaIndex, nodeId: number): FrameBucket {\n  let offset = 0;\n  const entries: PackedEntry[] = [];\n  for (const e of framePlan.entries) {\n    const desc = index.topicByIndex(e.topicIndex);\n    if (desc === undefined) {\n      // Skip unknown entries so a partial plan still decodes what it can.\n      continue;\n    }\n    const fields = maskedFieldsList(desc.fields, e.fieldBitmask);\n    const size = sumWireSize(fields);\n    entries.push({ path: desc.path, fields, offset, size });\n    offset += size;\n  }\n  return { nodeId, stdId: framePlan.stdId, dir: framePlan.dir, entries };\n}\n\nfunction topicKey(nodeId: number, path: string): string {\n  return `${nodeId}/${path}`;\n}\n\nexport class DataPlaneReceiver {\n  readonly #onError: ((err: Error) => void) | undefined;\n  readonly #now: () => number;\n  readonly #unsubFrame: Unsubscribe;\n\n  readonly #buckets = new Map<number, FrameBucket>();\n  readonly #ownedByNode = new Map<number, Set<number>>();\n  readonly #latest = new Map<string, TopicCache>();\n  readonly #listeners = new Map<string, Set<TopicListener>>();\n  #version = 0;\n\n  constructor(opts: DataPlaneReceiverOptions) {\n    this.#onError = opts.onError;\n    this.#now = opts.now ?? (() => Date.now());\n    this.#unsubFrame = opts.transport.onFrame((f) => this.#onFrame(f));\n  }\n\n  /** Claim a slave's S→M std_ids. Re-attach atomically detaches the prior plan. */\n  attachSlave(nodeId: number, framePlan: readonly FramePlan[], index: SchemaIndex): void {\n    this.detachSlave(nodeId);\n    const owned = new Set<number>();\n    for (const fp of framePlan) {\n      if (fp.dir !== Direction.S2M) continue;\n      if (this.#buckets.has(fp.stdId)) {\n        const other = this.#buckets.get(fp.stdId);\n        throw new Error(\n          `DataPlaneReceiver: std_id 0x${fp.stdId.toString(16)} claimed by slave 0x${\n            other?.nodeId.toString(16) ?? '??'\n          }, cannot also attach slave 0x${nodeId.toString(16)}`,\n        );\n      }\n      this.#buckets.set(fp.stdId, buildBucket(fp, index, nodeId));\n      owned.add(fp.stdId);\n    }\n    this.#ownedByNode.set(nodeId, owned);\n  }\n\n  /** Release a slave's std_ids and drop its cached topic samples. */\n  detachSlave(nodeId: number): void {\n    const owned = this.#ownedByNode.get(nodeId);\n    if (!owned) return;\n    for (const id of owned) this.#buckets.delete(id);\n    this.#ownedByNode.delete(nodeId);\n    const prefix = `${nodeId}/`;\n    for (const k of [...this.#latest.keys()]) {\n      if (k.startsWith(prefix)) this.#latest.delete(k);\n    }\n  }\n\n  onTopic(nodeId: number, path: string, listener: TopicListener): Unsubscribe {\n    const key = topicKey(nodeId, path);\n    let set = this.#listeners.get(key);\n    if (!set) {\n      set = new Set();\n      this.#listeners.set(key, set);\n    }\n    set.add(listener);\n    return () => {\n      const s = this.#listeners.get(key);\n      if (!s) return;\n      s.delete(listener);\n      if (s.size === 0) this.#listeners.delete(key);\n    };\n  }\n\n  latest(nodeId: number, path: string): TopicSample | null {\n    const c = this.#latest.get(topicKey(nodeId, path));\n    return c === undefined ? null : { value: c.value, tsMs: c.tsMs };\n  }\n\n  stats(nodeId: number, path: string): TopicStats | null {\n    const c = this.#latest.get(topicKey(nodeId, path));\n    if (!c) return null;\n    let rate = 0;\n    if (c.ts.length >= 2) {\n      const newest = c.ts[c.ts.length - 1] ?? 0;\n      const oldest = c.ts[0] ?? 0;\n      const dt = newest - oldest;\n      if (dt > 0) rate = (1000 * (c.ts.length - 1)) / dt;\n    }\n    return { count: c.count, lastRxMs: c.tsMs, ratePerSec: rate };\n  }\n\n  /** Paths attached for this slave (in plan order). */\n  topicPathsFor(nodeId: number): string[] {\n    const owned = this.#ownedByNode.get(nodeId);\n    if (!owned) return [];\n    const out: string[] = [];\n    for (const id of owned) {\n      const b = this.#buckets.get(id);\n      if (b) for (const e of b.entries) out.push(e.path);\n    }\n    return out;\n  }\n\n  /** Bumps on every successfully decoded entry — cheap change detector. */\n  get version(): number {\n    return this.#version;\n  }\n\n  dispose(): void {\n    this.#unsubFrame();\n    this.#buckets.clear();\n    this.#ownedByNode.clear();\n    this.#latest.clear();\n    this.#listeners.clear();\n  }\n\n  #onFrame(f: CanFrame): void {\n    if (f.extended) return;\n    if (f.rtr) return;\n    const bucket = this.#buckets.get(f.id);\n    if (bucket === undefined) return;\n    const tsMs = this.#now();\n    for (const e of bucket.entries) {\n      if (e.offset + e.size > f.data.length) continue;\n      const slice = f.data.subarray(e.offset, e.offset + e.size);\n      let dict: Dict;\n      try {\n        dict = decodeFields(e.fields, slice);\n      } catch (err) {\n        this.#err(err);\n        continue;\n      }\n      this.#publish(bucket.nodeId, e.path, dict, tsMs);\n    }\n  }\n\n  #publish(nodeId: number, path: string, value: Dict, tsMs: number): void {\n    const key = topicKey(nodeId, path);\n    let c = this.#latest.get(key);\n    if (c === undefined) {\n      c = { value, tsMs, count: 0, ts: [] };\n      this.#latest.set(key, c);\n    } else {\n      c.value = value;\n      c.tsMs = tsMs;\n    }\n    c.count++;\n    c.ts.push(tsMs);\n    if (c.ts.length > RATE_WINDOW) c.ts.shift();\n    this.#version++;\n    const set = this.#listeners.get(key);\n    if (set !== undefined) {\n      for (const l of set) {\n        try {\n          l(value, tsMs);\n        } catch (err) {\n          this.#err(err);\n        }\n      }\n    }\n  }\n\n  #err(e: unknown): void {\n    if (this.#onError === undefined) return;\n    this.#onError(e instanceof Error ? e : new Error(String(e)));\n  }\n}\n","import { MAX_FRAME_PAYLOAD, STD_ID_MASK } from './can-id.js';\nimport type { FrameDefineEntry } from './config-plane.js';\nimport type { Direction } from './schema.js';\n\n/**\n * Field-requests → FRAME_DEFINE bodies. Groups by (dir, period_us) and\n * bin-packs whole topics into ≤64-byte frames; a topic that exceeds 64 B\n * is the sole field-split exception. Iteration order is ascending on\n * every level so codegen / bridge / master produce identical std_ids.\n */\n\nexport interface FieldRequest {\n  topicIndex: number;\n  /** 0..15, bit position in `fieldBitmask`. */\n  fieldId: number;\n  /** Wire size of this field. */\n  sizeBytes: number;\n  /** 0 = on-trigger only. */\n  periodUs: number;\n  dir: Direction;\n}\n\nexport interface FrameSpec {\n  stdCanId: number;\n  periodUs: number;\n  dir: Direction;\n  logicalBytes: number;\n  entries: FrameDefineEntry[];\n}\n\n/**\n * 11-bit std_id allocator with a delayed free pool. `next()` returns `null`\n * on exhaustion — wrapping past 0x7FF would alias on the wire.\n */\nexport class StdIdAllocator {\n  #next = 0x100;\n  readonly #freePool: Array<{ availableAtMs: number; id: number }> = [];\n\n  next(nowMs: number = Date.now()): number | null {\n    if (this.#freePool.length > 0) {\n      const head = this.#freePool[0];\n      if (head !== undefined && head.availableAtMs <= nowMs) {\n        this.#freePool.shift();\n        return head.id;\n      }\n    }\n    if (this.#next > STD_ID_MASK) return null;\n    const id = this.#next;\n    this.#next += 1;\n    return id;\n  }\n\n  release(id: number, availableAtMs: number): void {\n    let lo = 0;\n    let hi = this.#freePool.length;\n    while (lo < hi) {\n      const mid = (lo + hi) >>> 1;\n      const entry = this.#freePool[mid];\n      if (entry !== undefined && entry.availableAtMs < availableAtMs) lo = mid + 1;\n      else hi = mid;\n    }\n    this.#freePool.splice(lo, 0, { availableAtMs, id });\n  }\n\n  reset(start = 0x100): void {\n    this.#next = start;\n    this.#freePool.length = 0;\n  }\n}\n\ninterface MakeFrameInput {\n  topics: Map<number, FieldRequest[]>;\n  dir: Direction;\n  periodUs: number;\n  alloc: StdIdAllocator;\n}\n\nfunction makeFrame(input: MakeFrameInput): FrameSpec | null {\n  const id = input.alloc.next();\n  if (id === null) return null;\n  const entries: FrameDefineEntry[] = [];\n  let bytes = 0;\n  for (const topicIndex of [...input.topics.keys()].sort((a, b) => a - b)) {\n    const fields = input.topics.get(topicIndex);\n    if (!fields) continue;\n    let mask = 0;\n    for (const r of fields) {\n      mask |= 1 << r.fieldId;\n      bytes += r.sizeBytes;\n    }\n    entries.push({ topicIndex, fieldBitmask: mask });\n  }\n  return {\n    stdCanId: id,\n    periodUs: input.periodUs,\n    dir: input.dir,\n    logicalBytes: Math.min(bytes, MAX_FRAME_PAYLOAD),\n    entries,\n  };\n}\n\nfunction emitOversizedTopic(\n  fields: FieldRequest[],\n  dir: Direction,\n  periodUs: number,\n  alloc: StdIdAllocator,\n  out: FrameSpec[],\n): boolean {\n  const sorted = [...fields].sort((a, b) => a.fieldId - b.fieldId);\n  let bin: FieldRequest[] = [];\n  let binBytes = 0;\n  const topicIndex = sorted[0]?.topicIndex ?? 0;\n  const flush = (): boolean => {\n    if (bin.length === 0) return true;\n    const one = new Map<number, FieldRequest[]>([[topicIndex, bin]]);\n    const f = makeFrame({ topics: one, dir, periodUs, alloc });\n    if (!f) return false;\n    out.push(f);\n    bin = [];\n    binBytes = 0;\n    return true;\n  };\n  for (const r of sorted) {\n    if (binBytes + r.sizeBytes > MAX_FRAME_PAYLOAD) {\n      if (!flush()) return false;\n    }\n    bin.push(r);\n    binBytes += r.sizeBytes;\n  }\n  return flush();\n}\n\n/**\n * Plan a slave's frame layout. Returns `null` on std_id exhaustion — a\n * partial plan would silently drop fields.\n */\nexport function planFrames(\n  requests: readonly FieldRequest[],\n  alloc: StdIdAllocator,\n): FrameSpec[] | null {\n  // Bucket keys sort by numeric (dir, period) so iteration matches std::map.\n  const buckets = new Map<string, FieldRequest[]>();\n  for (const r of requests) {\n    const key = `${r.dir}/${r.periodUs}`;\n    let bucket = buckets.get(key);\n    if (!bucket) {\n      bucket = [];\n      buckets.set(key, bucket);\n    }\n    bucket.push(r);\n  }\n  const sortedKeys = [...buckets.keys()].sort((a, b) => {\n    const [aDir, aPeriod] = a.split('/').map(Number) as [number, number];\n    const [bDir, bPeriod] = b.split('/').map(Number) as [number, number];\n    if (aDir !== bDir) return aDir - bDir;\n    return aPeriod - bPeriod;\n  });\n\n  const out: FrameSpec[] = [];\n  for (const key of sortedKeys) {\n    const requestsInBucket = buckets.get(key);\n    if (!requestsInBucket) continue;\n    const [dir, periodUs] = key.split('/').map(Number) as [number, number];\n\n    const byTopic = new Map<number, FieldRequest[]>();\n    for (const r of requestsInBucket) {\n      let arr = byTopic.get(r.topicIndex);\n      if (!arr) {\n        arr = [];\n        byTopic.set(r.topicIndex, arr);\n      }\n      arr.push(r);\n    }\n    const topicBytes = new Map<number, number>();\n    for (const [topicIndex, fields] of byTopic) {\n      let sum = 0;\n      for (const r of fields) sum += r.sizeBytes;\n      topicBytes.set(topicIndex, sum);\n    }\n\n    let currentBin = new Map<number, FieldRequest[]>();\n    let currentBytes = 0;\n    const flush = (): boolean => {\n      if (currentBin.size === 0) return true;\n      const f = makeFrame({ topics: currentBin, dir, periodUs, alloc });\n      if (!f) return false;\n      out.push(f);\n      currentBin = new Map();\n      currentBytes = 0;\n      return true;\n    };\n\n    const sortedTopics = [...byTopic.keys()].sort((a, b) => a - b);\n    for (const topicIndex of sortedTopics) {\n      const fields = byTopic.get(topicIndex);\n      if (!fields) continue;\n      const sz = topicBytes.get(topicIndex) ?? 0;\n      if (sz > MAX_FRAME_PAYLOAD) {\n        if (!flush()) return null;\n        if (!emitOversizedTopic(fields, dir, periodUs, alloc, out)) return null;\n        continue;\n      }\n      if (currentBytes + sz > MAX_FRAME_PAYLOAD) {\n        if (!flush()) return null;\n      }\n      currentBin.set(topicIndex, fields);\n      currentBytes += sz;\n    }\n    if (!flush()) return null;\n  }\n  return out;\n}\n","import type { FieldRequest, FrameSpec } from './frame-planner.js';\nimport { planFrames, StdIdAllocator } from './frame-planner.js';\nimport type { FramePlan } from './node-agent.js';\nimport type { NumberingResult } from './numbering.js';\nimport { Direction, fieldWireSize, type NodeSchema, type SchemaField } from './schema.js';\n\n/**\n * Predicate for masking S→M fields on top of the schema-declared `txEnabled`.\n * Only called for fields with `txEnabled !== false`. Return `false` to drop\n * the field. `topicPath` mirrors {@link SchemaIndex.topicPaths}.\n */\nexport type S2MFieldFilter = (info: {\n  topicPath: string;\n  topicIndex: number;\n  fieldId: number;\n  fieldName: string;\n  field: SchemaField;\n}) => boolean;\n\nconst I_TOKEN = '{i}';\n\nfunction expandIToken(s: string, value: number): string {\n  if (!s.includes(I_TOKEN)) return s;\n  return s.split(I_TOKEN).join(String(value));\n}\n\nfunction joinPath(ns: string, name: string): string {\n  if (ns.length === 0) return name;\n  if (name.length === 0) return ns;\n  return `${ns}/${name}`;\n}\n\n/**\n * Every schema-enabled S→M field at its declared period\n * (`field.periodUsOverride` ?? topic's `defaultPeriodUs`), optionally masked\n * further by `filter`. Feeds {@link planFrames} for the observe-everything\n * auto-provision path.\n */\nexport function buildDefaultS2MRequests(\n  schema: NodeSchema,\n  numbering: NumberingResult,\n  filter?: S2MFieldFilter,\n): FieldRequest[] {\n  const out: FieldRequest[] = [];\n  numbering.topics.byIndex.forEach((endpoint, flatIndex) => {\n    const block = schema.instances[endpoint.blockArray];\n    if (!block) return;\n    const type = schema.types[block.blockTypeIndex];\n    if (!type) return;\n    const topic = type.topics[endpoint.endpoint];\n    if (!topic) return;\n    if (topic.dir !== Direction.S2M) return;\n    // Computed lazily — only needed when `filter` is supplied.\n    let topicPath: string | null = null;\n    topic.fields.forEach((field, fieldId) => {\n      if (!field.txEnabled) return;\n      if (filter !== undefined) {\n        if (topicPath === null) {\n          topicPath = joinPath(expandIToken(block.rosNamespace, endpoint.instance), topic.name);\n        }\n        if (\n          !filter({\n            topicPath,\n            topicIndex: flatIndex,\n            fieldId,\n            fieldName: field.name,\n            field,\n          })\n        ) {\n          return;\n        }\n      }\n      out.push({\n        topicIndex: flatIndex,\n        fieldId,\n        sizeBytes: fieldWireSize(field),\n        periodUs: field.periodUsOverride ?? topic.defaultPeriodUs,\n        dir: topic.dir,\n      });\n    });\n  });\n  return out;\n}\n\n/**\n * FramePlanFactory subscribing to every schema-enabled S→M field (optionally\n * masked by `filter`) with a fresh {@link StdIdAllocator}. Returns `[]` on\n * planning failure so NodeAgent stalls in `awaiting-announce` — a partial\n * plan would silently drop fields.\n */\nexport function defaultS2MFramePlan(\n  schema: NodeSchema,\n  numbering: NumberingResult,\n  filter?: S2MFieldFilter,\n): FramePlan[] {\n  const requests = buildDefaultS2MRequests(schema, numbering, filter);\n  const alloc = new StdIdAllocator();\n  const planned = planFrames(requests, alloc);\n  if (planned === null) return [];\n  return planned.map(\n    (s: FrameSpec): FramePlan => ({\n      stdId: s.stdCanId,\n      periodUs: s.periodUs,\n      dir: s.dir,\n      entries: s.entries,\n    }),\n  );\n}\n","import type { ITransport } from '@fibril/can-transport';\nimport { encodeMasterHeartbeat } from './config-plane.js';\n\n/**\n * Broadcasts CMD_MASTER_HEARTBEAT (§5.11) on a fixed period so slaves with\n * a `master_lost_us` watchdog configured do not silence their S→M traffic.\n *\n * Independent of any single {@link NodeAgent} — the heartbeat is a single\n * bus-wide broadcast that refreshes every slave's watchdog. Construct one\n * per transport.\n */\nexport class MasterHeartbeatBroadcaster {\n  #handle: ReturnType<typeof setInterval> | null = null;\n\n  constructor(\n    private readonly transport: ITransport,\n    private readonly periodMs: number = 100,\n  ) {}\n\n  start(): void {\n    if (this.#handle !== null) return;\n    const tick = (): void => {\n      if (!this.transport.isOpen) return;\n      void this.transport.send(encodeMasterHeartbeat()).catch(() => {\n        // Swallow — the transport's onError surfaces real failures.\n      });\n    };\n    // Send one immediately so a newly-attached slave doesn't wait a full\n    // period before its first refresh.\n    tick();\n    this.#handle = setInterval(tick, this.periodMs);\n  }\n\n  stop(): void {\n    if (this.#handle === null) return;\n    clearInterval(this.#handle);\n    this.#handle = null;\n  }\n\n  get running(): boolean {\n    return this.#handle !== null;\n  }\n}\n","import type { NodeSchema, SchemaBlockType } from './schema.js';\n\n/**\n * Flat-numbering tables for topics, services, and parameters — a pure\n * function of (schema, instance-count-vector). Codegen, slave runtime, and\n * master all derive these tables through the same function.\n */\n\n// Reserved service slots — must NOT be produced by numbering.\nexport const SERVICE_INDEX_CANCEL = 0xff;\nexport const SERVICE_INDEX_PARAM_SET = 0xfd;\nexport const SERVICE_INDEX_MAX = 0xfc;\nexport const SERVICE_INDEX_CAPACITY = SERVICE_INDEX_MAX + 1;\n\nexport enum NumberingError {\n  Ok = 'ok',\n  ServiceIndexOverflow = 'service_index overflow (>253)',\n  TopicIndexOverflow = 'topic_index overflow (>65535)',\n  ParamIndexOverflow = 'param_index overflow (>65535)',\n  InstanceCountMismatch = 'actual_counts length != #instances',\n  BlockTypeOutOfRange = 'BlockArray::blockTypeIndex out of range',\n}\n\nexport interface EndpointKey {\n  blockArray: number;\n  instance: number;\n  endpoint: number;\n}\n\nexport interface NumberingTable {\n  /** Array index is the flat numbering. */\n  byIndex: EndpointKey[];\n  /** Per-block-array base offsets. Length = #blockArrays + 1; last is total. */\n  bases: number[];\n}\n\nexport interface NumberingResult {\n  topics: NumberingTable;\n  services: NumberingTable;\n  params: NumberingTable;\n  status: NumberingError;\n}\n\ntype EndpointPicker = (bt: SchemaBlockType) => number;\n\nconst N_TOPICS: EndpointPicker = (bt) => bt.topics.length;\nconst N_SERVICES: EndpointPicker = (bt) => bt.services.length;\nconst N_PARAMS: EndpointPicker = (bt) => bt.params.length;\n\nfunction buildTable(\n  schema: NodeSchema,\n  counts: readonly number[],\n  pick: EndpointPicker,\n): NumberingTable {\n  const byIndex: EndpointKey[] = [];\n  const bases: number[] = [];\n  let base = 0;\n  bases.push(base);\n  for (let b = 0; b < schema.instances.length; b++) {\n    const arr = schema.instances[b];\n    if (!arr) continue;\n    const type = schema.types[arr.blockTypeIndex];\n    if (!type) continue;\n    const n = pick(type);\n    const count = counts[b] ?? 0;\n    for (let inst = 0; inst < count; inst++) {\n      for (let ep = 0; ep < n; ep++) {\n        byIndex.push({ blockArray: b, instance: inst, endpoint: ep });\n      }\n    }\n    base += n * count;\n    bases.push(base);\n  }\n  return { byIndex, bases };\n}\n\n/**\n * `actualCounts.length` must equal `schema.instances.length`. On any error\n * the returned tables are empty and `status !== Ok`.\n */\nexport function computeNumbering(\n  schema: NodeSchema,\n  actualCounts: readonly number[],\n): NumberingResult {\n  const empty: NumberingTable = { byIndex: [], bases: [] };\n  const fail = (status: NumberingError): NumberingResult => ({\n    topics: empty,\n    services: empty,\n    params: empty,\n    status,\n  });\n\n  if (actualCounts.length !== schema.instances.length) {\n    return fail(NumberingError.InstanceCountMismatch);\n  }\n  for (const arr of schema.instances) {\n    if (arr.blockTypeIndex >= schema.types.length) {\n      return fail(NumberingError.BlockTypeOutOfRange);\n    }\n  }\n\n  const topics = buildTable(schema, actualCounts, N_TOPICS);\n  const services = buildTable(schema, actualCounts, N_SERVICES);\n  const params = buildTable(schema, actualCounts, N_PARAMS);\n\n  if (topics.byIndex.length > 0xffff) {\n    return {\n      topics: empty,\n      services: empty,\n      params: empty,\n      status: NumberingError.TopicIndexOverflow,\n    };\n  }\n  if (params.byIndex.length > 0xffff) {\n    return {\n      topics: empty,\n      services: empty,\n      params: empty,\n      status: NumberingError.ParamIndexOverflow,\n    };\n  }\n  if (services.byIndex.length > SERVICE_INDEX_CAPACITY) {\n    return {\n      topics: empty,\n      services: empty,\n      params: empty,\n      status: NumberingError.ServiceIndexOverflow,\n    };\n  }\n\n  return { topics, services, params, status: NumberingError.Ok };\n}\n","export async function sha256(bytes: Uint8Array): Promise<Uint8Array> {\n  if (typeof crypto === 'undefined' || !crypto.subtle) {\n    throw new Error('crypto.subtle is not available in this environment');\n  }\n  // crypto.subtle rejects SharedArrayBuffer-backed views; copy to a fresh one.\n  const owned = new Uint8Array(bytes);\n  const digest = await crypto.subtle.digest('SHA-256', owned);\n  return new Uint8Array(digest);\n}\n\n/** First 8 bytes of SHA-256(blob) as little-endian u64 — the ANNOUNCE shape. */\nexport async function schemaHashPrefix(blob: Uint8Array): Promise<bigint> {\n  const digest = await sha256(blob);\n  let result = 0n;\n  for (let i = 0; i < 8; i++) {\n    result |= BigInt(digest[i] ?? 0) << BigInt(i * 8);\n  }\n  return result;\n}\n","import type { NumberingResult } from './numbering.js';\nimport type { ScalarType } from './scalar-codec.js';\nimport { type Direction, fieldWireSize, type NodeSchema, type SchemaField } from './schema.js';\n\n/**\n * Path (`<expanded_ns>/<endpoint_name>`) → descriptor lookup for one slave.\n * Duplicate path within the same kind throws; the same path across kinds\n * is allowed (caller selects via `topic()` / `service()` / `param()`).\n */\n\nconst I_TOKEN = '{i}';\n\nfunction expandIToken(s: string, value: number): string {\n  if (!s.includes(I_TOKEN)) return s;\n  return s.split(I_TOKEN).join(String(value));\n}\n\nfunction joinPath(ns: string, name: string): string {\n  if (ns.length === 0) return name;\n  if (name.length === 0) return ns;\n  return `${ns}/${name}`;\n}\n\n/** Resolved descriptor for one S→M or M→S topic. */\nexport interface TopicDescriptor {\n  readonly kind: 'topic';\n  readonly path: string;\n  readonly topicIndex: number;\n  readonly dir: Direction;\n  readonly fields: readonly SchemaField[];\n  readonly defaultPeriodUs: number;\n  readonly wireSize: number;\n}\n\n/** Resolved descriptor for one Service. */\nexport interface ServiceDescriptor {\n  readonly kind: 'service';\n  readonly path: string;\n  readonly serviceIndex: number;\n  readonly requestFields: readonly SchemaField[];\n  readonly responseFields: readonly SchemaField[];\n  readonly requestWireSize: number;\n  readonly responseWireSize: number;\n}\n\n/** Resolved descriptor for one Param (single-field). */\nexport interface ParamDescriptor {\n  readonly kind: 'param';\n  readonly path: string;\n  readonly paramIndex: number;\n  readonly type: ScalarType;\n  /** 0 = scalar; >0 = fixed-length array of `type`. */\n  readonly arrayLen: number;\n  readonly wireSize: number;\n  readonly defaultValue: Uint8Array;\n  readonly minValue: Uint8Array;\n  readonly maxValue: Uint8Array;\n}\n\nexport type EndpointDescriptor = TopicDescriptor | ServiceDescriptor | ParamDescriptor;\n\nfunction sumFieldsWireSize(fields: readonly SchemaField[]): number {\n  let n = 0;\n  for (const f of fields) n += fieldWireSize(f);\n  return n;\n}\n\nexport class SchemaIndex {\n  readonly #topicsByPath = new Map<string, TopicDescriptor>();\n  readonly #servicesByPath = new Map<string, ServiceDescriptor>();\n  readonly #paramsByPath = new Map<string, ParamDescriptor>();\n  readonly #topicsByIndex = new Map<number, TopicDescriptor>();\n  readonly #servicesByIndex = new Map<number, ServiceDescriptor>();\n  readonly #paramsByIndex = new Map<number, ParamDescriptor>();\n\n  constructor(schema: NodeSchema, numbering: NumberingResult, instanceCounts: readonly number[]) {\n    if (instanceCounts.length !== schema.instances.length) {\n      throw new RangeError(\n        `SchemaIndex: instanceCounts.length (${instanceCounts.length}) != schema.instances.length (${schema.instances.length})`,\n      );\n    }\n    for (let arrIdx = 0; arrIdx < schema.instances.length; arrIdx++) {\n      const arr = schema.instances[arrIdx];\n      if (!arr) continue;\n      const block = schema.types[arr.blockTypeIndex];\n      if (!block) continue;\n      const topicBase = numbering.topics.bases[arrIdx];\n      const serviceBase = numbering.services.bases[arrIdx];\n      const paramBase = numbering.params.bases[arrIdx];\n      if (topicBase === undefined || serviceBase === undefined || paramBase === undefined) {\n        // Numbering failed earlier for this block array.\n        continue;\n      }\n      const instCount = instanceCounts[arrIdx] ?? 0;\n\n      for (let inst = 0; inst < instCount; inst++) {\n        const ns = expandIToken(arr.rosNamespace, inst);\n\n        for (let ep = 0; ep < block.topics.length; ep++) {\n          const t = block.topics[ep];\n          if (!t) continue;\n          const path = joinPath(ns, t.name);\n          const idx = topicBase + inst * block.topics.length + ep;\n          const desc: TopicDescriptor = {\n            kind: 'topic',\n            path,\n            topicIndex: idx,\n            dir: t.dir,\n            fields: t.fields,\n            defaultPeriodUs: t.defaultPeriodUs,\n            wireSize: sumFieldsWireSize(t.fields),\n          };\n          if (this.#topicsByPath.has(path)) {\n            throw new Error(`SchemaIndex: duplicate topic path '${path}'`);\n          }\n          this.#topicsByPath.set(path, desc);\n          this.#topicsByIndex.set(idx, desc);\n        }\n\n        for (let ep = 0; ep < block.services.length; ep++) {\n          const s = block.services[ep];\n          if (!s) continue;\n          const path = joinPath(ns, s.name);\n          const idx = serviceBase + inst * block.services.length + ep;\n          const desc: ServiceDescriptor = {\n            kind: 'service',\n            path,\n            serviceIndex: idx,\n            requestFields: s.request,\n            responseFields: s.response,\n            requestWireSize: sumFieldsWireSize(s.request),\n            responseWireSize: sumFieldsWireSize(s.response),\n          };\n          if (this.#servicesByPath.has(path)) {\n            throw new Error(`SchemaIndex: duplicate service path '${path}'`);\n          }\n          this.#servicesByPath.set(path, desc);\n          this.#servicesByIndex.set(idx, desc);\n        }\n\n        for (let ep = 0; ep < block.params.length; ep++) {\n          const p = block.params[ep];\n          if (!p) continue;\n          const path = joinPath(ns, p.name);\n          const idx = paramBase + inst * block.params.length + ep;\n          const wireSize = fieldWireSize({\n            name: p.name,\n            type: p.type,\n            arrayLen: p.arrayLen,\n            txEnabled: true,\n          });\n          const desc: ParamDescriptor = {\n            kind: 'param',\n            path,\n            paramIndex: idx,\n            type: p.type,\n            arrayLen: p.arrayLen,\n            wireSize,\n            defaultValue: p.defaultValue,\n            minValue: p.minValue,\n            maxValue: p.maxValue,\n          };\n          if (this.#paramsByPath.has(path)) {\n            throw new Error(`SchemaIndex: duplicate param path '${path}'`);\n          }\n          this.#paramsByPath.set(path, desc);\n          this.#paramsByIndex.set(idx, desc);\n        }\n      }\n    }\n  }\n\n  topic(path: string): TopicDescriptor | undefined {\n    return this.#topicsByPath.get(path);\n  }\n  service(path: string): ServiceDescriptor | undefined {\n    return this.#servicesByPath.get(path);\n  }\n  param(path: string): ParamDescriptor | undefined {\n    return this.#paramsByPath.get(path);\n  }\n\n  topicByIndex(idx: number): TopicDescriptor | undefined {\n    return this.#topicsByIndex.get(idx);\n  }\n  serviceByIndex(idx: number): ServiceDescriptor | undefined {\n    return this.#servicesByIndex.get(idx);\n  }\n  paramByIndex(idx: number): ParamDescriptor | undefined {\n    return this.#paramsByIndex.get(idx);\n  }\n\n  /** All topic paths in numbering order. Useful for debugging / sniffer UI. */\n  topicPaths(): string[] {\n    return [...this.#topicsByPath.keys()];\n  }\n  servicePaths(): string[] {\n    return [...this.#servicesByPath.keys()];\n  }\n  paramPaths(): string[] {\n    return [...this.#paramsByPath.keys()];\n  }\n}\n","/** Wrapping u8 counter for the config-plane `seq` byte. */\nexport class SeqAllocator {\n  #next = 0;\n\n  next(): number {\n    const v = this.#next & 0xff;\n    this.#next = (this.#next + 1) & 0xff;\n    return v;\n  }\n\n  reset(): void {\n    this.#next = 0;\n  }\n}\n","import type { CanFrameTx } from '@fibril/can-transport';\nimport {\n  CHAN_SVC_REQUEST,\n  MAX_FRAME_PAYLOAD,\n  makeExtId,\n  SEG_FIRST_DATA,\n  SEG_MAX_SEQ,\n  SEG_MAX_TOTAL,\n  SEG_REST_DATA,\n  segOffset,\n} from './can-id.js';\n/**\n * SVC_REQUEST frames for a master→slave call. ≤64 B → one SINGLE frame;\n * larger → seq 0 carries `[0]=0 [1..2]=total + ≤61 B data`, later seqs\n * carry `[0]=seq + ≤63 B data`. Throws on payloads >1024 B.\n */\nexport function makeSvcRequestFrames(\n  nodeId: number,\n  svcIdx: number,\n  callId: number,\n  payload: Uint8Array,\n): CanFrameTx[] {\n  if (payload.length > SEG_MAX_TOTAL) {\n    throw new RangeError(\n      `service request payload ${payload.length} exceeds SEG_MAX_TOTAL (${SEG_MAX_TOTAL})`,\n    );\n  }\n  if (payload.length <= MAX_FRAME_PAYLOAD) {\n    return [\n      {\n        id: makeExtId(CHAN_SVC_REQUEST, nodeId, svcIdx, callId, 0),\n        extended: true,\n        fd: true,\n        data: payload,\n      },\n    ];\n  }\n  const total = payload.length;\n  const rest = total - SEG_FIRST_DATA;\n  const extras = Math.ceil(rest / SEG_REST_DATA);\n  const nSegs = 1 + extras;\n  if (nSegs - 1 > SEG_MAX_SEQ) {\n    throw new RangeError(`segmented request would need ${nSegs} segments (cap ${SEG_MAX_SEQ + 1})`);\n  }\n  const out: CanFrameTx[] = [];\n  for (let seq = 0; seq < nSegs; seq++) {\n    let body: Uint8Array;\n    if (seq === 0) {\n      const take = Math.min(total, SEG_FIRST_DATA);\n      body = new Uint8Array(3 + take);\n      body[0] = 0;\n      body[1] = total & 0xff;\n      body[2] = (total >>> 8) & 0xff;\n      body.set(payload.subarray(0, take), 3);\n    } else {\n      const off = segOffset(seq);\n      const take = Math.min(SEG_REST_DATA, total - off);\n      body = new Uint8Array(1 + take);\n      body[0] = seq;\n      body.set(payload.subarray(off, off + take), 1);\n    }\n    out.push({\n      id: makeExtId(CHAN_SVC_REQUEST, nodeId, svcIdx, callId, 1),\n      extended: true,\n      fd: true,\n      data: body,\n    });\n  }\n  return out;\n}\n\n/**\n * Response segments (for mock slaves / TS slave runtime). `payload` must\n * already carry `[status, ...body]`; `channel` is typically CHAN_SVC_RESPONSE.\n */\nexport function makeSvcSegmentedFrames(\n  channel: number,\n  nodeId: number,\n  svcIdx: number,\n  callId: number,\n  payload: Uint8Array,\n): CanFrameTx[] {\n  if (payload.length > SEG_MAX_TOTAL) {\n    throw new RangeError(\n      `service response payload ${payload.length} exceeds SEG_MAX_TOTAL (${SEG_MAX_TOTAL})`,\n    );\n  }\n  if (payload.length <= MAX_FRAME_PAYLOAD) {\n    return [\n      {\n        id: makeExtId(channel, nodeId, svcIdx, callId, 0),\n        extended: true,\n        fd: true,\n        data: payload,\n      },\n    ];\n  }\n  const total = payload.length;\n  const rest = total - SEG_FIRST_DATA;\n  const extras = Math.ceil(rest / SEG_REST_DATA);\n  const nSegs = 1 + extras;\n  if (nSegs - 1 > SEG_MAX_SEQ) {\n    throw new RangeError(\n      `segmented response would need ${nSegs} segments (cap ${SEG_MAX_SEQ + 1})`,\n    );\n  }\n  const out: CanFrameTx[] = [];\n  for (let seq = 0; seq < nSegs; seq++) {\n    let body: Uint8Array;\n    if (seq === 0) {\n      const take = Math.min(total, SEG_FIRST_DATA);\n      body = new Uint8Array(3 + take);\n      body[0] = 0;\n      body[1] = total & 0xff;\n      body[2] = (total >>> 8) & 0xff;\n      body.set(payload.subarray(0, take), 3);\n    } else {\n      const off = segOffset(seq);\n      const take = Math.min(SEG_REST_DATA, total - off);\n      body = new Uint8Array(1 + take);\n      body[0] = seq;\n      body.set(payload.subarray(off, off + take), 1);\n    }\n    out.push({\n      id: makeExtId(channel, nodeId, svcIdx, callId, 1),\n      extended: true,\n      fd: true,\n      data: body,\n    });\n  }\n  return out;\n}\n\n/** Bitmask of seg-seqs required to reassemble a `totalLen`-byte payload. */\nexport function segExpectedMask(totalLen: number): number {\n  if (totalLen <= 0) return 0;\n  if (totalLen <= SEG_FIRST_DATA) return 1;\n  const rest = totalLen - SEG_FIRST_DATA;\n  const extras = Math.ceil(rest / SEG_REST_DATA);\n  const nSegs = 1 + extras;\n  if (nSegs >= 32) return 0xffffffff;\n  return (1 << nSegs) - 1;\n}\n\n/** Per-(svc, call_id) reassembly slot for one segmented transfer. */\nexport class SegmentReassembler {\n  totalLen = 0;\n  rxBitmap = 0;\n  lastRxMs = 0;\n  #buffer: Uint8Array = new Uint8Array(0);\n\n  /**\n   * Ingest one seg=1 frame (payload with seq / total_len header attached).\n   * Returns the assembled payload once complete, else null. Resets the slot\n   * on protocol violation.\n   */\n  ingest(data: Uint8Array, nowMs: number): Uint8Array | null {\n    if (data.length === 0) return this.#reset();\n    const seq = data[0] ?? 0;\n    if (seq > SEG_MAX_SEQ) return this.#reset();\n    this.lastRxMs = nowMs;\n\n    if (seq === 0) {\n      if (data.length < 3) return this.#reset();\n      const total = ((data[1] ?? 0) | ((data[2] ?? 0) << 8)) & 0xffff;\n      if (total === 0 || total > SEG_MAX_TOTAL) return this.#reset();\n      if (this.totalLen !== 0 && this.totalLen !== total) {\n        this.totalLen = total;\n        this.rxBitmap = 0;\n        this.#buffer = new Uint8Array(total);\n      } else {\n        this.totalLen = total;\n        if (this.#buffer.length < total) {\n          const grown = new Uint8Array(total);\n          grown.set(this.#buffer.subarray(0, Math.min(this.#buffer.length, total)));\n          this.#buffer = grown;\n        }\n      }\n      const segDataLen = Math.min(data.length - 3, SEG_FIRST_DATA, total);\n      if (segDataLen > 0) this.#buffer.set(data.subarray(3, 3 + segDataLen), 0);\n    } else {\n      const off = segOffset(seq);\n      const segDataLen = Math.min(data.length - 1, SEG_REST_DATA);\n      if (off + segDataLen > SEG_MAX_TOTAL) return this.#reset();\n      if (this.totalLen !== 0 && off + segDataLen > this.totalLen) return this.#reset();\n      if (this.#buffer.length < off + segDataLen) {\n        const grown = new Uint8Array(off + segDataLen);\n        grown.set(this.#buffer);\n        this.#buffer = grown;\n      }\n      if (segDataLen > 0) this.#buffer.set(data.subarray(1, 1 + segDataLen), off);\n    }\n    this.rxBitmap |= 1 << seq;\n    if (this.totalLen === 0) return null;\n    const need = segExpectedMask(this.totalLen);\n    if ((this.rxBitmap & ~need) !== 0) return this.#reset();\n    if ((this.rxBitmap & need) !== need) return null;\n    const out = this.#buffer.slice(0, this.totalLen);\n    this.#reset();\n    return out;\n  }\n\n  #reset(): null {\n    this.totalLen = 0;\n    this.rxBitmap = 0;\n    this.#buffer = new Uint8Array(0);\n    return null;\n  }\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport {\n  CHAN_SVC_REQUEST,\n  CHAN_SVC_RESPONSE,\n  extChannel,\n  extIndex,\n  extNodeId,\n  extSeg,\n  extSeq,\n  makeExtId,\n  SVC_ACCEPTED,\n  SVC_CANCEL,\n} from './can-id.js';\nimport { padToDlc } from './dlc.js';\nimport { makeSvcRequestFrames, SegmentReassembler } from './segmented-transfer.js';\n\n/** Per-call options. */\nexport interface ServiceCallOptions {\n  /** Pre-encoded request payload (no status byte — that's response-only). */\n  request: Uint8Array;\n  /** Override default timeout. Default 250 ms (matches bridge `service_timeout_`). */\n  timeoutMs?: number;\n  /** Cancel via AbortSignal — fires SVC_CANCEL (§7.5) to the slave. */\n  signal?: AbortSignal;\n}\n\n/** Resolved service response. `status === 0` (SVC_OK) is the success path. */\nexport interface ServiceResult {\n  status: number;\n  data: Uint8Array;\n}\n\n/** Throwable error union for `ServiceClient.call`. */\nexport class ServiceCallError extends Error {\n  constructor(message: string, options?: ErrorOptions) {\n    super(message, options);\n    this.name = new.target.name;\n  }\n}\nexport class ServiceTimeoutError extends ServiceCallError {\n  constructor(message = 'service call timed out') {\n    super(message);\n  }\n}\nexport class ServiceUnavailableError extends ServiceCallError {\n  constructor(message = 'service unavailable (slave lost or reprovisioned)') {\n    super(message);\n  }\n}\nexport class ServiceCancelledError extends ServiceCallError {\n  constructor(message = 'service call cancelled') {\n    super(message);\n  }\n}\nexport class NoCallSlotError extends ServiceCallError {\n  constructor(serviceIndex: number) {\n    super(`no free call_id slot for service_index ${serviceIndex}`);\n  }\n}\n\ninterface PendingCall {\n  serviceIndex: number;\n  callId: number;\n  deadlineMs: number;\n  timeoutMs: number;\n  resolve: (r: ServiceResult) => void;\n  reject: (err: Error) => void;\n  reassembler: SegmentReassembler;\n  signal?: AbortSignal;\n  abortListener?: () => void;\n  acceptedSeen: boolean;\n}\n\n/** Cap on simultaneous in-flight segmented transfers. Matches bridge. */\nconst REASM_MAX_CONCURRENT = 16;\n/** §7.4 reassembly TTL. */\nconst SEG_TIMEOUT_MS = 100;\n\n/**\n * Promise-based, AbortSignal-aware service-call client for one slave.\n * NodeAgent owns one per slave and exposes it on the running snapshot.\n */\nexport class ServiceClient {\n  readonly nodeId: number;\n  readonly #transport: ITransport;\n  readonly #defaultTimeoutMs: number;\n  readonly #now: () => number;\n\n  #unsub: Unsubscribe | null = null;\n\n  // Round-robin per-service call_id allocator. 0xFF = \"no free slot\".\n  readonly #nextCallId = new Map<number, number>();\n  readonly #pending = new Map<number, PendingCall>();\n\n  constructor(opts: {\n    nodeId: number;\n    transport: ITransport;\n    defaultTimeoutMs?: number;\n    now?: () => number;\n  }) {\n    this.nodeId = opts.nodeId;\n    this.#transport = opts.transport;\n    this.#defaultTimeoutMs = opts.defaultTimeoutMs ?? 250;\n    this.#now = opts.now ?? (() => Date.now());\n  }\n\n  attach(): void {\n    if (this.#unsub !== null) return;\n    this.#unsub = this.#transport.onFrame((f: CanFrame) => this.#onFrame(f));\n  }\n\n  detach(): void {\n    if (this.#unsub === null) return;\n    this.#unsub();\n    this.#unsub = null;\n  }\n\n  /** Number of in-flight calls. Testing / introspection. */\n  get pendingCount(): number {\n    return this.#pending.size;\n  }\n\n  /**\n   * Sweep call deadlines and segment-reassembly TTLs. The owning agent\n   * should call this from its periodic sweep loop.\n   */\n  sweep(nowMs: number = this.#now()): void {\n    for (const [key, call] of this.#pending) {\n      if (call.deadlineMs <= nowMs) {\n        this.#pending.delete(key);\n        this.#detachAbort(call);\n        call.reject(new ServiceTimeoutError());\n        continue;\n      }\n      if (call.reassembler.totalLen !== 0 && nowMs - call.reassembler.lastRxMs > SEG_TIMEOUT_MS) {\n        // Silent mid-transfer — reset the reassembler but keep the call\n        // alive so the slave can retry until the outer deadline.\n        call.reassembler.totalLen = 0;\n        call.reassembler.rxBitmap = 0;\n      }\n    }\n  }\n\n  /** Reject every in-flight call as Unavailable. NodeAgent calls this on lost / reprovision. */\n  failAll(reason = 'slave reprovisioning'): void {\n    const pending = [...this.#pending.values()];\n    this.#pending.clear();\n    for (const c of pending) {\n      this.#detachAbort(c);\n      c.reject(new ServiceUnavailableError(reason));\n    }\n  }\n\n  async call(serviceIndex: number, opts: ServiceCallOptions): Promise<ServiceResult> {\n    if (serviceIndex < 0 || serviceIndex > 0xff) {\n      throw new RangeError(`serviceIndex out of range: ${serviceIndex}`);\n    }\n    const callId = this.#allocCallId(serviceIndex);\n    if (callId === 0xff) throw new NoCallSlotError(serviceIndex);\n\n    const timeoutMs = opts.timeoutMs ?? this.#defaultTimeoutMs;\n    const key = (serviceIndex << 8) | callId;\n    if (this.#pending.size >= REASM_MAX_CONCURRENT * 4) {\n      // Soft guard against pathological cross-service fan-out.\n      throw new NoCallSlotError(serviceIndex);\n    }\n\n    return new Promise<ServiceResult>((resolve, reject) => {\n      const call: PendingCall = {\n        serviceIndex,\n        callId,\n        deadlineMs: this.#now() + timeoutMs,\n        timeoutMs,\n        resolve,\n        reject,\n        reassembler: new SegmentReassembler(),\n        acceptedSeen: false,\n      };\n      if (opts.signal) {\n        call.signal = opts.signal;\n        if (opts.signal.aborted) {\n          reject(new ServiceCancelledError());\n          return;\n        }\n        call.abortListener = () => {\n          if (!this.#pending.has(key)) return;\n          this.#pending.delete(key);\n          this.#detachAbort(call);\n          void this.#sendCancel(call.serviceIndex, call.callId).catch(() => {});\n          reject(new ServiceCancelledError());\n        };\n        opts.signal.addEventListener('abort', call.abortListener, { once: true });\n      }\n      this.#pending.set(key, call);\n      // Fire-and-forget send — transport errors surface as timeouts so a\n      // brief disconnect doesn't drop the call mid-flight.\n      const frames = makeSvcRequestFrames(this.nodeId, serviceIndex, callId, opts.request);\n      for (const f of frames) {\n        void this.#transport.send(f).catch(() => {});\n      }\n    });\n  }\n\n  // ---------------------------------------------------------------------\n  // Frame ingress\n  // ---------------------------------------------------------------------\n\n  #onFrame(f: CanFrame): void {\n    if (!f.extended) return;\n    if (extNodeId(f.id) !== this.nodeId) return;\n    if (extChannel(f.id) !== CHAN_SVC_RESPONSE) return;\n    const svcIdx = extIndex(f.id);\n    const callId = extSeq(f.id);\n    const seg = extSeg(f.id);\n    const key = (svcIdx << 8) | callId;\n    const call = this.#pending.get(key);\n    if (!call) return;\n\n    if (seg === 0) {\n      if (f.data.length === 0) return;\n      const status = f.data[0] ?? 0;\n      const data = f.data.slice(1);\n      this.#finishMaybeAccepted(key, call, status, data);\n      return;\n    }\n    const assembled = call.reassembler.ingest(f.data, this.#now());\n    if (assembled === null) return;\n    if (assembled.length === 0) return;\n    const status = assembled[0] ?? 0;\n    const data = assembled.slice(1);\n    this.#finishMaybeAccepted(key, call, status, data);\n  }\n\n  #finishMaybeAccepted(key: number, call: PendingCall, status: number, data: Uint8Array): void {\n    if (status === SVC_ACCEPTED) {\n      // Two-stage reply: extend the deadline while the slave computes.\n      if (!call.acceptedSeen) {\n        call.acceptedSeen = true;\n        call.deadlineMs = this.#now() + call.timeoutMs;\n      }\n      return;\n    }\n    this.#pending.delete(key);\n    this.#detachAbort(call);\n    call.resolve({ status, data });\n  }\n\n  #allocCallId(svcIdx: number): number {\n    let next = this.#nextCallId.get(svcIdx) ?? 0;\n    for (let i = 0; i < 0xff; i++) {\n      if (next === 0xff) next = 0;\n      const key = (svcIdx << 8) | next;\n      if (!this.#pending.has(key)) {\n        this.#nextCallId.set(svcIdx, (next + 1) & 0xff);\n        return next;\n      }\n      next = (next + 1) & 0xff;\n    }\n    return 0xff;\n  }\n\n  async #sendCancel(svcIdx: number, callId: number): Promise<void> {\n    // SVC_CANCEL rides the SvcRequest channel on service_index 0xFF.\n    const payload = padToDlc(new Uint8Array([svcIdx & 0xff, callId & 0xff]));\n    await this.#transport.send({\n      id: makeExtId(CHAN_SVC_REQUEST, this.nodeId, SVC_CANCEL, 0, 0),\n      extended: true,\n      fd: true,\n      data: payload,\n    });\n  }\n\n  #detachAbort(call: PendingCall): void {\n    if (call.signal && call.abortListener) {\n      call.signal.removeEventListener('abort', call.abortListener);\n      call.abortListener = undefined;\n    }\n  }\n}\n","import { SVC_PARAM_SET } from './can-id.js';\nimport {\n  packScalarF32Le,\n  packScalarF64Le,\n  packScalarIntLe,\n  ScalarType,\n  scalarName,\n  scalarSize,\n  signExtend,\n  unpackScalarF32Le,\n  unpackScalarF64Le,\n  unpackScalarIntLe,\n} from './scalar-codec.js';\nimport type { ParamDescriptor } from './schema-index.js';\nimport type { ServiceClient } from './service-client.js';\n\n/**\n * Typed wrapper around PARAM_SET (service_index 0xFD). PARAM is M→S\n * one-way, so this exposes `.set()` and `.defaultValue()` only.\n */\n\nexport class ParamCodecError extends Error {\n  constructor(message: string) {\n    super(message);\n    this.name = 'ParamCodecError';\n  }\n}\n\nexport interface TypedParamSetOptions {\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}\n\nexport interface TypedParamSetResult {\n  /** SVC_OK = 0; non-zero = slave error code. */\n  readonly status: number;\n  /** Slave-reported failing param_index (non-OK only); null if omitted. */\n  readonly failedIndex: number | null;\n}\n\nfunction packValueInto(\n  desc: ParamDescriptor,\n  value: unknown,\n  out: Uint8Array,\n  offset: number,\n): void {\n  if (desc.arrayLen === 0) {\n    packOneScalar(desc.type, value, out, offset, desc.path);\n    return;\n  }\n  if (!Array.isArray(value)) {\n    throw new ParamCodecError(\n      `param '${desc.path}': expected array of length ${desc.arrayLen}, got ${typeof value}`,\n    );\n  }\n  if (value.length !== desc.arrayLen) {\n    throw new ParamCodecError(\n      `param '${desc.path}': expected array length ${desc.arrayLen}, got ${value.length}`,\n    );\n  }\n  const stride = scalarSize(desc.type);\n  for (let i = 0; i < desc.arrayLen; i++) {\n    packOneScalar(desc.type, value[i], out, offset + i * stride, desc.path);\n  }\n}\n\nfunction packOneScalar(\n  type: ScalarType,\n  value: unknown,\n  out: Uint8Array,\n  offset: number,\n  pathForErr: string,\n): void {\n  switch (type) {\n    case ScalarType.Bool:\n      if (typeof value !== 'boolean') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected boolean for bool, got ${typeof value}`,\n        );\n      }\n      out[offset] = value ? 1 : 0;\n      return;\n    case ScalarType.F32:\n      if (typeof value !== 'number') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected number for f32, got ${typeof value}`,\n        );\n      }\n      packScalarF32Le(value, out, offset);\n      return;\n    case ScalarType.F64:\n      if (typeof value !== 'number') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected number for f64, got ${typeof value}`,\n        );\n      }\n      packScalarF64Le(value, out, offset);\n      return;\n    default:\n      if (type === ScalarType.U64 || type === ScalarType.I64) {\n        if (typeof value !== 'bigint') {\n          throw new ParamCodecError(\n            `param '${pathForErr}': expected bigint for ${scalarName(type)}, got ${typeof value}`,\n          );\n        }\n      } else if (typeof value !== 'number') {\n        throw new ParamCodecError(\n          `param '${pathForErr}': expected number for ${scalarName(type)}, got ${typeof value}`,\n        );\n      }\n      packScalarIntLe(type, value as number | bigint, out, offset);\n  }\n}\n\nfunction unpackScalar(\n  type: ScalarType,\n  src: Uint8Array,\n  offset: number,\n): number | bigint | boolean {\n  switch (type) {\n    case ScalarType.Bool:\n      return (src[offset] ?? 0) !== 0;\n    case ScalarType.F32:\n      return unpackScalarF32Le(src, offset);\n    case ScalarType.F64:\n      return unpackScalarF64Le(src, offset);\n    case ScalarType.I8:\n    case ScalarType.I16:\n    case ScalarType.I32: {\n      const bits = unpackScalarIntLe(type, src, offset);\n      return Number(signExtend(bits, scalarSize(type)));\n    }\n    case ScalarType.U8:\n    case ScalarType.U16:\n    case ScalarType.U32:\n      return Number(unpackScalarIntLe(type, src, offset));\n    case ScalarType.I64:\n      return signExtend(unpackScalarIntLe(type, src, offset), 8);\n    case ScalarType.U64:\n      return unpackScalarIntLe(type, src, offset);\n  }\n}\n\nfunction unpackValue(desc: ParamDescriptor, src: Uint8Array): unknown {\n  if (src.length < desc.wireSize) return null;\n  if (desc.arrayLen === 0) {\n    return unpackScalar(desc.type, src, 0);\n  }\n  const stride = scalarSize(desc.type);\n  const out: Array<number | bigint | boolean> = [];\n  for (let i = 0; i < desc.arrayLen; i++) {\n    out.push(unpackScalar(desc.type, src, i * stride));\n  }\n  return out;\n}\n\n/** Build a PARAM_SET request payload for a single (descriptor, value) pair. */\nexport function encodeParamSetSingle(desc: ParamDescriptor, value: unknown): Uint8Array {\n  const out = new Uint8Array(1 + 2 + desc.wireSize);\n  out[0] = 1;\n  out[1] = desc.paramIndex & 0xff;\n  out[2] = (desc.paramIndex >>> 8) & 0xff;\n  packValueInto(desc, value, out, 3);\n  return out;\n}\n\nexport class TypedParam<T> {\n  readonly path: string;\n  readonly descriptor: ParamDescriptor;\n  readonly #client: ServiceClient;\n\n  constructor(client: ServiceClient, descriptor: ParamDescriptor) {\n    this.#client = client;\n    this.descriptor = descriptor;\n    this.path = descriptor.path;\n  }\n\n  /** Decoded schema default; `null` if the descriptor carries no default. */\n  defaultValue(): T | null {\n    if (this.descriptor.defaultValue.length === 0) return null;\n    return unpackValue(this.descriptor, this.descriptor.defaultValue) as T;\n  }\n\n  /** Send a PARAM_SET with a single entry for this param. */\n  async set(value: T, opts: TypedParamSetOptions = {}): Promise<TypedParamSetResult> {\n    const request = encodeParamSetSingle(this.descriptor, value);\n    const result = await this.#client.call(SVC_PARAM_SET, {\n      request,\n      timeoutMs: opts.timeoutMs,\n      signal: opts.signal,\n    });\n    let failedIndex: number | null = null;\n    if (result.status !== 0 && result.data.length >= 2) {\n      failedIndex = (result.data[0] ?? 0) | ((result.data[1] ?? 0) << 8);\n    }\n    return { status: result.status, failedIndex };\n  }\n}\n","import { type Dict, decodeFields, encodeFields } from './dynamic-codec.js';\nimport type { ServiceDescriptor } from './schema-index.js';\nimport type { ServiceClient } from './service-client.js';\n\n/**\n * Result of a {@link TypedService.call}. `status` follows SPEC §7.2 (0 = OK);\n * `data` is best-effort even on non-OK, and `null` if the response body is\n * shorter than the schema demands.\n */\nexport interface TypedServiceResult<Resp extends Dict> {\n  readonly status: number;\n  readonly data: Resp | null;\n}\n\nexport interface TypedServiceCallOptions {\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}\n\nexport class TypedService<Req extends Dict, Resp extends Dict> {\n  readonly path: string;\n  readonly descriptor: ServiceDescriptor;\n  readonly #client: ServiceClient;\n\n  constructor(client: ServiceClient, descriptor: ServiceDescriptor) {\n    this.#client = client;\n    this.descriptor = descriptor;\n    this.path = descriptor.path;\n  }\n\n  /** Encode `request`, dispatch via the service plane, decode the response. */\n  async call(request: Req, opts: TypedServiceCallOptions = {}): Promise<TypedServiceResult<Resp>> {\n    const encoded = encodeFields(this.descriptor.requestFields, request);\n    const result = await this.#client.call(this.descriptor.serviceIndex, {\n      request: encoded,\n      timeoutMs: opts.timeoutMs,\n      signal: opts.signal,\n    });\n    let data: Resp | null = null;\n    if (this.descriptor.responseFields.length === 0) {\n      data = Object.freeze({}) as unknown as Resp;\n    } else if (result.data.length >= this.descriptor.responseWireSize) {\n      data = decodeFields(this.descriptor.responseFields, result.data) as Resp;\n    }\n    return { status: result.status, data };\n  }\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport { type AckOutcome, AckTracker } from './ack-tracker.js';\nimport {\n  CHAN_CONFIG,\n  CMD_ACK,\n  CMD_ANNOUNCE,\n  CMD_HEARTBEAT,\n  CMD_NAK,\n  CMD_SCHEMA_DATA,\n  DIR_RX_M2S,\n  DIR_TX_S2M,\n  extChannel,\n  extIndex,\n  extNodeId,\n  extSeq,\n  STATE_RUNNING,\n  STATE_SUSPENDED,\n} from './can-id.js';\nimport {\n  type AnnounceMsg,\n  decodeAnnounce,\n  decodeHeartbeat,\n  decodeNak,\n  decodeSchemaData,\n  encodeDiscoverTo,\n  encodeFrameDefine,\n  encodeSchemaRead,\n  encodeStart,\n  encodeStop,\n  type FrameDefineEntry,\n  SchemaAccumulator,\n} from './config-plane.js';\nimport type { Dict } from './dynamic-codec.js';\nimport { computeNumbering, type NumberingResult } from './numbering.js';\nimport { Direction, decodeSchemaWithMeta, type NodeSchema } from './schema.js';\nimport { schemaHashPrefix } from './schema-hash.js';\nimport { SchemaIndex } from './schema-index.js';\nimport { SeqAllocator } from './seq-allocator.js';\nimport { ServiceClient } from './service-client.js';\nimport { TypedParam } from './typed-param.js';\nimport { TypedService } from './typed-service.js';\n\n/** One planned data-plane CAN frame consumed by FRAME_DEFINE during bring-up. */\nexport interface FramePlan {\n  stdId: number;\n  periodUs: number;\n  dir: Direction;\n  entries: readonly FrameDefineEntry[];\n}\n\n/** Context handed to {@link FramePlanFactory} so it can branch on the slave. */\nexport interface FramePlanContext {\n  readonly nodeId: number;\n}\n\n/**\n * Builds the FRAME_DEFINE plan once schema and numbering are known.\n * `ctx.nodeId` lets a shared factory fork on the specific slave.\n */\nexport type FramePlanFactory =\n  | ((\n      schema: NodeSchema,\n      numbering: NumberingResult,\n      ctx: FramePlanContext,\n    ) => readonly FramePlan[])\n  | readonly FramePlan[];\n\n/** Phase machine — public for observers. */\nexport type NodeProvisionState =\n  | { kind: 'idle' }\n  | { kind: 'awaiting-announce' }\n  | { kind: 'schema-reading'; received: number; total: number }\n  | { kind: 'numbering' }\n  | { kind: 'provisioning'; pendingDefines: number }\n  /** FRAME_DEFINE done, autoStart blocked START. `startNow()` moves forward. */\n  | { kind: 'awaiting-start' }\n  | { kind: 'running' }\n  /** Slave reported SUSPENDED. Reverts to running on the next non-SUSPENDED HEARTBEAT. */\n  | { kind: 'suspended' }\n  | { kind: 'lost'; reason: string }\n  | { kind: 'blocked'; reason: string };\n\n/** Snapshot available once the slave reaches RUNNING. */\nexport interface NodeRunningSnapshot {\n  nodeId: number;\n  schemaHash: bigint;\n  bootId: number;\n  instanceCounts: Uint8Array;\n  blob: Uint8Array;\n  schema: NodeSchema;\n  numbering: NumberingResult;\n  framePlan: readonly FramePlan[];\n  /** std_id → topic_index map for the data plane (one entry per FRAME_DEFINE). */\n  stdIdToTopicIndex: Map<number, number>;\n  /** §7 master-side RPC client. Stays valid for the lifetime of the snapshot. */\n  services: ServiceClient;\n  /** Path → IR descriptor lookup; drives `service()` / `param()` below. */\n  index: SchemaIndex;\n  /** Typed RPC wrapper. Throws if `path` is unknown. */\n  service<Req extends Dict, Resp extends Dict>(path: string): TypedService<Req, Resp>;\n  /** Typed PARAM_SET wrapper. Throws if `path` is unknown. */\n  param<T = number | bigint | boolean | number[] | bigint[] | boolean[]>(\n    path: string,\n  ): TypedParam<T>;\n}\n\nexport interface NodeAgentOptions {\n  /** 1..0x7E — broadcast (0x7F) is rejected. */\n  nodeId: number;\n  /** Already open()'d transport. The agent attaches its own onFrame. */\n  transport: ITransport;\n  /** Strategy for building the FRAME_DEFINE plan. */\n  framePlan: FramePlanFactory;\n  /** Per-config-command ACK timeout in ms. Default 250. */\n  ackTimeoutMs?: number;\n  /** SCHEMA_READ chunk byte limit — caps at the SINGLE-frame payload. Default 59. */\n  schemaChunkSize?: number;\n  /** SCHEMA_READ retry budget. Default 3. */\n  schemaReadRetries?: number;\n  /** HEARTBEAT-loss budget in ms. Default 350. */\n  heartbeatTimeoutMs?: number;\n  /** Per-call default timeout for `services.call()`. Default `ackTimeoutMs`. */\n  serviceTimeoutMs?: number;\n  /**\n   * Gate consulted before each START. Returning `false` parks in\n   * `awaiting-start`; caller commits with `startNow()`. Read fresh each\n   * time so the flag can flip at runtime. Default `() => true`.\n   */\n  autoStart?: () => boolean;\n  /** Optional state-change observer. */\n  onState?: (state: NodeProvisionState) => void;\n  /** Optional non-fatal error observer. */\n  onError?: (err: Error) => void;\n  /** Wall-clock override for tests. Default `() => Date.now()`. */\n  now?: () => number;\n}\n\nconst DEFAULT_OPTS = {\n  ackTimeoutMs: 250,\n  schemaChunkSize: 59,\n  schemaReadRetries: 3,\n  heartbeatTimeoutMs: 350,\n} as const;\n\ninterface SchemaReadProgress {\n  expectedTotal: number;\n  acc: SchemaAccumulator;\n  inflightSeq: number;\n  inflightLen: number;\n  retriesLeft: number;\n  inflightDeadlineMs: number;\n}\n\ninterface ProvisioningProgress {\n  generation: number;\n  pendingDefines: number;\n  anyFailure: boolean;\n  firstNakReason: number;\n  plan: readonly FramePlan[];\n  stdIdToTopicIndex: Map<number, number>;\n}\n\n/**\n * Snapshot of everything {@link NodeAgent.#issueStart} needs. Held while\n * we are parked in `awaiting-start` so `startNow()` can resume without\n * re-running FRAME_DEFINE.\n */\ninterface PendingStart {\n  a: AnnouncedRecord;\n  schema: NodeSchema;\n  blob: Uint8Array;\n  numbering: NumberingResult;\n  generation: number;\n  progress: ProvisioningProgress;\n}\n\ninterface AnnouncedRecord {\n  schemaHash: bigint;\n  bootId: number;\n  blobLen: number;\n  protocolVersion: number;\n  instanceCounts: Uint8Array;\n}\n\n/**\n * Per-slave provisioning state machine.\n * `idle` → `awaiting-announce` → `schema-reading` (skipped on cache hit) →\n * `numbering` → `provisioning` → `running`. HEARTBEAT loss drops to `lost`;\n * the next ANNOUNCE restarts the flow.\n */\nexport class NodeAgent {\n  readonly nodeId: number;\n  readonly #transport: ITransport;\n  readonly #framePlan: FramePlanFactory;\n  readonly #ackTimeoutMs: number;\n  readonly #schemaChunkSize: number;\n  readonly #schemaReadRetries: number;\n  readonly #heartbeatTimeoutMs: number;\n  readonly #autoStart: () => boolean;\n  readonly #onState?: (s: NodeProvisionState) => void;\n  readonly #onError?: (e: Error) => void;\n  readonly #now: () => number;\n\n  readonly #seq = new SeqAllocator();\n  readonly #acks: AckTracker;\n  readonly #services: ServiceClient;\n\n  #unsubFrame: Unsubscribe | null = null;\n  #sweepHandle: ReturnType<typeof setInterval> | null = null;\n  #stopped = false;\n\n  #state: NodeProvisionState = { kind: 'idle' };\n  #announce: AnnouncedRecord | null = null;\n  #schemaRead: SchemaReadProgress | null = null;\n  #provisioning: ProvisioningProgress | null = null;\n  #pendingStart: PendingStart | null = null;\n  #snapshot: NodeRunningSnapshot | null = null;\n  #generation = 0;\n\n  // (hash → schema+blob) so reboot with an unchanged schema skips SCHEMA_READ.\n  readonly #blobCache = new Map<bigint, { blob: Uint8Array; schema: NodeSchema }>();\n\n  #lastHeartbeatMs: number | null = null;\n\n  constructor(opts: NodeAgentOptions) {\n    if (opts.nodeId < 1 || opts.nodeId > 0x7e) {\n      throw new RangeError(`nodeId must be 1..0x7E, got ${opts.nodeId}`);\n    }\n    this.nodeId = opts.nodeId;\n    this.#transport = opts.transport;\n    this.#framePlan = opts.framePlan;\n    this.#ackTimeoutMs = opts.ackTimeoutMs ?? DEFAULT_OPTS.ackTimeoutMs;\n    this.#schemaChunkSize = opts.schemaChunkSize ?? DEFAULT_OPTS.schemaChunkSize;\n    this.#schemaReadRetries = opts.schemaReadRetries ?? DEFAULT_OPTS.schemaReadRetries;\n    this.#heartbeatTimeoutMs = opts.heartbeatTimeoutMs ?? DEFAULT_OPTS.heartbeatTimeoutMs;\n    this.#autoStart = opts.autoStart ?? (() => true);\n    this.#onState = opts.onState;\n    this.#onError = opts.onError;\n    this.#now = opts.now ?? (() => Date.now());\n    this.#acks = new AckTracker(this.#now);\n    this.#services = new ServiceClient({\n      nodeId: this.nodeId,\n      transport: this.#transport,\n      defaultTimeoutMs: opts.serviceTimeoutMs ?? this.#ackTimeoutMs,\n      now: this.#now,\n    });\n  }\n\n  /** Service-plane RPC client for this slave. Always available. */\n  get services(): ServiceClient {\n    return this.#services;\n  }\n\n  get state(): NodeProvisionState {\n    return this.#state;\n  }\n\n  get snapshot(): NodeRunningSnapshot | null {\n    return this.#snapshot;\n  }\n\n  /**\n   * Attach and wait for ANNOUNCE. Resolves immediately; progress flows via\n   * {@link state} / {@link snapshot} / `onState`.\n   */\n  async start(): Promise<void> {\n    if (this.#stopped) {\n      throw new Error('NodeAgent.start() after stop() is not supported — construct a new agent');\n    }\n    if (this.#unsubFrame !== null) return;\n    this.#unsubFrame = this.#transport.onFrame((f: CanFrame) => this.#onFrame(f));\n    this.#services.attach();\n    // 50 ms sweep — well below ackTimeoutMs (250).\n    this.#sweepHandle = setInterval(() => this.#sweep(), 50);\n    this.#setState({ kind: 'awaiting-announce' });\n  }\n\n  /**\n   * Re-run FRAME_DEFINE / START against the live slave with the most recent\n   * ANNOUNCE + cached schema. Invokes {@link FramePlanFactory} again so\n   * per-slave overrides pick up their latest values. Requires a prior\n   * ANNOUNCE. Tears down the current snapshot and fails pending service\n   * calls, mirroring a boot_id change.\n   */\n  async reprovision(): Promise<void> {\n    if (this.#stopped) throw new Error('NodeAgent.reprovision() after stop()');\n    const a = this.#announce;\n    if (a === null) {\n      throw new Error('NodeAgent.reprovision() called before ANNOUNCE');\n    }\n    const cached = this.#blobCache.get(a.schemaHash);\n    if (!cached) {\n      throw new Error('NodeAgent.reprovision(): no cached schema for current ANNOUNCE');\n    }\n    this.#reprovisionState();\n    await this.#beginBringUp(\n      {\n        schemaHash: a.schemaHash,\n        bootId: a.bootId,\n        blobLen: a.blobLen,\n        protocolVersion: a.protocolVersion,\n        instanceCounts: a.instanceCounts,\n      },\n      cached.schema,\n      cached.blob,\n    );\n  }\n\n  /** Detach, send STOP if currently RUNNING, clear all in-flight state. */\n  async stop(): Promise<void> {\n    if (this.#stopped) return;\n    this.#stopped = true;\n    if (this.#sweepHandle !== null) {\n      clearInterval(this.#sweepHandle);\n      this.#sweepHandle = null;\n    }\n    if (this.#unsubFrame !== null) {\n      this.#unsubFrame();\n      this.#unsubFrame = null;\n    }\n    this.#services.detach();\n    this.#services.failAll('NodeAgent.stop()');\n    if (this.#state.kind === 'running' && this.#transport.isOpen) {\n      try {\n        await this.#transport.send(encodeStop(this.nodeId, this.#seq.next()));\n      } catch (e) {\n        this.#error(e);\n      }\n    }\n    this.#acks.clear();\n    this.#schemaRead = null;\n    this.#provisioning = null;\n    this.#pendingStart = null;\n    this.#snapshot = null;\n    this.#setState({ kind: 'idle' });\n  }\n\n  // ---------------------------------------------------------------------\n  // Frame ingress\n  // ---------------------------------------------------------------------\n\n  #onFrame(f: CanFrame): void {\n    if (!f.extended) return;\n    if (extNodeId(f.id) !== this.nodeId) return;\n    if (extChannel(f.id) !== CHAN_CONFIG) return;\n    const cmd = extIndex(f.id);\n    const seq = extSeq(f.id);\n    switch (cmd) {\n      case CMD_ANNOUNCE:\n        this.#handleAnnounce(f.data);\n        break;\n      case CMD_HEARTBEAT:\n        this.#handleHeartbeat(f.data);\n        break;\n      case CMD_SCHEMA_DATA:\n        this.#handleSchemaData(seq, f.data);\n        break;\n      case CMD_ACK:\n        this.#acks.onAck(seq);\n        break;\n      case CMD_NAK: {\n        const m = decodeNak(f.data);\n        if (m) this.#acks.onNak(seq, m.reason);\n        break;\n      }\n      default:\n        break;\n    }\n  }\n\n  #sweep(): void {\n    const now = this.#now();\n    this.#acks.sweep(now);\n    this.#services.sweep(now);\n    if (this.#lastHeartbeatMs !== null && this.#state.kind !== 'lost') {\n      if (now - this.#lastHeartbeatMs > this.#heartbeatTimeoutMs) {\n        this.#enterLost('heartbeat timeout');\n      }\n    }\n    if (this.#schemaRead && this.#schemaRead.inflightDeadlineMs <= now) {\n      this.#onSchemaReadStall();\n    }\n  }\n\n  // ---------------------------------------------------------------------\n  // ANNOUNCE\n  // ---------------------------------------------------------------------\n\n  #handleAnnounce(data: Uint8Array): void {\n    const a = decodeAnnounce(data);\n    if (!a) {\n      this.#error(new Error('malformed ANNOUNCE'));\n      return;\n    }\n    const prev = this.#announce;\n    const isReboot = prev !== null && prev.bootId !== a.bootId;\n    const isHashChange = prev !== null && prev.schemaHash !== a.schemaHash;\n\n    this.#announce = {\n      schemaHash: a.schemaHash,\n      bootId: a.bootId,\n      blobLen: a.blobLen,\n      protocolVersion: a.protocolVersion,\n      instanceCounts: a.instanceCounts,\n    };\n\n    // Repeat ANNOUNCE mid-bring-up (the SPEC §5.4 \"× 3\" stream) — skip so\n    // it doesn't clobber state. Reboot or hash change reprovisions.\n    if (this.#state.kind === 'running' && !isReboot && !isHashChange) return;\n    if (this.#state.kind === 'provisioning' && !isReboot && !isHashChange) return;\n    if (this.#state.kind === 'awaiting-start' && !isReboot && !isHashChange) return;\n    if (this.#state.kind === 'schema-reading' && !isReboot && !isHashChange) return;\n\n    this.#reprovisionState();\n\n    const cached = this.#blobCache.get(a.schemaHash);\n    if (cached) {\n      void this.#beginBringUp(a, cached.schema, cached.blob);\n      return;\n    }\n    this.#startSchemaRead(a);\n  }\n\n  // ---------------------------------------------------------------------\n  // HEARTBEAT\n  // ---------------------------------------------------------------------\n\n  #handleHeartbeat(data: Uint8Array): void {\n    const h = decodeHeartbeat(data);\n    if (!h) {\n      this.#error(new Error('malformed HEARTBEAT'));\n      return;\n    }\n    this.#lastHeartbeatMs = this.#now();\n    if (this.#announce && this.#announce.bootId !== h.bootId) {\n      // boot_id changed without a preceding ANNOUNCE — missed the ×3 burst.\n      this.#announce = null;\n      this.#reprovisionState();\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    // Recover from `lost` while the snapshot / pendingStart are still live.\n    if (this.#state.kind === 'lost') {\n      if (this.#snapshot !== null) {\n        this.#setState({ kind: 'running' });\n      } else if (this.#pendingStart !== null) {\n        this.#setState({ kind: 'awaiting-start' });\n      }\n    }\n\n    // Suspended tracking only kicks in once we've reached RUNNING.\n    if (this.#snapshot !== null) {\n      const isSuspended = h.state === STATE_SUSPENDED;\n      if (isSuspended && this.#state.kind === 'running') {\n        this.#setState({ kind: 'suspended' });\n      } else if (!isSuspended && this.#state.kind === 'suspended') {\n        this.#setState({ kind: 'running' });\n      }\n    }\n  }\n\n  // ---------------------------------------------------------------------\n  // SCHEMA_READ\n  // ---------------------------------------------------------------------\n\n  #startSchemaRead(a: AnnounceMsg): void {\n    const progress: SchemaReadProgress = {\n      expectedTotal: a.blobLen,\n      acc: new SchemaAccumulator(a.blobLen),\n      inflightSeq: 0,\n      inflightLen: 0,\n      retriesLeft: this.#schemaReadRetries,\n      inflightDeadlineMs: 0,\n    };\n    this.#schemaRead = progress;\n    this.#setState({ kind: 'schema-reading', received: 0, total: a.blobLen });\n    this.#issueSchemaReadChunk(progress, false);\n  }\n\n  #issueSchemaReadChunk(p: SchemaReadProgress, retry: boolean): void {\n    const remaining = Math.max(0, p.expectedTotal - p.acc.length);\n    if (remaining === 0) return;\n    const len = Math.min(remaining, this.#schemaChunkSize);\n    const seq = retry ? p.inflightSeq : this.#seq.next();\n    p.inflightSeq = seq;\n    p.inflightLen = len;\n    p.inflightDeadlineMs = this.#now() + this.#ackTimeoutMs;\n    void this.#transport\n      .send(encodeSchemaRead(this.nodeId, p.acc.length, len, seq))\n      .catch((e: unknown) => this.#error(e));\n  }\n\n  #onSchemaReadStall(): void {\n    const p = this.#schemaRead;\n    if (!p) return;\n    if (p.retriesLeft <= 0) {\n      this.#error(new Error(`schema-read stalled (offset ${p.acc.length} of ${p.expectedTotal})`));\n      this.#schemaRead = null;\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    p.retriesLeft -= 1;\n    this.#issueSchemaReadChunk(p, true);\n  }\n\n  #handleSchemaData(seq: number, data: Uint8Array): void {\n    const p = this.#schemaRead;\n    if (!p) return;\n    const m = decodeSchemaData(data);\n    if (!m) {\n      this.#error(new Error('malformed SCHEMA_DATA'));\n      return;\n    }\n    if (m.offset !== p.acc.length) return; // out-of-order, drop\n    const took = p.acc.append(m, p.inflightLen);\n    if (took === 0) return;\n    p.retriesLeft = this.#schemaReadRetries;\n    if (!p.acc.complete) {\n      this.#setState({ kind: 'schema-reading', received: p.acc.length, total: p.expectedTotal });\n      this.#issueSchemaReadChunk(p, false);\n      return;\n    }\n    const blob = p.acc.bytes();\n    this.#schemaRead = null;\n    void this.#finishSchemaRead(blob);\n    void seq;\n  }\n\n  async #finishSchemaRead(blob: Uint8Array): Promise<void> {\n    const a = this.#announce;\n    if (!a) return;\n    // Hash mismatch indicates a torn transfer / mid-flight reboot.\n    let actualHash: bigint;\n    try {\n      actualHash = await schemaHashPrefix(blob);\n    } catch (e) {\n      this.#error(e);\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    if (actualHash !== a.schemaHash) {\n      this.#error(\n        new Error(\n          `schema hash mismatch: announced ${a.schemaHash.toString(16)}, actual ${actualHash.toString(16)}`,\n        ),\n      );\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    let schema: NodeSchema;\n    let versionAheadOfMaster: boolean;\n    try {\n      ({ schema, versionAheadOfMaster } = decodeSchemaWithMeta(blob));\n    } catch (e) {\n      this.#error(e);\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    if (versionAheadOfMaster) {\n      this.#error(\n        new Error(\n          `node ${this.nodeId}: schema protocol_version=${schema.protocolVersion} exceeds master-known — proceeding with best-effort`,\n        ),\n      );\n    }\n    this.#blobCache.set(a.schemaHash, { blob, schema });\n    await this.#beginBringUp(a, schema, blob);\n  }\n\n  // ---------------------------------------------------------------------\n  // Bring-up: FRAME_DEFINE → START\n  // ---------------------------------------------------------------------\n\n  async #beginBringUp(a: AnnouncedRecord, schema: NodeSchema, blob: Uint8Array): Promise<void> {\n    this.#setState({ kind: 'numbering' });\n    const numbering = computeNumbering(schema, Array.from(a.instanceCounts));\n    if (numbering.status !== 'ok') {\n      this.#error(new Error(`numbering failed: ${numbering.status}`));\n      this.#setState({ kind: 'blocked', reason: `numbering: ${numbering.status}` });\n      return;\n    }\n    const plan: readonly FramePlan[] =\n      typeof this.#framePlan === 'function'\n        ? this.#framePlan(schema, numbering, { nodeId: this.nodeId })\n        : this.#framePlan;\n\n    // Targeted DISCOVER clears any stale frame table from a prior master.\n    try {\n      await this.#transport.send(encodeDiscoverTo(this.nodeId));\n    } catch (e) {\n      this.#error(e);\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n\n    const gen = ++this.#generation;\n    const stdIdToTopicIndex = new Map<number, number>();\n    for (const fp of plan) {\n      for (const entry of fp.entries) {\n        // First entry wins when multiple topics share a frame.\n        if (!stdIdToTopicIndex.has(fp.stdId)) {\n          stdIdToTopicIndex.set(fp.stdId, entry.topicIndex);\n        }\n      }\n    }\n    const progress: ProvisioningProgress = {\n      generation: gen,\n      pendingDefines: plan.length,\n      anyFailure: false,\n      firstNakReason: 0,\n      plan,\n      stdIdToTopicIndex,\n    };\n    this.#provisioning = progress;\n\n    if (plan.length === 0) {\n      // Set 'provisioning' before START so a DISCOVER-echo ANNOUNCE hits the\n      // early-return in #handleAnnounce instead of restarting from 'numbering'.\n      this.#provisioning.pendingDefines = 0;\n      this.#setState({ kind: 'provisioning', pendingDefines: 0 });\n      this.#maybeIssueStart(a, schema, blob, numbering, gen, progress);\n      return;\n    }\n    this.#setState({ kind: 'provisioning', pendingDefines: plan.length });\n\n    const deadline = this.#now() + this.#ackTimeoutMs;\n    for (const fp of plan) {\n      const seq = this.#seq.next();\n      this.#acks.track(seq, deadline, (outcome) =>\n        this.#onFrameDefineOutcome(a, schema, blob, numbering, gen, outcome),\n      );\n      // Schema `Direction` (M2S=0, S2M=1) is inverse of the wire `dir` byte.\n      const wireDir = fp.dir === Direction.S2M ? DIR_TX_S2M : DIR_RX_M2S;\n      void this.#transport\n        .send(encodeFrameDefine(this.nodeId, seq, fp.stdId, fp.periodUs, wireDir, fp.entries))\n        .catch((e: unknown) => this.#error(e));\n    }\n  }\n\n  #onFrameDefineOutcome(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n    outcome: AckOutcome,\n  ): void {\n    const p = this.#provisioning;\n    if (!p || p.generation !== gen) return;\n    if (outcome.kind !== 'acked') {\n      if (!p.anyFailure) {\n        p.anyFailure = true;\n        p.firstNakReason = outcome.kind === 'naked' ? outcome.reason : 0;\n      }\n    }\n    if (p.pendingDefines === 0) return;\n    p.pendingDefines -= 1;\n    this.#setState({ kind: 'provisioning', pendingDefines: p.pendingDefines });\n    if (p.pendingDefines > 0) return;\n    if (p.anyFailure) {\n      this.#error(new Error(`FRAME_DEFINE failed (first NAK reason ${p.firstNakReason})`));\n      this.#provisioning = null;\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    this.#maybeIssueStart(a, schema, blob, numbering, gen, p);\n  }\n\n  /**\n   * Fire START if autoStart allows, else park in `awaiting-start` with\n   * enough context that `startNow()` can resume without re-running FRAME_DEFINE.\n   */\n  #maybeIssueStart(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n    progress: ProvisioningProgress,\n  ): void {\n    if (this.#autoStart()) {\n      this.#issueStart(a, schema, blob, numbering, gen);\n      return;\n    }\n    // Hold `#provisioning` and `#pendingStart` live — a reprovision path\n    // clears both via `#reprovisionState()`.\n    this.#pendingStart = { a, schema, blob, numbering, generation: gen, progress };\n    this.#setState({ kind: 'awaiting-start' });\n  }\n\n  /**\n   * Commit the deferred START. Only legal in `awaiting-start`; throws\n   * elsewhere so callers spot logic bugs instead of racing a fresh ANNOUNCE.\n   */\n  async startNow(): Promise<void> {\n    if (this.#stopped) throw new Error('NodeAgent.startNow() after stop()');\n    if (this.#state.kind !== 'awaiting-start' || this.#pendingStart === null) {\n      throw new Error(`NodeAgent.startNow() called in state '${this.#state.kind}'`);\n    }\n    const p = this.#pendingStart;\n    this.#pendingStart = null;\n    this.#setState({ kind: 'provisioning', pendingDefines: 0 });\n    this.#issueStart(p.a, p.schema, p.blob, p.numbering, p.generation);\n  }\n\n  #issueStart(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n  ): void {\n    const seq = this.#seq.next();\n    const deadline = this.#now() + this.#ackTimeoutMs;\n    this.#acks.track(seq, deadline, (outcome) =>\n      this.#onStartOutcome(a, schema, blob, numbering, gen, outcome),\n    );\n    void this.#transport.send(encodeStart(this.nodeId, seq)).catch((e: unknown) => this.#error(e));\n  }\n\n  #onStartOutcome(\n    a: AnnouncedRecord,\n    schema: NodeSchema,\n    blob: Uint8Array,\n    numbering: NumberingResult,\n    gen: number,\n    outcome: AckOutcome,\n  ): void {\n    const p = this.#provisioning;\n    if (!p || p.generation !== gen) return;\n    if (outcome.kind !== 'acked') {\n      this.#error(\n        new Error(\n          `START ${outcome.kind === 'naked' ? `NAKed reason=${outcome.reason}` : 'timed out'}`,\n        ),\n      );\n      this.#provisioning = null;\n      this.#setState({ kind: 'awaiting-announce' });\n      return;\n    }\n    const index = new SchemaIndex(schema, numbering, Array.from(a.instanceCounts));\n    const client = this.#services;\n    this.#snapshot = {\n      nodeId: this.nodeId,\n      schemaHash: a.schemaHash,\n      bootId: a.bootId,\n      instanceCounts: a.instanceCounts,\n      blob,\n      schema,\n      numbering,\n      framePlan: p.plan,\n      stdIdToTopicIndex: p.stdIdToTopicIndex,\n      services: client,\n      index,\n      service<Req extends Dict, Resp extends Dict>(path: string): TypedService<Req, Resp> {\n        const desc = index.service(path);\n        if (!desc) {\n          throw new Error(`unknown service path '${path}'`);\n        }\n        return new TypedService<Req, Resp>(client, desc);\n      },\n      param<T>(path: string): TypedParam<T> {\n        const desc = index.param(path);\n        if (!desc) {\n          throw new Error(`unknown param path '${path}'`);\n        }\n        return new TypedParam<T>(client, desc);\n      },\n    };\n    this.#provisioning = null;\n    this.#setState({ kind: 'running' });\n    void STATE_RUNNING;\n  }\n\n  // ---------------------------------------------------------------------\n  // Helpers\n  // ---------------------------------------------------------------------\n\n  #reprovisionState(): void {\n    this.#acks.clear();\n    this.#services.failAll('NodeAgent reprovision');\n    this.#schemaRead = null;\n    this.#provisioning = null;\n    this.#pendingStart = null;\n    this.#snapshot = null;\n  }\n\n  #enterLost(reason: string): void {\n    if (this.#state.kind === 'lost') return;\n    this.#setState({ kind: 'lost', reason });\n  }\n\n  #setState(s: NodeProvisionState): void {\n    this.#state = s;\n    this.#onState?.(s);\n  }\n\n  #error(e: unknown): void {\n    const err = e instanceof Error ? e : new Error(String(e));\n    this.#onError?.(err);\n  }\n}\n","import type { CanFrame, ITransport, Unsubscribe } from '@fibril/can-transport';\nimport {\n  CHAN_CONFIG,\n  CMD_ANNOUNCE,\n  CMD_HEARTBEAT,\n  extChannel,\n  extIndex,\n  extNodeId,\n  NODE_ID_BROADCAST,\n} from './can-id.js';\nimport { encodeDiscover } from './config-plane.js';\nimport { DataPlaneReceiver } from './data-plane.js';\nimport { MasterHeartbeatBroadcaster } from './master-heartbeat.js';\nimport {\n  type FramePlanFactory,\n  NodeAgent,\n  type NodeProvisionState,\n  type NodeRunningSnapshot,\n} from './node-agent.js';\n\n/**\n * Multi-slave coordinator. Owns the transport, one MASTER_HEARTBEAT\n * broadcaster, and a `Map<nodeId, NodeAgent>` populated on first sight of\n * ANNOUNCE / HEARTBEAT. Broadcast DISCOVER is destructive so it is fired\n * only once at start(); use `discoverNow()` on demand.\n */\n\n/** Default policy hooks applied to every spawned NodeAgent. */\nexport interface MasterControllerOptions {\n  /** Already-open()'d transport. The controller attaches its own onFrame. */\n  transport: ITransport;\n  /** Strategy applied to every spawned NodeAgent. Required. */\n  framePlan: FramePlanFactory;\n  /** MASTER_HEARTBEAT broadcast period in ms. Default 100 (§5.11). */\n  heartbeatPeriodMs?: number;\n  /**\n   * Periodic broadcast DISCOVER period in ms. Default 0 (disabled). Each\n   * firing wipes every slave's frame table — prefer `discoverNow()`.\n   */\n  discoverPeriodMs?: number;\n  /** One broadcast DISCOVER inside `start()` to flush stale slaves. Default true. */\n  initialDiscover?: boolean;\n  /** Per-NodeAgent ACK timeout in ms. Default 250 (matches NodeAgent). */\n  ackTimeoutMs?: number;\n  /** Per-NodeAgent HEARTBEAT-loss budget in ms. Default 350. */\n  heartbeatTimeoutMs?: number;\n  /** Per-service-call default timeout in ms. Default `ackTimeoutMs`. */\n  serviceTimeoutMs?: number;\n  /** Getter (not a boolean) gating START on every spawned NodeAgent. Default `() => true`. */\n  autoStart?: () => boolean;\n  /** Optional clock override (tests). Default `() => Date.now()`. */\n  now?: () => number;\n  /** Optional non-fatal error sink. */\n  onError?: (err: Error) => void;\n}\n\n/** Snapshot of one slave's state as observed by the controller. */\nexport interface ControllerSlaveSnapshot {\n  readonly nodeId: number;\n  readonly state: NodeProvisionState;\n  /** Truthy once the slave reaches RUNNING for the first time. */\n  readonly running: NodeRunningSnapshot | null;\n  /** `now()` when HEARTBEAT was last seen. null if never. */\n  readonly lastHeartbeatMs: number | null;\n  /** boot_id observed (from ANNOUNCE or HEARTBEAT). null if neither yet. */\n  readonly bootId: number | null;\n  /** schema_hash observed in ANNOUNCE. null if not yet ANNOUNCEd. */\n  readonly schemaHash: bigint | null;\n}\n\nexport type ControllerListener = (snapshots: readonly ControllerSlaveSnapshot[]) => void;\n\ninterface SlaveRecord {\n  agent: NodeAgent;\n  state: NodeProvisionState;\n  lastHeartbeatMs: number | null;\n  bootId: number | null;\n  schemaHash: bigint | null;\n}\n\nfunction readU32Le(p: Uint8Array, off: number): number {\n  return (\n    ((p[off] ?? 0) |\n      ((p[off + 1] ?? 0) << 8) |\n      ((p[off + 2] ?? 0) << 16) |\n      ((p[off + 3] ?? 0) << 24)) >>>\n    0\n  );\n}\nfunction readU64Le(p: Uint8Array, off: number): bigint {\n  let r = 0n;\n  for (let i = 0; i < 8; i++) r |= BigInt(p[off + i] ?? 0) << BigInt(i * 8);\n  return r;\n}\n\nexport class MasterController {\n  readonly #transport: ITransport;\n  readonly #framePlan: FramePlanFactory;\n  readonly #heartbeatBroadcaster: MasterHeartbeatBroadcaster;\n  readonly #dataPlane: DataPlaneReceiver;\n  readonly #discoverPeriodMs: number;\n  readonly #initialDiscover: boolean;\n  readonly #ackTimeoutMs: number;\n  readonly #heartbeatTimeoutMs: number;\n  readonly #serviceTimeoutMs: number | undefined;\n  readonly #autoStart: () => boolean;\n  readonly #now: () => number;\n  readonly #onError?: (err: Error) => void;\n\n  readonly #slaves = new Map<number, SlaveRecord>();\n  readonly #listeners = new Set<ControllerListener>();\n\n  #unsubFrame: Unsubscribe | null = null;\n  #discoverHandle: ReturnType<typeof setInterval> | null = null;\n  #started = false;\n\n  constructor(opts: MasterControllerOptions) {\n    this.#transport = opts.transport;\n    this.#framePlan = opts.framePlan;\n    this.#heartbeatBroadcaster = new MasterHeartbeatBroadcaster(\n      opts.transport,\n      opts.heartbeatPeriodMs ?? 100,\n    );\n    this.#dataPlane = new DataPlaneReceiver({\n      transport: opts.transport,\n      ...(opts.onError !== undefined ? { onError: opts.onError } : {}),\n      ...(opts.now !== undefined ? { now: opts.now } : {}),\n    });\n    this.#discoverPeriodMs = opts.discoverPeriodMs ?? 0;\n    this.#initialDiscover = opts.initialDiscover ?? true;\n    this.#ackTimeoutMs = opts.ackTimeoutMs ?? 250;\n    this.#heartbeatTimeoutMs = opts.heartbeatTimeoutMs ?? 350;\n    this.#serviceTimeoutMs = opts.serviceTimeoutMs;\n    this.#autoStart = opts.autoStart ?? (() => true);\n    this.#now = opts.now ?? (() => Date.now());\n    this.#onError = opts.onError;\n  }\n\n  /**\n   * S→M topic decoder. Auto-attaches / detaches on each slave's `running`\n   * transition; subscribe via `dataPlane.onTopic` / read via `dataPlane.latest`.\n   */\n  get dataPlane(): DataPlaneReceiver {\n    return this.#dataPlane;\n  }\n\n  start(): void {\n    if (this.#started) return;\n    this.#started = true;\n    this.#heartbeatBroadcaster.start();\n    this.#unsubFrame = this.#transport.onFrame((f) => this.#onFrame(f));\n    if (this.#initialDiscover) {\n      void this.#transport.send(encodeDiscover()).catch((e) => this.#error(e));\n    }\n    if (this.#discoverPeriodMs > 0) {\n      this.#discoverHandle = setInterval(() => {\n        void this.#transport.send(encodeDiscover()).catch((e) => this.#error(e));\n      }, this.#discoverPeriodMs);\n    }\n  }\n\n  /** Stop all internals, stop every NodeAgent, detach from the transport. */\n  async stop(): Promise<void> {\n    if (!this.#started) return;\n    this.#started = false;\n    if (this.#discoverHandle !== null) {\n      clearInterval(this.#discoverHandle);\n      this.#discoverHandle = null;\n    }\n    this.#heartbeatBroadcaster.stop();\n    if (this.#unsubFrame) {\n      this.#unsubFrame();\n      this.#unsubFrame = null;\n    }\n    const stops = [...this.#slaves.values()].map((r) => r.agent.stop().catch(() => {}));\n    this.#slaves.clear();\n    this.#dataPlane.dispose();\n    await Promise.all(stops);\n    this.#emit();\n  }\n\n  /** Snapshot of all known slaves. 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