@intomind/sdk 0.0.0-stage → 1.4.1

package/src/web-bluetooth.ts

@@ -0,0 +1,419 @@
+/**
+ * The browser transport.
+ *
+ * This is the only file that touches `navigator.bluetooth`. Everything
+ * else in this package is bytes in and events out, so the protocol, the
+ * session, and the timebase are all testable without a browser and without
+ * a device.
+ *
+ * It stays thin on purpose: find a device, connect, resolve the
+ * characteristics, subscribe, and hand every notification to the session.
+ * What the notifications mean is the session's business.
+ */
+
+import {
+  DEVICE_INFO,
+  FILL,
+  OPCODES,
+  SERVICE,
+  uuid,
+  type DeviceInfo,
+  type Response,
+} from "./protocol.ts";
+import { Session, type Command, type Event as SessionEvent } from "./session.ts";
+import type { Fit } from "./timebase.ts";
+import type { Transfer } from "./transfer.ts";
+
+// The Web Bluetooth surface this file uses, and no more. Declaring it here
+// rather than depending on a types package keeps the dependency count at
+// zero and states exactly what the transport touches.
+
+/** The part of a GATT characteristic this transport uses. */
+export interface BluetoothRemoteGATTCharacteristicLike extends EventTarget {
+  /** The characteristic's full identifier. */
+  readonly uuid: string;
+  /** The last value read or notified. */
+  readonly value?: DataView;
+  /** Read the current value. */
+  readValue(): Promise<DataView>;
+  /** Write a value and wait for the device's acknowledgement. */
+  writeValueWithResponse(value: BufferSource): Promise<void>;
+  /** Write a value without waiting for an acknowledgement. */
+  writeValueWithoutResponse(value: BufferSource): Promise<void>;
+  /** Subscribe to value-changed notifications. */
+  startNotifications(): Promise<BluetoothRemoteGATTCharacteristicLike>;
+  /** Unsubscribe from value-changed notifications. */
+  stopNotifications(): Promise<BluetoothRemoteGATTCharacteristicLike>;
+}
+
+/** The part of a GATT service this transport uses. */
+export interface BluetoothRemoteGATTServiceLike {
+  /** Resolve one of the service's characteristics by its full identifier. */
+  getCharacteristic(uuid: string): Promise<BluetoothRemoteGATTCharacteristicLike>;
+}
+
+/** The part of a GATT server this transport uses. */
+export interface BluetoothRemoteGATTServerLike {
+  /** Whether the link is currently connected. */
+  readonly connected: boolean;
+  /** Open the link. */
+  connect(): Promise<BluetoothRemoteGATTServerLike>;
+  /** Drop the link. */
+  disconnect(): void;
+  /** Resolve the device's primary service by its full identifier. */
+  getPrimaryService(uuid: string): Promise<BluetoothRemoteGATTServiceLike>;
+}
+
+/** The part of a chosen Bluetooth device this transport uses. */
+export interface BluetoothDeviceLike extends EventTarget {
+  /** The browser's identifier for this device. */
+  readonly id: string;
+  /** The device's advertised name, when known. */
+  readonly name?: string;
+  /** The device's GATT server, when it has one. */
+  readonly gatt?: BluetoothRemoteGATTServerLike;
+}
+
+/** The part of `navigator.bluetooth` this transport uses. */
+export interface BluetoothLike {
+  /** Put the browser's device chooser up. */
+  requestDevice(options: {
+    filters?: Array<{ services?: string[]; namePrefix?: string }>;
+    optionalServices?: string[];
+    acceptAllDevices?: boolean;
+  }): Promise<BluetoothDeviceLike>;
+  /** Whether this browser has Bluetooth available at all, when the browser reports it. */
+  getAvailability?(): Promise<boolean>;
+}
+
+/** Thrown when the page cannot reach Web Bluetooth at all. */
+export class NoBluetooth extends Error {
+  constructor() {
+    super("this page has no Web Bluetooth: it needs a supporting browser, a secure context, and a user gesture");
+    this.name = "NoBluetooth";
+  }
+}
+
+function bluetooth(): BluetoothLike {
+  const nav = (globalThis as { navigator?: { bluetooth?: BluetoothLike } }).navigator;
+  if (nav?.bluetooth === undefined) throw new NoBluetooth();
+  return nav.bluetooth;
+}
+
+/**
+ * The clock the exchanges are read on, in seconds.
+ *
+ * Monotonic where the runtime has one, because the fit between the two
+ * clocks is a line and a wall clock step would bend it. A caller that puts
+ * its own events on the same ruler reads this same function.
+ */
+export function hostClock(): number {
+  const p = (globalThis as { performance?: { now(): number; timeOrigin?: number } }).performance;
+  if (p !== undefined) return (p.timeOrigin ?? 0) / 1000 + p.now() / 1000;
+  return Date.now() / 1000;
+}
+
+/** Options for `requestDevice`. */
+export interface RequestOptions {
+  /** Narrow the chooser further, for instance to one unit on a bench. */
+  namePrefix?: string;
+}
+
+/**
+ * Put the browser's device chooser up, filtered to devices that advertise
+ * the IntoMind service. This has to be called from a user gesture.
+ */
+export function requestDevice(options: RequestOptions = {}): Promise<BluetoothDeviceLike> {
+  const filter: { services: string[]; namePrefix?: string } = { services: [SERVICE] };
+  if (options.namePrefix !== undefined) filter.namePrefix = options.namePrefix;
+  return bluetooth().requestDevice({ filters: [filter], optionalServices: [SERVICE] });
+}
+
+/** Options for `connect`. */
+export interface ConnectOptions {
+  /** Drive an existing session rather than a new one. */
+  session?: Session;
+  /** Called with every event, in the order the session produced them. */
+  onEvent?: (event: SessionEvent) => void;
+  /** Called when the link drops, for whatever reason. */
+  onDisconnect?: () => void;
+  /** How long a control request waits for its answer. */
+  timeoutMs?: number;
+}
+
+/** A live link to one device. */
+export class Connection {
+  /** The device this link is to. */
+  readonly device: BluetoothDeviceLike;
+  /** The session reading this device's notifications. */
+  readonly session: Session;
+  /** What the device said it is, read before anything else was asked of it. */
+  readonly info: DeviceInfo;
+
+  readonly #server: BluetoothRemoteGATTServerLike;
+  readonly #characteristics: Map<number, BluetoothRemoteGATTCharacteristicLike>;
+  readonly #listeners = new Set<(event: SessionEvent) => void>();
+  readonly #waiting: Array<{ opcode: number; settle: (answer: Response, at: number) => void }> = [];
+  /** Whoever is waiting for the next update answer, in order. */
+  readonly #updateWaiting: Array<(bytes: Uint8Array) => void> = [];
+  readonly #timeoutMs: number;
+  /**
+   * Verifying a finished image takes the device longer than answering a
+   * command, because it hashes and checks a signature over the whole of
+   * it before it says anything.
+   */
+  readonly #updateTimeoutMs = 30_000;
+
+  /** Build one from an open server and the characteristics `connect` resolved. */
+  constructor(f: {
+    device: BluetoothDeviceLike;
+    server: BluetoothRemoteGATTServerLike;
+    session: Session;
+    info: DeviceInfo;
+    characteristics: Map<number, BluetoothRemoteGATTCharacteristicLike>;
+    timeoutMs: number;
+  }) {
+    this.device = f.device;
+    this.session = f.session;
+    this.info = f.info;
+    this.#server = f.server;
+    this.#characteristics = f.characteristics;
+    this.#timeoutMs = f.timeoutMs;
+  }
+
+  /** Whether the link is currently connected. */
+  get connected(): boolean {
+    return this.#server.connected;
+  }
+
+  /** Take every event. The returned function stops taking them. */
+  on(listener: (event: SessionEvent) => void): () => void {
+    this.#listeners.add(listener);
+    return () => this.#listeners.delete(listener);
+  }
+
+  /** Write a command. The session says which characteristic it goes to. */
+  async send(command: Command): Promise<void> {
+    const c = this.#characteristics.get(command.characteristic);
+    if (c === undefined) {
+      throw new Error(`this device has no characteristic ${uuid(command.characteristic)}`);
+    }
+    const bytes = command.bytes.slice();
+    if (command.withResponse) await c.writeValueWithResponse(bytes);
+    else await c.writeValueWithoutResponse(bytes);
+  }
+
+  /** Write a command and wait for the device's answer to it. */
+  async request(command: Command): Promise<Response> {
+    const answer = this.#await(command.bytes[0]!);
+    await this.send(command);
+    return (await answer).answer;
+  }
+
+  /**
+   * One time exchange, with the host clock read either side of it. The
+   * device's answer is known to lie between those two readings, which is
+   * the whole uncertainty in this one exchange.
+   */
+  async timeSync(): Promise<Fit | null> {
+    const waiting = this.#await(OPCODES.time_sync);
+    const before = hostClock();
+    await this.send(this.session.timeSync());
+    const { answer, at } = await waiting;
+    return this.session.onTimeSync(answer.payload, before, at);
+  }
+
+  /**
+   * Carry an image or a head to the device and have it verified there.
+   *
+   * Nothing is activated by this. Use `activate` afterwards, and expect
+   * the link to drop when you do.
+   *
+   * ```javascript
+   * const t = Transfer.head(link.session, 1, blob);
+   * const result = await link.transfer(t, blob, ({ taken, total }) => {
+   *   console.log(`${taken} of ${total}`);
+   * });
+   * ```
+   */
+  async transfer(
+    transfer: Transfer,
+    image: Uint8Array,
+    onProgress?: (progress: { taken: number; total: number }) => void,
+  ): Promise<string | null> {
+    try {
+      for (;;) {
+        const step = transfer.step(image);
+        if (step.type === "verified") return step.result;
+        if (step.type === "send") {
+          const answer = this.#awaitUpdate();
+          await this.send(step.command);
+          transfer.onAnswer(await answer, image);
+          onProgress?.(transfer.progress);
+          continue;
+        }
+        await this.send({
+          characteristic: step.characteristic,
+          bytes: image.subarray(step.from, step.to),
+          withResponse: false,
+        });
+        transfer.sent(step.to - step.from);
+      }
+    } catch (e) {
+      // A transfer that stopped leaves the device holding a part of
+      // something. Tell it to drop that, then report what went wrong.
+      try {
+        await this.send(transfer.abort());
+        this.#updateWaiting.shift();
+      } catch {
+        // The link is what failed. Nothing further to say to it.
+      }
+      throw e;
+    }
+  }
+
+  /**
+   * End every subscription this link started, then drop the link. The
+   * order matters: on some platforms the browser keeps a subscribed link
+   * open after a disconnect, and the next program on the same computer
+   * then hears every packet twice.
+   */
+  async disconnect(): Promise<void> {
+    for (const fill of NOTIFYING) {
+      const c = this.#characteristics.get(fill);
+      if (c === undefined) continue;
+      try {
+        await c.stopNotifications();
+      } catch {
+        // A link that is already gone has nothing left to stop.
+      }
+    }
+    if (this.#server.connected) this.#server.disconnect();
+  }
+
+  #awaitUpdate(): Promise<Uint8Array> {
+    return new Promise((resolve, reject) => {
+      const timer = setTimeout(() => {
+        const i = this.#updateWaiting.indexOf(settle);
+        if (i >= 0) this.#updateWaiting.splice(i, 1);
+        reject(new Error("the device did not answer the update service in time"));
+      }, this.#updateTimeoutMs);
+      const settle = (bytes: Uint8Array) => {
+        clearTimeout(timer);
+        resolve(bytes);
+      };
+      this.#updateWaiting.push(settle);
+    });
+  }
+
+  #await(opcode: number): Promise<{ answer: Response; at: number }> {
+    return new Promise((resolve, reject) => {
+      const waiter = {
+        opcode,
+        settle: (answer: Response, at: number) => {
+          clearTimeout(timer);
+          resolve({ answer, at });
+        },
+      };
+      const timer = setTimeout(() => {
+        const i = this.#waiting.indexOf(waiter);
+        if (i >= 0) this.#waiting.splice(i, 1);
+        reject(new Error(`the device did not answer opcode 0x${opcode.toString(16)} in time`));
+      }, this.#timeoutMs);
+      this.#waiting.push(waiter);
+    });
+  }
+
+  /** @internal Called by `connect` for every notification that arrives. */
+  deliver(characteristic: number, bytes: Uint8Array): void {
+    const at = hostClock();
+    if (characteristic === FILL.UPDATE_CONTROL) {
+      // An update answer is not a session event. It goes to whichever
+      // transfer asked for it.
+      const settle = this.#updateWaiting.shift();
+      if (settle !== undefined) settle(bytes);
+      return;
+    }
+    for (const event of this.session.onNotification(characteristic, bytes)) {
+      if (event.type === "answer") {
+        const i = this.#waiting.findIndex((w) => w.opcode === event.answer.opcode);
+        if (i >= 0) this.#waiting.splice(i, 1)[0]!.settle(event.answer, at);
+      }
+      for (const listener of this.#listeners) listener(event);
+    }
+  }
+}
+
+/** The characteristics this transport subscribes to, in the order it tries them. */
+const NOTIFYING = [
+  FILL.EEG_DATA,
+  FILL.STATUS,
+  FILL.CONTROL_RESPONSE,
+  FILL.PREDICTIONS,
+  // The update service answers on its own characteristic, by indication.
+  // Without this subscription a transfer writes into silence.
+  FILL.UPDATE_CONTROL,
+];
+const WRITABLE = [FILL.CONTROL, FILL.UPDATE_CONTROL, FILL.UPDATE_DATA];
+
+/**
+ * Connect to a device the user chose, read what it is, and subscribe to
+ * everything it notifies.
+ */
+export async function connect(device: BluetoothDeviceLike, options: ConnectOptions = {}): Promise<Connection> {
+  if (device.gatt === undefined) throw new NoBluetooth();
+  const server = await device.gatt.connect();
+  const service = await server.getPrimaryService(SERVICE);
+
+  const session = options.session ?? new Session();
+  const infoCharacteristic = await service.getCharacteristic(DEVICE_INFO);
+  const info = session.onDeviceInfo(asBytes(await infoCharacteristic.readValue()));
+
+  const characteristics = new Map<number, BluetoothRemoteGATTCharacteristicLike>();
+  characteristics.set(FILL.DEVICE_INFO, infoCharacteristic);
+  // A device carries the characteristics its firmware offers, so one that
+  // is absent is not an error. What is absent shows up as a capability the
+  // device never claimed.
+  for (const fill of [...NOTIFYING, ...WRITABLE]) {
+    const c = await optional(service, fill);
+    if (c !== null) characteristics.set(fill, c);
+  }
+
+  const connection = new Connection({ device, server, session, info, characteristics, timeoutMs: options.timeoutMs ?? 5000 });
+  if (options.onEvent !== undefined) connection.on(options.onEvent);
+
+  for (const fill of NOTIFYING) {
+    const c = characteristics.get(fill);
+    if (c === undefined) continue;
+    c.addEventListener("characteristicvaluechanged", (event: Event) => {
+      const value = (event.target as BluetoothRemoteGATTCharacteristicLike).value;
+      if (value !== undefined) connection.deliver(fill, asBytes(value));
+    });
+    await c.startNotifications();
+  }
+
+  if (options.onDisconnect !== undefined) {
+    device.addEventListener("gattserverdisconnected", options.onDisconnect, { once: true });
+  }
+  return connection;
+}
+
+/** Ask for a device and connect to it, which is what most callers want. */
+export async function requestAndConnect(options: RequestOptions & ConnectOptions = {}): Promise<Connection> {
+  return connect(await requestDevice(options), options);
+}
+
+async function optional(
+  service: BluetoothRemoteGATTServiceLike,
+  fill: number,
+): Promise<BluetoothRemoteGATTCharacteristicLike | null> {
+  try {
+    return await service.getCharacteristic(uuid(fill));
+  } catch {
+    return null;
+  }
+}
+
+function asBytes(value: DataView): Uint8Array {
+  return new Uint8Array(value.buffer, value.byteOffset, value.byteLength).slice();
+}