@openrois/sdk 0.0.0-stage → 0.1.0-alpha.1

package/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright 2026 Coarobo GK
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

package/NOTICE

@@ -0,0 +1,7 @@
+OpenRoIS
+Copyright 2026 Coarobo GK
+
+OpenRoIS is developed by Coarobo GK (https://coarobo.com/)
+and the OpenRoIS community (https://openrois.org/).
+
+OpenRoIS is a trademark of Coarobo GK.

package/README.md

@@ -1,3 +1,269 @@
-# Temporary Holding Version
+# @openrois/sdk
 
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.
+![Node.js](https://img.shields.io/badge/Node.js-22.12+-5FA04E?logo=nodedotjs&logoColor=white)
+
+JavaScript client SDK for [OpenRoIS](https://openrois.org/), an open-source middleware implementing the [OMG RoIS Framework 2.0](https://www.omg.org/spec/RoIS/2.0).
+
+Connect to an OpenRoIS engine, discover the components of every connected physical robot, virtual avatar, or AI service, and drive them through the standard RoIS interfaces. Runs in browsers and in Node.js.
+
+> **Alpha, pre-1.0, unstable API.**
+
+## Installation
+
+### npm
+
+```bash
+npm install @openrois/sdk
+```
+
+### From Source
+
+```bash
+git clone https://github.com/openrois/openrois.git
+cd openrois/sdk/javascript
+npm install
+npm run build
+```
+
+Then reference from your project:
+
+```json
+{
+  "dependencies": {
+    "@openrois/sdk": "file:../path/to/openrois/sdk/javascript"
+  }
+}
+```
+
+## Usage
+
+```ts
+import { RoISClient, componentRef, componentType } from "@openrois/sdk";
+
+const client = await RoISClient.connect("ws://localhost:8765");
+
+// Find a component by type, and select it by ref in later calls.
+const [nav] = await client.search(componentType({ authority: "OMG", code: "Navigation" }));
+const target = componentRef(nav);
+
+// Read state.
+const status = await client.query("component_status", target);
+
+// React to events.
+client.on("rois.event.notify_event", ({ event_type, results }) => {
+  console.log(event_type, results);
+});
+await client.subscribe("reached_target", target);
+
+// Record how each command ends, before running any.
+const statuses = new Map<string, string>();
+const waiters = new Map<string, () => void>();
+client.on("rois.command.completed", ({ command_id, status }) => {
+  statuses.set(command_id, status);
+  waiters.get(command_id)?.();
+});
+
+// Reserve, configure, command, wait, release.
+await client.bind(nav);
+await client.setParameter(nav, [
+  { name: "target_positions", data_type_ref: "string[]", value: '["kitchen"]' },
+]);
+const [commandId] = await client.execute([{ component_ref: nav, command_type: "start" }]);
+// Wait here, because release aborts a running command, which then ends with ABORT.
+if (!statuses.has(commandId)) {
+  await new Promise<void>((resolve) => waiters.set(commandId, resolve));
+}
+console.log(statuses.get(commandId));
+await client.release(nav);
+
+await client.disconnect();
+```
+
+Run it against the Docker Compose stack at the repository root, which serves simulated components through a gateway.
+
+## Waiting for a Command
+
+RoIS has no operation that waits for a command, so neither does the client. `execute()` returns as soon as the engine accepts the commands. Each command ends later, with a `rois.command.completed` notification that names its id. `setParameter()` works the same way.
+
+A command that ends at once can complete before the reply reaches your code, so a listener added after `execute()` can miss it. The recipe has three steps:
+
+1. Add the listener before the call, once for the whole session.
+2. Record each status by `command_id`.
+3. Read the status with the ids in the reply.
+
+The quickstart above does this, and checks the record first, because a command that has already ended fires no listener. A real application also stops waiting on `close`, or after a timeout.
+
+Wait before you release the component: `release()` aborts your running commands on it, and they end with `ABORT`. `disconnect()` aborts them too.
+
+## API
+
+`RoISClient` has one method per operation of the RoIS method catalog. Each takes the operation's IDL parameters in IDL order, validates them and the result against the catalog schemas in `@openrois/interfaces`, and returns the result's out parameters.
+
+| RoIS interface | Methods |
+|----------------|---------|
+| System | `RoISClient.connect(url, options?)`, `disconnect()`, `getProfile(condition?)`, `getErrorDetail(errorId, condition?)` |
+| Command | `search(condition?)`, `bind(ref)`, `bindAny(condition?)`, `release(ref)`, `getParameter(ref)`, `setParameter(ref, parameters)`, `execute(commandUnitList)`, `getCommandResult(commandId, condition?)` |
+| Query | `query(queryType, condition?)` |
+| Event | `subscribe(eventType, condition?)`, `unsubscribe(subscribeId)`, `getEventDetail(eventId, condition?)` |
+
+A streaming component is driven with these same methods. Carrying its media is planned.
+
+- `getProfile()` returns `{ profile, component_profiles }`: the engine profile and the profile of every component it lists, keyed by fully qualified ref.
+- `execute()` takes a `command_unit_list`: commands that run in order, and `{ branch_list, delay_time }` groups whose branches run at the same time, each branch in order. The commands carry no `command_id`: the engine assigns one to each, and `execute()` returns them in order, branch by branch.
+- `query()` and `subscribe()` go to the one component that declares the query or event type and matches the condition.
+
+One client is one session. Bindings and subscriptions end with it, and there is no automatic reconnect, because a silent reconnect would hide that loss. After `close`, connect again and bind and subscribe again.
+
+### Conditions
+
+Every `condition` is a string in the OpenRoIS subset of CQL2-Text: `=` and `LIKE` comparisons, joined by `AND`, over `component_ref` and `component_type`. An empty string is no filter. The builders quote values for you:
+
+| Builder | Writes |
+|---------|--------|
+| `componentRef("reachy_real/head")` | `component_ref = 'reachy_real/head'` |
+| `componentType({ authority: "OMG", code: "Navigation" })` | `component_type = 'urn:x-rois:def:component:OMG::Navigation'` |
+| `like(COMPONENT_REF, "reachy_real/%")` | `component_ref LIKE 'reachy_real/%'` |
+| `allOf(a, b)` | `a AND b` |
+
+### Listening
+
+`on(name, listener)` adds a listener and `off(name, listener)` removes it. Listeners of catalog notifications receive the validated params, typed from `RoISNotificationMap`.
+
+| Name | Listener receives |
+|------|-------------------|
+| `rois.event.notify_event` | `NotifyEventParams`, for every event of every subscription. Filter by `subscribe_id` or `event_type` |
+| `rois.command.completed` | `CompletedParams`, when a command ends |
+| `rois.system.notify_error` | `NotifyErrorParams`, when the engine reports an error |
+| `rois.system.profile_changed` | `ProfileChangedParams`, when components join or leave |
+| `close` | `(code, reason)` when the connection closes, from either side |
+| `error` | An `Error`, for a message that cannot be used or a listener that throws |
+
+A listener that throws, and an `async` listener that rejects, never stop the client: the error goes to the `error` listeners, and the other listeners still run. With no `error` listener, a fault is written to `console.error`. It is never thrown.
+
+### Closing
+
+`await using` calls `disconnect()` when the block ends:
+
+```ts
+{
+  await using client = await RoISClient.connect("ws://localhost:8765");
+  await client.search();
+}
+```
+
+The syntax runs natively in Node.js 24. For Node.js 22, compile it with TypeScript.
+
+## Error Handling
+
+```ts
+import { RoISClient, RoISError } from "@openrois/sdk";
+
+try {
+  await client.bind("robot_1/navigation");
+} catch (err) {
+  if (err instanceof RoISError && err.returnCode === "OUT_OF_RESOURCES") {
+    // Another application holds the reservation.
+  }
+}
+```
+
+| Error | Raised when | Carries |
+|-------|-------------|---------|
+| `RoISError` | A RoIS operation returns a code other than `OK` | `returnCode`, `method` |
+| `TransportError` | The base of the three below. Raised itself for a call on a closed client | |
+| `ConnectionError` | The WebSocket cannot be opened, or closes while a request waits | `url` |
+| `RequestTimeoutError` | No response within the request timeout | `method`, `requestId` |
+| `RpcError` | The engine returns a JSON-RPC error: a protocol fault, such as an unknown method | `code`, `data` |
+| `ZodError` | Params fail validation before they are sent, or a result does not match the catalog | |
+
+## Node.js and Browsers
+
+The package is one ES module build, with no separate CommonJS build. `import` works in Node.js 22.12 or later and in browsers, and `require` works from Node.js 22.12. `moduleResolution` can be `nodenext` or `bundler`. It uses the global `WebSocket`, which both have, so it installs no WebSocket package.
+
+Browsers are the target, but this release has run in headless Chromium only. Firefox and Safari have not been run. `wss://` has not been exercised: every run used `ws://`. The gateway does not authenticate connections in the alpha releases, so use it on trusted networks only.
+
+`RoISClient.connect()` takes the transport options, with times in milliseconds:
+
+```ts
+const client = await RoISClient.connect("ws://localhost:8765", {
+  transport: { requestTimeout: 5_000, connectTimeout: 2_000 },
+});
+```
+
+| Option | Default | Meaning |
+|--------|---------|---------|
+| `requestTimeout` | 30000 | How long a request waits for its response |
+| `connectTimeout` | 10000 | How long the WebSocket has to open |
+| `webSocketFactory` | The global `WebSocket` | Creates the socket for a URL |
+
+`webSocketFactory` is for a socket the global `WebSocket` cannot open, for example one with headers through the `ws` package:
+
+```ts
+import WebSocket from "ws";
+import type { WebSocketLike } from "@openrois/sdk/transport";
+
+const client = await RoISClient.connect("wss://engine.example.com", {
+  transport: {
+    webSocketFactory: (url) =>
+      new WebSocket(url, { headers: { "x-site": "lab-1" } }) as unknown as WebSocketLike,
+  },
+});
+```
+
+## The Transport
+
+`client.transport` is the `WebSocketTransport` under the client, for JSON-RPC methods outside the catalog. Nothing sent through it is validated.
+
+```ts
+const result = await client.transport.send("vendor.custom.method", { level: 3 });
+```
+
+## Subpath Exports
+
+| Import path | Contents |
+|---|---|
+| `@openrois/sdk` | `RoISClient`, its types, the errors, and the condition builders |
+| `@openrois/sdk/transport` | `WebSocketTransport`, `WebSocketLike`, `TransportOptions`, `TransportEvents`, `TransportState`, and the transport errors |
+
+## Tested Versions
+
+The wire has no version handshake, so a mismatch shows only when a message carries a field the other side does not know. This release is tested against these versions together, which `testing/conformance/frozen.txt` pins:
+
+| `@openrois/sdk` | `@openrois/interfaces` | `openrois-gateway` | `openrois-engine` | `openrois-interfaces` | `openrois-components-core` |
+|---|---|---|---|---|---|
+| 0.1.0-alpha.1 | 0.1.0-alpha.6 | 0.1.0a1 | 0.1.0a2 | 0.1.0a6 | 0.1.0a1 |
+
+## Development
+
+```bash
+npm run build          # bundle with tsup
+npm test               # vitest
+npm run test:browser   # the conformance list in headless Chromium, needs the stack below
+npm run test:consumer  # build, pack, and check the tarball from a clean project
+npm run typecheck
+npm run lint
+```
+
+The SDK depends on `@openrois/interfaces` from npm. To test it against the interfaces in the tree, build them and install them over that copy:
+
+```bash
+npm install ../../interfaces/typescript --no-save
+```
+
+`tests/conformance.test.ts` runs the conformance list of `testing/conformance/README.md`, and `tests/gateway.test.ts` runs full client sessions. Both need a live gateway with the mock adapter behind it, such as the Docker Compose stack at the repository root. They run when `OPENROIS_GATEWAY_URL` names the gateway, and are skipped otherwise.
+
+With that variable set, every run starts `testing/conformance/scripted_server.py` with `python3`, which needs the `websockets` package. Without it the whole run fails, not only these two files.
+
+```bash
+docker compose up --build -d   # from the repository root
+pip install websockets
+OPENROIS_GATEWAY_URL=ws://127.0.0.1:8765 npm test
+npx playwright install --only-shell chromium   # once, for the browser run
+OPENROIS_GATEWAY_URL=ws://127.0.0.1:8765 npm run test:browser
+```
+
+With `OPENROIS_SDK_PACKAGE` naming an unpacked tarball inside this folder, these tests import its `dist` in place of `src`, which is how the release workflow runs them.
+
+## License
+
+Apache-2.0. See [LICENSE](./LICENSE).