@openrois/sdk 0.0.1-stage → 0.1.0-alpha.1

package/dist/rois-client.d.ts

@@ -0,0 +1,266 @@
+/// <reference lib="esnext.disposable" />
+import { z } from 'zod';
+import { CommandUnitSchema, ConcurrentCommandsSchema, HRIEngineProfileType, HRIComponentProfile, RoISNotification, RoISNotificationMap, Result, Parameter, ReturnCode } from '@openrois/interfaces';
+export { COMPONENT_REF, COMPONENT_TYPE, allOf, componentRef, componentType, componentTypeUrn, eq, like, quote } from '@openrois/interfaces';
+import { T as TransportOptions, a as TypedEmitter, W as WebSocketTransport } from './transport-kMEIcw5y.js';
+export { C as ConnectionError, R as RequestTimeoutError, b as RpcError, c as TransportError } from './transport-kMEIcw5y.js';
+
+/**
+ * RoISClient: the client of the OpenRoIS JavaScript SDK.
+ *
+ * One method per operation of the RoIS method catalog, named after the IDL
+ * operation and taking its `in` parameters in IDL order:
+ *
+ *   System   connect, disconnect, getProfile, getErrorDetail
+ *   Command  search, bind, bindAny, release, getParameter, setParameter,
+ *            execute, getCommandResult
+ *   Query    query
+ *   Event    subscribe, unsubscribe, getEventDetail
+ *
+ * A streaming component is driven with these same methods. Carrying its media
+ * is planned.
+ *
+ * Every call goes through one path that validates the params and the result
+ * against the catalog schemas from @openrois/interfaces and turns a return code
+ * other than OK into a RoISError. Notifications from the engine are validated
+ * the same way before listeners receive their params.
+ *
+ * Usage:
+ *   import { RoISClient, componentRef } from "@openrois/sdk";
+ *
+ *   const client = await RoISClient.connect("ws://localhost:8765");
+ *   const { profile, component_profiles } = await client.getProfile();
+ *
+ *   const head = componentRef("reachy_real/head");
+ *   const status = await client.query("component_status", head);
+ *
+ *   client.on("rois.event.notify_event", (params) => console.log(params.event_type));
+ *   const subscribeId = await client.subscribe("person_detected", head);
+ *
+ *   const statuses = new Map<string, string>();
+ *   client.on("rois.command.completed", ({ command_id, status }) => {
+ *     statuses.set(command_id, status);
+ *   });
+ *
+ *   await client.bind("reachy_real/head");
+ *   const [commandId] = await client.execute([
+ *     { component_ref: "reachy_real/head", command_type: "start" },
+ *   ]);
+ *
+ *   await client.disconnect();
+ *
+ * Wire binding: docs/rois-reference.md section 17.
+ */
+
+/** Options for RoISClient.connect(). */
+interface ClientOptions {
+    /** Transport options: timeouts and a custom WebSocket factory. */
+    transport?: TransportOptions;
+}
+/** The get_profile result of an engine that answered OK. */
+interface EngineProfile {
+    /** The engine profile, as HRIEngineProfileType in XML-Profiles.xsd defines it. */
+    profile: HRIEngineProfileType;
+    /**
+     * The profile of every component in `profile.component_ids`, keyed by fully
+     * qualified ref. An OpenRoIS extension (docs/rois-reference.md section 17.3).
+     */
+    component_profiles: Record<string, HRIComponentProfile>;
+}
+/**
+ * One command for execute(): a CommandUnit without its `command_id`, which the
+ * engine assigns (spec 8.2.2.2).
+ */
+type CommandUnitInput = Omit<z.input<typeof CommandUnitSchema>, "command_id">;
+/**
+ * Commands for execute() in branches that run at the same time. Each branch runs
+ * its commands in order, and the next item waits for every branch.
+ */
+type ConcurrentCommandsInput = Omit<z.input<typeof ConcurrentCommandsSchema>, "branch_list"> & {
+    branch_list: {
+        command_list: CommandUnitInput[];
+    }[];
+};
+/** One item of the command_unit_list that execute() takes. */
+type CommandUnitSequenceItemInput = CommandUnitInput | ConcurrentCommandsInput;
+/** The params a listener receives for each catalog notification. */
+type NotificationParams<N extends RoISNotification> = RoISNotificationMap[N]["params"];
+/** The listener arguments of every event the client emits. */
+type RoISClientEvents = {
+    [N in RoISNotification]: [params: NotificationParams<N>];
+} & {
+    close: [code: number, reason: string];
+    error: [error: Error];
+};
+/**
+ * Raised when a RoIS operation returns a code other than OK.
+ *
+ * A RoIS failure is a normal result on the wire, so this error carries the
+ * return code for callers to branch on (BAD_PARAMETER, UNSUPPORTED,
+ * OUT_OF_RESOURCES, TIMEOUT, ERROR).
+ */
+declare class RoISError extends Error {
+    /** The return code of the result. */
+    readonly returnCode: ReturnCode;
+    /** The JSON-RPC method that returned it. */
+    readonly method: string;
+    constructor(returnCode: ReturnCode, method: string);
+}
+/**
+ * A connection to an OpenRoIS engine, with one method per RoIS operation.
+ *
+ * Create it with RoISClient.connect(). One client is one session: bindings and
+ * subscriptions end with it, and nothing reconnects by itself.
+ *
+ * Listen with on() and off():
+ *   "rois.event.notify_event"     NotifyEventParams, for every event of a subscription
+ *   "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
+ *   "error"                       Error, for a message that cannot be used or a listener
+ *                                 that throws. With no listener it goes to the console.
+ */
+declare class RoISClient extends TypedEmitter<RoISClientEvents> {
+    /** The WebSocket transport this client sends on. */
+    private readonly wire;
+    /** Whether the connect handshake succeeded and disconnect has not run. */
+    private connected;
+    /** The disconnect in flight, which overlapping callers share. */
+    private disconnecting;
+    private constructor();
+    /**
+     * The underlying transport, for JSON-RPC methods outside the catalog. The
+     * client does not validate what is sent through it.
+     */
+    get transport(): WebSocketTransport;
+    /**
+     * Open a connection to an engine and run rois.system.connect.
+     *
+     * @param url - The engine's WebSocket URL, for example "ws://localhost:8765".
+     * @throws ConnectionError if the WebSocket cannot be opened.
+     * @throws RoISError if the engine answers connect with a code other than OK.
+     */
+    static connect(url: string, options?: ClientOptions): Promise<RoISClient>;
+    /**
+     * Run rois.system.disconnect and close the connection. The connection closes
+     * even when the engine answers with an error. Safe to call more than once. Calls
+     * that overlap send one rois.system.disconnect and share its outcome.
+     */
+    disconnect(): Promise<void>;
+    /** Run disconnect() when a block declared with `await using` ends. */
+    [Symbol.asyncDispose](): Promise<void>;
+    /**
+     * Read the engine profile and the profiles of its components.
+     *
+     * @param condition - Selects the components the profile lists. Empty lists all.
+     */
+    getProfile(condition?: string): Promise<EngineProfile>;
+    /**
+     * Read the details of an error from a rois.system.notify_error notification.
+     *
+     * @param condition - Filter on the results. Must be empty for now.
+     */
+    getErrorDetail(errorId: string, condition?: string): Promise<Result[]>;
+    /**
+     * Find components.
+     *
+     * @param condition - Selects the components. Empty matches every component.
+     * @returns Their fully qualified refs.
+     */
+    search(condition?: string): Promise<string[]>;
+    /** Reserve a component for this client. */
+    bind(componentRef: string): Promise<void>;
+    /**
+     * Reserve one of the components a condition selects, chosen by the engine.
+     *
+     * @returns The ref of the reserved component.
+     */
+    bindAny(condition?: string): Promise<string>;
+    /** Release a component reserved with bind() or bindAny(). */
+    release(componentRef: string): Promise<void>;
+    /** Read the current value of every parameter of a component. */
+    getParameter(componentRef: string): Promise<Parameter[]>;
+    /**
+     * Set parameters of a component.
+     *
+     * @returns The command_id the engine assigned to the change. Its
+     *   rois.command.completed notification reports when the change took effect.
+     */
+    setParameter(componentRef: string, parameters: Parameter[]): Promise<string>;
+    /**
+     * Run commands in order. A ConcurrentCommands item runs its branches at the
+     * same time, and each branch runs its commands in order.
+     *
+     * The engine answers as soon as it accepts the commands, with the command_id
+     * it assigned to each one. Each command then ends with a
+     * rois.command.completed notification carrying that command_id, which
+     * arrives after the answer, and getCommandResult() reads its results.
+     *
+     * @param commandUnitList - The commands, without command ids.
+     * @returns The command_id the engine assigned to every command, in the order
+     *   the list gives them, with the commands of a ConcurrentCommands item branch
+     *   by branch.
+     */
+    execute(commandUnitList: CommandUnitSequenceItemInput[]): Promise<string[]>;
+    /**
+     * Read the results of a command.
+     *
+     * @param condition - Filter on the results. Must be empty for now.
+     */
+    getCommandResult(commandId: string, condition?: string): Promise<Result[]>;
+    /**
+     * Run a query and wait for its results.
+     *
+     * The engine sends the query to the one component that declares `queryType`
+     * and matches the condition. It returns UNSUPPORTED when none does, and
+     * BAD_PARAMETER when several do.
+     *
+     * @param queryType - The query name from a component profile, for example
+     *   "component_status".
+     * @param condition - Selects the component, for example
+     *   componentRef("reachy_real/head").
+     */
+    query(queryType: string, condition?: string): Promise<Result[]>;
+    /**
+     * Subscribe to an event. Its occurrences arrive as rois.event.notify_event
+     * notifications, which carry the subscribe_id this returns.
+     *
+     * The engine subscribes to the one component that declares `eventType` and
+     * matches the condition, with the same rules as query().
+     *
+     * @returns The subscribe_id, for unsubscribe().
+     */
+    subscribe(eventType: string, condition?: string): Promise<string>;
+    /**
+     * Cancel a subscription. The engine ignores an id it does not know, as RoIS
+     * requires.
+     */
+    unsubscribe(subscribeId: string): Promise<void>;
+    /**
+     * Read the payload of an event until it expires.
+     *
+     * @param condition - Filter on the results. Must be empty for now.
+     */
+    getEventDetail(eventId: string, condition?: string): Promise<Result[]>;
+    /** The work of disconnect(), once for all the calls that overlap. */
+    private endSession;
+    /** Run a catalog method on a connected client. */
+    private call;
+    /**
+     * Validate the params, send the request, validate the result and check its
+     * return code. Invalid params throw before anything is sent, and a result
+     * that does not match the catalog throws instead of reaching the caller.
+     */
+    private request;
+    /**
+     * Re-emit what the transport receives. Catalog notifications are validated
+     * and emitted with their params. Methods outside the catalog stay on the
+     * transport's "notification" event.
+     */
+    private forwardTransportEvents;
+    /** Validate a catalog notification and emit its params. */
+    private dispatchNotification;
+}
+
+export { type ClientOptions, type CommandUnitInput, type CommandUnitSequenceItemInput, type ConcurrentCommandsInput, type EngineProfile, type NotificationParams, RoISClient, type RoISClientEvents, RoISError, TransportOptions };

package/dist/rois-client.js

@@ -0,0 +1,355 @@
+import {
+  ConnectionError,
+  RequestTimeoutError,
+  RpcError,
+  TransportError,
+  TypedEmitter,
+  WebSocketTransport
+} from "./chunk-AEO3U7Y7.js";
+
+// src/rois-client.ts
+import {
+  RoISMethods,
+  RoISMethodSchemas,
+  RoISNotificationSchemas
+} from "@openrois/interfaces";
+import {
+  COMPONENT_REF,
+  COMPONENT_TYPE,
+  allOf,
+  componentRef,
+  componentType,
+  componentTypeUrn,
+  eq,
+  like,
+  quote
+} from "@openrois/interfaces";
+var RoISError = class extends Error {
+  /** The return code of the result. */
+  returnCode;
+  /** The JSON-RPC method that returned it. */
+  method;
+  constructor(returnCode, method) {
+    super(`${method} failed with ${returnCode}`);
+    this.name = "RoISError";
+    this.returnCode = returnCode;
+    this.method = method;
+  }
+};
+var RoISClient = class _RoISClient extends TypedEmitter {
+  /** The WebSocket transport this client sends on. */
+  wire;
+  /** Whether the connect handshake succeeded and disconnect has not run. */
+  connected = false;
+  /** The disconnect in flight, which overlapping callers share. */
+  disconnecting = null;
+  constructor(wire) {
+    super();
+    this.wire = wire;
+    this.forwardTransportEvents();
+  }
+  /**
+   * The underlying transport, for JSON-RPC methods outside the catalog. The
+   * client does not validate what is sent through it.
+   */
+  get transport() {
+    return this.wire;
+  }
+  // -----------------------------------------------------------------------
+  // SystemIF
+  // -----------------------------------------------------------------------
+  /**
+   * Open a connection to an engine and run rois.system.connect.
+   *
+   * @param url - The engine's WebSocket URL, for example "ws://localhost:8765".
+   * @throws ConnectionError if the WebSocket cannot be opened.
+   * @throws RoISError if the engine answers connect with a code other than OK.
+   */
+  static async connect(url, options) {
+    const wire = new WebSocketTransport(options?.transport);
+    await wire.connect(url);
+    const client = new _RoISClient(wire);
+    try {
+      await client.request(RoISMethods.Connect, {});
+    } catch (error) {
+      wire.close();
+      throw error;
+    }
+    client.connected = true;
+    return client;
+  }
+  /**
+   * Run rois.system.disconnect and close the connection. The connection closes
+   * even when the engine answers with an error. Safe to call more than once. Calls
+   * that overlap send one rois.system.disconnect and share its outcome.
+   */
+  async disconnect() {
+    this.disconnecting ??= this.endSession().finally(() => {
+      this.disconnecting = null;
+    });
+    return this.disconnecting;
+  }
+  /** Run disconnect() when a block declared with `await using` ends. */
+  async [Symbol.asyncDispose]() {
+    await this.disconnect();
+  }
+  /**
+   * Read the engine profile and the profiles of its components.
+   *
+   * @param condition - Selects the components the profile lists. Empty lists all.
+   */
+  async getProfile(condition = "") {
+    const result = await this.call(RoISMethods.GetProfile, { condition });
+    if (result.profile === null) {
+      throw new TransportError("rois.system.get_profile returned OK without a profile");
+    }
+    return {
+      profile: result.profile,
+      component_profiles: result.component_profiles ?? {}
+    };
+  }
+  /**
+   * Read the details of an error from a rois.system.notify_error notification.
+   *
+   * @param condition - Filter on the results. Must be empty for now.
+   */
+  async getErrorDetail(errorId, condition = "") {
+    const result = await this.call(RoISMethods.GetErrorDetail, {
+      error_id: errorId,
+      condition
+    });
+    return result.results ?? [];
+  }
+  // -----------------------------------------------------------------------
+  // CommandIF
+  // -----------------------------------------------------------------------
+  /**
+   * Find components.
+   *
+   * @param condition - Selects the components. Empty matches every component.
+   * @returns Their fully qualified refs.
+   */
+  async search(condition = "") {
+    const result = await this.call(RoISMethods.Search, { condition });
+    return result.component_ref_list ?? [];
+  }
+  /** Reserve a component for this client. */
+  async bind(componentRef2) {
+    await this.call(RoISMethods.Bind, { component_ref: componentRef2 });
+  }
+  /**
+   * Reserve one of the components a condition selects, chosen by the engine.
+   *
+   * @returns The ref of the reserved component.
+   */
+  async bindAny(condition = "") {
+    const result = await this.call(RoISMethods.BindAny, { condition });
+    return result.component_ref;
+  }
+  /** Release a component reserved with bind() or bindAny(). */
+  async release(componentRef2) {
+    await this.call(RoISMethods.Release, { component_ref: componentRef2 });
+  }
+  /** Read the current value of every parameter of a component. */
+  async getParameter(componentRef2) {
+    const result = await this.call(RoISMethods.GetParameter, {
+      component_ref: componentRef2
+    });
+    return result.parameters ?? [];
+  }
+  /**
+   * Set parameters of a component.
+   *
+   * @returns The command_id the engine assigned to the change. Its
+   *   rois.command.completed notification reports when the change took effect.
+   */
+  async setParameter(componentRef2, parameters) {
+    const result = await this.call(RoISMethods.SetParameter, {
+      component_ref: componentRef2,
+      parameters
+    });
+    return result.command_id;
+  }
+  /**
+   * Run commands in order. A ConcurrentCommands item runs its branches at the
+   * same time, and each branch runs its commands in order.
+   *
+   * The engine answers as soon as it accepts the commands, with the command_id
+   * it assigned to each one. Each command then ends with a
+   * rois.command.completed notification carrying that command_id, which
+   * arrives after the answer, and getCommandResult() reads its results.
+   *
+   * @param commandUnitList - The commands, without command ids.
+   * @returns The command_id the engine assigned to every command, in the order
+   *   the list gives them, with the commands of a ConcurrentCommands item branch
+   *   by branch.
+   */
+  async execute(commandUnitList) {
+    const result = await this.call(RoISMethods.Execute, { command_unit_list: commandUnitList });
+    return (result.command_unit_list ?? []).flatMap(
+      (item) => "branch_list" in item ? item.branch_list.flatMap((branch) => branch.command_list.map((unit) => unit.command_id)) : [item.command_id]
+    );
+  }
+  /**
+   * Read the results of a command.
+   *
+   * @param condition - Filter on the results. Must be empty for now.
+   */
+  async getCommandResult(commandId, condition = "") {
+    const result = await this.call(RoISMethods.GetCommandResult, {
+      command_id: commandId,
+      condition
+    });
+    return result.results ?? [];
+  }
+  // -----------------------------------------------------------------------
+  // QueryIF
+  // -----------------------------------------------------------------------
+  /**
+   * Run a query and wait for its results.
+   *
+   * The engine sends the query to the one component that declares `queryType`
+   * and matches the condition. It returns UNSUPPORTED when none does, and
+   * BAD_PARAMETER when several do.
+   *
+   * @param queryType - The query name from a component profile, for example
+   *   "component_status".
+   * @param condition - Selects the component, for example
+   *   componentRef("reachy_real/head").
+   */
+  async query(queryType, condition = "") {
+    const result = await this.call(RoISMethods.Query, {
+      query_type: queryType,
+      condition
+    });
+    return result.results ?? [];
+  }
+  // -----------------------------------------------------------------------
+  // EventIF
+  // -----------------------------------------------------------------------
+  /**
+   * Subscribe to an event. Its occurrences arrive as rois.event.notify_event
+   * notifications, which carry the subscribe_id this returns.
+   *
+   * The engine subscribes to the one component that declares `eventType` and
+   * matches the condition, with the same rules as query().
+   *
+   * @returns The subscribe_id, for unsubscribe().
+   */
+  async subscribe(eventType, condition = "") {
+    const result = await this.call(RoISMethods.Subscribe, {
+      event_type: eventType,
+      condition
+    });
+    return result.subscribe_id;
+  }
+  /**
+   * Cancel a subscription. The engine ignores an id it does not know, as RoIS
+   * requires.
+   */
+  async unsubscribe(subscribeId) {
+    await this.call(RoISMethods.Unsubscribe, { subscribe_id: subscribeId });
+  }
+  /**
+   * Read the payload of an event until it expires.
+   *
+   * @param condition - Filter on the results. Must be empty for now.
+   */
+  async getEventDetail(eventId, condition = "") {
+    const result = await this.call(RoISMethods.GetEventDetail, {
+      event_id: eventId,
+      condition
+    });
+    return result.results ?? [];
+  }
+  // -----------------------------------------------------------------------
+  // Private: calls
+  // -----------------------------------------------------------------------
+  /** The work of disconnect(), once for all the calls that overlap. */
+  async endSession() {
+    if (!this.connected) {
+      return;
+    }
+    try {
+      await this.call(RoISMethods.Disconnect, {});
+    } finally {
+      this.connected = false;
+      this.wire.close();
+    }
+  }
+  /** Run a catalog method on a connected client. */
+  async call(method, params) {
+    if (!this.connected) {
+      throw new TransportError(`Cannot call ${method}: client is not connected`);
+    }
+    return this.request(method, params);
+  }
+  /**
+   * Validate the params, send the request, validate the result and check its
+   * return code. Invalid params throw before anything is sent, and a result
+   * that does not match the catalog throws instead of reaching the caller.
+   */
+  async request(method, params) {
+    const schema = RoISMethodSchemas[method];
+    const validParams = schema.params.parse(params);
+    const raw = await this.wire.send(method, validParams);
+    const result = schema.result.parse(raw);
+    const returnCode = result.return_code;
+    if (returnCode !== "OK") {
+      throw new RoISError(returnCode, method);
+    }
+    return result;
+  }
+  // -----------------------------------------------------------------------
+  // Private: notifications
+  // -----------------------------------------------------------------------
+  /**
+   * Re-emit what the transport receives. Catalog notifications are validated
+   * and emitted with their params. Methods outside the catalog stay on the
+   * transport's "notification" event.
+   */
+  forwardTransportEvents() {
+    this.wire.on("notification", ({ method, params }) => {
+      if (Object.hasOwn(RoISNotificationSchemas, method)) {
+        this.dispatchNotification(method, params);
+      }
+    });
+    this.wire.on("close", (code, reason) => {
+      this.connected = false;
+      this.emit("close", code, reason);
+    });
+    this.wire.on("error", (error) => {
+      this.emit("error", error);
+    });
+  }
+  /** Validate a catalog notification and emit its params. */
+  dispatchNotification(method, rawParams) {
+    const parsed = RoISNotificationSchemas[method].params.safeParse(rawParams ?? {});
+    if (!parsed.success) {
+      this.emit(
+        "error",
+        new TransportError(`Invalid params in ${method} notification: ${parsed.error.message}`)
+      );
+      return;
+    }
+    this.emit(method, ...[parsed.data]);
+  }
+};
+export {
+  COMPONENT_REF,
+  COMPONENT_TYPE,
+  ConnectionError,
+  RequestTimeoutError,
+  RoISClient,
+  RoISError,
+  RpcError,
+  TransportError,
+  allOf,
+  componentRef,
+  componentType,
+  componentTypeUrn,
+  eq,
+  like,
+  quote
+};
+//# sourceMappingURL=rois-client.js.map

package/dist/rois-client.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/rois-client.ts"],"sourcesContent":["/**\n * RoISClient: the client of the OpenRoIS JavaScript SDK.\n *\n * One method per operation of the RoIS method catalog, named after the IDL\n * operation and taking its `in` parameters in IDL order:\n *\n *   System   connect, disconnect, getProfile, getErrorDetail\n *   Command  search, bind, bindAny, release, getParameter, setParameter,\n *            execute, getCommandResult\n *   Query    query\n *   Event    subscribe, unsubscribe, getEventDetail\n *\n * A streaming component is driven with these same methods. Carrying its media\n * is planned.\n *\n * Every call goes through one path that validates the params and the result\n * against the catalog schemas from @openrois/interfaces and turns a return code\n * other than OK into a RoISError. Notifications from the engine are validated\n * the same way before listeners receive their params.\n *\n * Usage:\n *   import { RoISClient, componentRef } from \"@openrois/sdk\";\n *\n *   const client = await RoISClient.connect(\"ws://localhost:8765\");\n *   const { profile, component_profiles } = await client.getProfile();\n *\n *   const head = componentRef(\"reachy_real/head\");\n *   const status = await client.query(\"component_status\", head);\n *\n *   client.on(\"rois.event.notify_event\", (params) => console.log(params.event_type));\n *   const subscribeId = await client.subscribe(\"person_detected\", head);\n *\n *   const statuses = new Map<string, string>();\n *   client.on(\"rois.command.completed\", ({ command_id, status }) => {\n *     statuses.set(command_id, status);\n *   });\n *\n *   await client.bind(\"reachy_real/head\");\n *   const [commandId] = await client.execute([\n *     { component_ref: \"reachy_real/head\", command_type: \"start\" },\n *   ]);\n *\n *   await client.disconnect();\n *\n * Wire binding: docs/rois-reference.md section 17.\n */\n\n// 1. External packages\nimport type { z } from \"zod\";\n\n// 2. Internal packages (@openrois/*)\nimport {\n  RoISMethods,\n  RoISMethodSchemas,\n  RoISNotificationSchemas,\n} from \"@openrois/interfaces\";\n\nimport type {\n  CommandUnitSchema,\n  ConcurrentCommandsSchema,\n  HRIComponentProfile,\n  HRIEngineProfileType,\n  Parameter,\n  Result,\n  ReturnCode,\n  RoISMethod,\n  RoISMethodMap,\n  RoISNotification,\n  RoISNotificationMap,\n} from \"@openrois/interfaces\";\n\n// 3. Local modules\nimport { TypedEmitter } from \"./emitter\";\nimport {\n  WebSocketTransport,\n  TransportError,\n  type TransportOptions,\n} from \"./transport\";\n\n// The condition builders, so a client needs no second import to write conditions.\nexport {\n  COMPONENT_REF,\n  COMPONENT_TYPE,\n  allOf,\n  componentRef,\n  componentType,\n  componentTypeUrn,\n  eq,\n  like,\n  quote,\n} from \"@openrois/interfaces\";\nexport {\n  ConnectionError,\n  RequestTimeoutError,\n  RpcError,\n  TransportError,\n  type TransportOptions,\n} from \"./transport\";\n\n// ---------------------------------------------------------------------------\n// Configuration\n// ---------------------------------------------------------------------------\n\n/** Options for RoISClient.connect(). */\nexport interface ClientOptions {\n  /** Transport options: timeouts and a custom WebSocket factory. */\n  transport?: TransportOptions;\n}\n\n// ---------------------------------------------------------------------------\n// Public types\n// ---------------------------------------------------------------------------\n\n/** The get_profile result of an engine that answered OK. */\nexport interface EngineProfile {\n  /** The engine profile, as HRIEngineProfileType in XML-Profiles.xsd defines it. */\n  profile: HRIEngineProfileType;\n  /**\n   * The profile of every component in `profile.component_ids`, keyed by fully\n   * qualified ref. An OpenRoIS extension (docs/rois-reference.md section 17.3).\n   */\n  component_profiles: Record<string, HRIComponentProfile>;\n}\n\n/**\n * One command for execute(): a CommandUnit without its `command_id`, which the\n * engine assigns (spec 8.2.2.2).\n */\nexport type CommandUnitInput = Omit<z.input<typeof CommandUnitSchema>, \"command_id\">;\n\n/**\n * Commands for execute() in branches that run at the same time. Each branch runs\n * its commands in order, and the next item waits for every branch.\n */\nexport type ConcurrentCommandsInput = Omit<\n  z.input<typeof ConcurrentCommandsSchema>,\n  \"branch_list\"\n> & {\n  branch_list: { command_list: CommandUnitInput[] }[];\n};\n\n/** One item of the command_unit_list that execute() takes. */\nexport type CommandUnitSequenceItemInput = CommandUnitInput | ConcurrentCommandsInput;\n\n/** The params a listener receives for each catalog notification. */\nexport type NotificationParams<N extends RoISNotification> = RoISNotificationMap[N][\"params\"];\n\n/** The listener arguments of every event the client emits. */\nexport type RoISClientEvents = {\n  [N in RoISNotification]: [params: NotificationParams<N>];\n} & {\n  close: [code: number, reason: string];\n  error: [error: Error];\n};\n\n// ---------------------------------------------------------------------------\n// Errors\n// ---------------------------------------------------------------------------\n\n/**\n * Raised when a RoIS operation returns a code other than OK.\n *\n * A RoIS failure is a normal result on the wire, so this error carries the\n * return code for callers to branch on (BAD_PARAMETER, UNSUPPORTED,\n * OUT_OF_RESOURCES, TIMEOUT, ERROR).\n */\nexport class RoISError extends Error {\n  /** The return code of the result. */\n  readonly returnCode: ReturnCode;\n\n  /** The JSON-RPC method that returned it. */\n  readonly method: string;\n\n  constructor(returnCode: ReturnCode, method: string) {\n    super(`${method} failed with ${returnCode}`);\n    this.name = \"RoISError\";\n    this.returnCode = returnCode;\n    this.method = method;\n  }\n}\n\n// ---------------------------------------------------------------------------\n// Internal helpers\n// ---------------------------------------------------------------------------\n\n/** The params a caller passes for a catalog method, before defaults apply. */\ntype MethodParams<M extends RoISMethod> = z.input<(typeof RoISMethodSchemas)[M][\"params\"]>;\n\n/** The validated result of a catalog method. */\ntype MethodResult<M extends RoISMethod> = RoISMethodMap[M][\"result\"];\n\n/**\n * The schemas of one catalog method, typed for that method. The catalog map is\n * a record of different schema types, which TypeScript cannot index with a\n * generic key and still call, so call() reads its entry through this view.\n */\ninterface MethodSchema<M extends RoISMethod> {\n  params: z.ZodType<RoISMethodMap[M][\"params\"], MethodParams<M>>;\n  result: z.ZodType<MethodResult<M>>;\n}\n\n// ---------------------------------------------------------------------------\n// RoISClient\n// ---------------------------------------------------------------------------\n\n/**\n * A connection to an OpenRoIS engine, with one method per RoIS operation.\n *\n * Create it with RoISClient.connect(). One client is one session: bindings and\n * subscriptions end with it, and nothing reconnects by itself.\n *\n * Listen with on() and off():\n *   \"rois.event.notify_event\"     NotifyEventParams, for every event of a subscription\n *   \"rois.command.completed\"      CompletedParams, when a command ends\n *   \"rois.system.notify_error\"    NotifyErrorParams, when the engine reports an error\n *   \"rois.system.profile_changed\" ProfileChangedParams, when components join or leave\n *   \"close\"                       (code, reason) when the connection closes\n *   \"error\"                       Error, for a message that cannot be used or a listener\n *                                 that throws. With no listener it goes to the console.\n */\nexport class RoISClient extends TypedEmitter<RoISClientEvents> {\n  /** The WebSocket transport this client sends on. */\n  private readonly wire: WebSocketTransport;\n\n  /** Whether the connect handshake succeeded and disconnect has not run. */\n  private connected: boolean = false;\n\n  /** The disconnect in flight, which overlapping callers share. */\n  private disconnecting: Promise<void> | null = null;\n\n  private constructor(wire: WebSocketTransport) {\n    super();\n    this.wire = wire;\n    this.forwardTransportEvents();\n  }\n\n  /**\n   * The underlying transport, for JSON-RPC methods outside the catalog. The\n   * client does not validate what is sent through it.\n   */\n  get transport(): WebSocketTransport {\n    return this.wire;\n  }\n\n  // -----------------------------------------------------------------------\n  // SystemIF\n  // -----------------------------------------------------------------------\n\n  /**\n   * Open a connection to an engine and run rois.system.connect.\n   *\n   * @param url - The engine's WebSocket URL, for example \"ws://localhost:8765\".\n   * @throws ConnectionError if the WebSocket cannot be opened.\n   * @throws RoISError if the engine answers connect with a code other than OK.\n   */\n  static async connect(url: string, options?: ClientOptions): Promise<RoISClient> {\n    const wire = new WebSocketTransport(options?.transport);\n    await wire.connect(url);\n    const client = new RoISClient(wire);\n    try {\n      await client.request(RoISMethods.Connect, {});\n    } catch (error) {\n      wire.close();\n      throw error;\n    }\n    client.connected = true;\n    return client;\n  }\n\n  /**\n   * Run rois.system.disconnect and close the connection. The connection closes\n   * even when the engine answers with an error. Safe to call more than once. Calls\n   * that overlap send one rois.system.disconnect and share its outcome.\n   */\n  async disconnect(): Promise<void> {\n    this.disconnecting ??= this.endSession().finally(() => {\n      this.disconnecting = null;\n    });\n    return this.disconnecting;\n  }\n\n  /** Run disconnect() when a block declared with `await using` ends. */\n  async [Symbol.asyncDispose](): Promise<void> {\n    await this.disconnect();\n  }\n\n  /**\n   * Read the engine profile and the profiles of its components.\n   *\n   * @param condition - Selects the components the profile lists. Empty lists all.\n   */\n  async getProfile(condition: string = \"\"): Promise<EngineProfile> {\n    const result = await this.call(RoISMethods.GetProfile, { condition });\n    if (result.profile === null) {\n      throw new TransportError(\"rois.system.get_profile returned OK without a profile\");\n    }\n    return {\n      profile: result.profile as HRIEngineProfileType,\n      component_profiles: result.component_profiles ?? {},\n    };\n  }\n\n  /**\n   * Read the details of an error from a rois.system.notify_error notification.\n   *\n   * @param condition - Filter on the results. Must be empty for now.\n   */\n  async getErrorDetail(errorId: string, condition: string = \"\"): Promise<Result[]> {\n    const result = await this.call(RoISMethods.GetErrorDetail, {\n      error_id: errorId,\n      condition,\n    });\n    return result.results ?? [];\n  }\n\n  // -----------------------------------------------------------------------\n  // CommandIF\n  // -----------------------------------------------------------------------\n\n  /**\n   * Find components.\n   *\n   * @param condition - Selects the components. Empty matches every component.\n   * @returns Their fully qualified refs.\n   */\n  async search(condition: string = \"\"): Promise<string[]> {\n    const result = await this.call(RoISMethods.Search, { condition });\n    return result.component_ref_list ?? [];\n  }\n\n  /** Reserve a component for this client. */\n  async bind(componentRef: string): Promise<void> {\n    await this.call(RoISMethods.Bind, { component_ref: componentRef });\n  }\n\n  /**\n   * Reserve one of the components a condition selects, chosen by the engine.\n   *\n   * @returns The ref of the reserved component.\n   */\n  async bindAny(condition: string = \"\"): Promise<string> {\n    const result = await this.call(RoISMethods.BindAny, { condition });\n    return result.component_ref;\n  }\n\n  /** Release a component reserved with bind() or bindAny(). */\n  async release(componentRef: string): Promise<void> {\n    await this.call(RoISMethods.Release, { component_ref: componentRef });\n  }\n\n  /** Read the current value of every parameter of a component. */\n  async getParameter(componentRef: string): Promise<Parameter[]> {\n    const result = await this.call(RoISMethods.GetParameter, {\n      component_ref: componentRef,\n    });\n    return result.parameters ?? [];\n  }\n\n  /**\n   * Set parameters of a component.\n   *\n   * @returns The command_id the engine assigned to the change. Its\n   *   rois.command.completed notification reports when the change took effect.\n   */\n  async setParameter(componentRef: string, parameters: Parameter[]): Promise<string> {\n    const result = await this.call(RoISMethods.SetParameter, {\n      component_ref: componentRef,\n      parameters,\n    });\n    return result.command_id;\n  }\n\n  /**\n   * Run commands in order. A ConcurrentCommands item runs its branches at the\n   * same time, and each branch runs its commands in order.\n   *\n   * The engine answers as soon as it accepts the commands, with the command_id\n   * it assigned to each one. Each command then ends with a\n   * rois.command.completed notification carrying that command_id, which\n   * arrives after the answer, and getCommandResult() reads its results.\n   *\n   * @param commandUnitList - The commands, without command ids.\n   * @returns The command_id the engine assigned to every command, in the order\n   *   the list gives them, with the commands of a ConcurrentCommands item branch\n   *   by branch.\n   */\n  async execute(commandUnitList: CommandUnitSequenceItemInput[]): Promise<string[]> {\n    const result = await this.call(RoISMethods.Execute, { command_unit_list: commandUnitList });\n    return (result.command_unit_list ?? []).flatMap((item) =>\n      \"branch_list\" in item\n        ? item.branch_list.flatMap((branch) => branch.command_list.map((unit) => unit.command_id))\n        : [item.command_id],\n    );\n  }\n\n  /**\n   * Read the results of a command.\n   *\n   * @param condition - Filter on the results. Must be empty for now.\n   */\n  async getCommandResult(commandId: string, condition: string = \"\"): Promise<Result[]> {\n    const result = await this.call(RoISMethods.GetCommandResult, {\n      command_id: commandId,\n      condition,\n    });\n    return result.results ?? [];\n  }\n\n  // -----------------------------------------------------------------------\n  // QueryIF\n  // -----------------------------------------------------------------------\n\n  /**\n   * Run a query and wait for its results.\n   *\n   * The engine sends the query to the one component that declares `queryType`\n   * and matches the condition. It returns UNSUPPORTED when none does, and\n   * BAD_PARAMETER when several do.\n   *\n   * @param queryType - The query name from a component profile, for example\n   *   \"component_status\".\n   * @param condition - Selects the component, for example\n   *   componentRef(\"reachy_real/head\").\n   */\n  async query(queryType: string, condition: string = \"\"): Promise<Result[]> {\n    const result = await this.call(RoISMethods.Query, {\n      query_type: queryType,\n      condition,\n    });\n    return result.results ?? [];\n  }\n\n  // -----------------------------------------------------------------------\n  // EventIF\n  // -----------------------------------------------------------------------\n\n  /**\n   * Subscribe to an event. Its occurrences arrive as rois.event.notify_event\n   * notifications, which carry the subscribe_id this returns.\n   *\n   * The engine subscribes to the one component that declares `eventType` and\n   * matches the condition, with the same rules as query().\n   *\n   * @returns The subscribe_id, for unsubscribe().\n   */\n  async subscribe(eventType: string, condition: string = \"\"): Promise<string> {\n    const result = await this.call(RoISMethods.Subscribe, {\n      event_type: eventType,\n      condition,\n    });\n    return result.subscribe_id;\n  }\n\n  /**\n   * Cancel a subscription. The engine ignores an id it does not know, as RoIS\n   * requires.\n   */\n  async unsubscribe(subscribeId: string): Promise<void> {\n    await this.call(RoISMethods.Unsubscribe, { subscribe_id: subscribeId });\n  }\n\n  /**\n   * Read the payload of an event until it expires.\n   *\n   * @param condition - Filter on the results. Must be empty for now.\n   */\n  async getEventDetail(eventId: string, condition: string = \"\"): Promise<Result[]> {\n    const result = await this.call(RoISMethods.GetEventDetail, {\n      event_id: eventId,\n      condition,\n    });\n    return result.results ?? [];\n  }\n\n  // -----------------------------------------------------------------------\n  // Private: calls\n  // -----------------------------------------------------------------------\n\n  /** The work of disconnect(), once for all the calls that overlap. */\n  private async endSession(): Promise<void> {\n    if (!this.connected) {\n      return;\n    }\n    try {\n      await this.call(RoISMethods.Disconnect, {});\n    } finally {\n      this.connected = false;\n      this.wire.close();\n    }\n  }\n\n  /** Run a catalog method on a connected client. */\n  private async call<M extends RoISMethod>(\n    method: M,\n    params: MethodParams<M>,\n  ): Promise<MethodResult<M>> {\n    if (!this.connected) {\n      throw new TransportError(`Cannot call ${method}: client is not connected`);\n    }\n    return this.request(method, params);\n  }\n\n  /**\n   * Validate the params, send the request, validate the result and check its\n   * return code. Invalid params throw before anything is sent, and a result\n   * that does not match the catalog throws instead of reaching the caller.\n   */\n  private async request<M extends RoISMethod>(\n    method: M,\n    params: MethodParams<M>,\n  ): Promise<MethodResult<M>> {\n    const schema = RoISMethodSchemas[method] as unknown as MethodSchema<M>;\n    const validParams = schema.params.parse(params) as Record<string, unknown>;\n    const raw = await this.wire.send(method, validParams);\n    const result = schema.result.parse(raw);\n    const returnCode = (result as { return_code: ReturnCode }).return_code;\n    if (returnCode !== \"OK\") {\n      throw new RoISError(returnCode, method);\n    }\n    return result;\n  }\n\n  // -----------------------------------------------------------------------\n  // Private: notifications\n  // -----------------------------------------------------------------------\n\n  /**\n   * Re-emit what the transport receives. Catalog notifications are validated\n   * and emitted with their params. Methods outside the catalog stay on the\n   * transport's \"notification\" event.\n   */\n  private forwardTransportEvents(): void {\n    this.wire.on(\"notification\", ({ method, params }) => {\n      if (Object.hasOwn(RoISNotificationSchemas, method)) {\n        this.dispatchNotification(method as RoISNotification, params);\n      }\n    });\n\n    this.wire.on(\"close\", (code, reason) => {\n      this.connected = false;\n      this.emit(\"close\", code, reason);\n    });\n\n    this.wire.on(\"error\", (error) => {\n      this.emit(\"error\", error);\n    });\n  }\n\n  /** Validate a catalog notification and emit its params. */\n  private dispatchNotification<N extends RoISNotification>(method: N, rawParams: unknown): void {\n    const parsed = RoISNotificationSchemas[method].params.safeParse(rawParams ?? {});\n    if (!parsed.success) {\n      this.emit(\n        \"error\",\n        new TransportError(`Invalid params in ${method} notification: ${parsed.error.message}`),\n      );\n      return;\n    }\n    this.emit(method, ...([parsed.data] as unknown as RoISClientEvents[N]));\n  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