@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.9f78da7 → 1.10.0-dev.0.main.c8367cd

package/dist/lib/request.test.js

@@ -0,0 +1,90 @@
+/**
+ * request() - the generic command round-trip escape hatch.
+ *
+ * The properties that must hold:
+ *   - `request({type})` sends the command as-is and resolves with the
+ *     first robot message whose `command` field echoes that type (the
+ *     daemon's reply convention), so a new daemon command is usable
+ *     without an SDK release;
+ *   - unrelated replies don't settle the call, and a custom `match`
+ *     predicate overrides the default echo matcher;
+ *   - a daemon that never answers (predates the command) fail-opens to
+ *     `null` on the shared round-trip timeout instead of hanging;
+ *   - replies the SDK consumes internally (e.g. `get_imu`) are swallowed
+ *     by their own handlers and never leak into a `request()` waiter;
+ *   - a closed data channel rejects immediately.
+ *
+ * Same approach as the other SDK suites: private surface + a fake data
+ * channel, fake timers for the fail-open path.
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { ReachyMini } from './reachy-mini.js';
+function makeInstance() {
+    const r = new ReachyMini();
+    const internals = r;
+    const sent = [];
+    internals._dc = {
+        readyState: 'open',
+        send: (msg) => { sent.push(JSON.parse(msg)); },
+    };
+    return { r, internals, sent };
+}
+beforeEach(() => {
+    vi.useFakeTimers();
+});
+afterEach(() => {
+    vi.useRealTimers();
+});
+describe('request - wire contract', () => {
+    it('sends the command and resolves the echoed reply untouched', async () => {
+        const { r, internals, sent } = makeInstance();
+        const promise = r.request({ type: 'get_battery', detail: true });
+        expect(sent).toEqual([{ type: 'get_battery', detail: true }]);
+        internals._handleRobotMessage({ command: 'get_battery', level: 0.87 });
+        await expect(promise).resolves.toEqual({ command: 'get_battery', level: 0.87 });
+    });
+    it('ignores unrelated replies while waiting', async () => {
+        const { r, internals } = makeInstance();
+        const settled = vi.fn();
+        void r.request({ type: 'get_battery' }).then(settled);
+        internals._handleRobotMessage({ command: 'get_something_else', value: 1 });
+        await vi.advanceTimersByTimeAsync(0);
+        expect(settled).not.toHaveBeenCalled();
+    });
+    it('honors a custom match predicate for non-echo replies', async () => {
+        const { r, internals } = makeInstance();
+        const promise = r.request({ type: 'get_battery' }, { match: (m) => 'battery_level' in m });
+        internals._handleRobotMessage({ battery_level: 0.42 });
+        await expect(promise).resolves.toEqual({ battery_level: 0.42 });
+    });
+    it('does not steal replies owned by the SDK\'s typed handlers', async () => {
+        const { r, internals } = makeInstance();
+        const settled = vi.fn();
+        // get_imu replies are consumed by the imu reply slot before the
+        // broadcast matcher runs, even with no getImu() call pending.
+        void r.request({ type: 'get_imu' }).then(settled);
+        internals._handleRobotMessage({ command: 'get_imu', imu: null });
+        await vi.advanceTimersByTimeAsync(0);
+        expect(settled).not.toHaveBeenCalled();
+    });
+});
+describe('request - degraded paths', () => {
+    it('fail-opens to null when the daemon never answers (old daemon)', async () => {
+        const { r } = makeInstance();
+        const promise = r.request({ type: 'get_battery' });
+        await vi.advanceTimersByTimeAsync(4000);
+        await expect(promise).resolves.toBeNull();
+    });
+    it('respects a caller-provided timeout', async () => {
+        const { r } = makeInstance();
+        const promise = r.request({ type: 'get_battery' }, { timeoutMs: 500 });
+        await vi.advanceTimersByTimeAsync(500);
+        await expect(promise).resolves.toBeNull();
+    });
+    it('rejects immediately when the data channel is not open', async () => {
+        const { r, internals } = makeInstance();
+        internals._dc = null;
+        await expect(r.request({ type: 'get_battery' })).rejects.toThrow(/Data channel not open/);
+    });
+});
+//# sourceMappingURL=request.test.js.map

package/dist/lib/request.test.js.map

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package/dist/lib/session-supervisor.d.ts

@@ -0,0 +1,201 @@
+/**
+ * Session resilience supervisor for the ReachyMini SDK.
+ *
+ * Owns the three transport-resilience mechanisms so the main class only
+ * has to forward browser/pc events and expose narrow accessors:
+ *
+ *   1. ICE-blip debounce + network awareness — grace windows around
+ *      `iceConnectionState` transitions (visibility-deferred while the
+ *      tab is hidden) and `online`/`offline`/`connection.change`
+ *      forwarding as public events.
+ *   2. Automatic session re-dial — the daemon's `webrtcbin` cannot do a
+ *      standards ICE restart (missing upstream support), so the recovery
+ *      unit is the whole SESSION: tear down the dead RTCPeerConnection
+ *      and dial the same robot again through central. Runs inside the
+ *      SDK so every consumer (host embed, mobile app, third-party apps)
+ *      inherits it.
+ *   3. Data-channel silence watchdog — application-level heartbeat
+ *      without any daemon change: a streaming session already receives
+ *      constant inbound traffic (get_state poll replies and/or pushed
+ *      pose frames), so prolonged TOTAL silence is a dead transport that
+ *      ICE hasn't noticed yet.
+ *
+ * The supervisor never touches the RTCPeerConnection, data channel or
+ * pending promises directly: every side effect goes through
+ * `SessionSupervisorDeps`, implemented by `ReachyMini` as closures over
+ * its own private state. That keeps the ownership boundary honest — the
+ * class owns the transport, the supervisor owns the RECOVERY POLICY.
+ */
+import type { ReachyMiniEventMap } from './types.js';
+/**
+ * Everything the supervisor needs from `ReachyMini`, as read accessors
+ * and side-effect callbacks. Implemented with arrow closures so every
+ * call reads the CURRENT class state (tests stub instance methods and
+ * the closures pick the stubs up transparently).
+ */
+export interface SessionSupervisorDeps {
+    /** Live ICE state, or `null` when no RTCPeerConnection exists. */
+    iceState(): RTCIceConnectionState | null;
+    /** True while a live RTCPeerConnection exists. */
+    hasPc(): boolean;
+    /** True once the session reached `streaming`. */
+    isStreaming(): boolean;
+    /** True while startSession() is mid-handshake (resolvers armed). */
+    isMidSetup(): boolean;
+    /** True when the signaling SSE feed is down (`state === 'disconnected'`). */
+    isSignalingDown(): boolean;
+    /** Robot id of the current / last dialed session. */
+    selectedRobotId(): string | null;
+    /**
+     * Reject the pending startSession() promise, if armed, and clear the
+     * resolvers. Returns `true` when one was actually pending — the
+     * supervisor then leaves the retry decision to the original caller.
+     */
+    rejectPendingSession(err: Error): boolean;
+    /** Re-establish the signaling feed (the SSE died with the network). */
+    reconnectSignaling(): Promise<void>;
+    /** One dial attempt: the class's full startSession() flow. */
+    dial(robotId: string): Promise<void>;
+    /** Transport-only teardown between attempts (owned by the class). */
+    teardownForRedial(): void;
+    /** Send one `get_state` probe over the data channel. */
+    nudgeState(): void;
+    /** Emit one public event on the instance. */
+    emit<K extends keyof ReachyMiniEventMap>(name: K, detail: ReachyMiniEventMap[K]['detail']): void;
+}
+export declare class SessionSupervisor {
+    private readonly _deps;
+    private _iceGraceTimer;
+    private _iceGraceReason;
+    private _pendingVisibilityHandler;
+    private _onlineHandler;
+    private _offlineHandler;
+    private _connectionChangeHandler;
+    private _autoReconnect;
+    private _redialing;
+    private _redialWake;
+    private _dcWatchdogId;
+    private _lastDcInboundAt;
+    private _dcWatchdogLastTickAt;
+    private _dcSilenceNudged;
+    constructor(deps: SessionSupervisorDeps, options: {
+        autoReconnect: boolean;
+    });
+    /** True while the re-dial loop is running. */
+    get redialing(): boolean;
+    /**
+     * Enable/disable the automatic session re-dial at runtime.
+     * Disabling also aborts any re-dial already in flight.
+     */
+    setAutoReconnect(enabled: boolean): void;
+    /** Fatal errors carry the classic webrtc `error` payload shape. */
+    private _emitError;
+    /** ICE healed back to `connected`/`completed`. */
+    onIceHealed(): void;
+    /**
+     * ICE hit `disconnected` — TRANSIENT per spec, debounce before
+     * escalating. If the tab is hidden, JS timers are throttled and
+     * would fire unpredictably late, so defer the grace window to the
+     * next foreground frame.
+     */
+    onIceDisconnected(): void;
+    /**
+     * ICE hit `failed` — terminal per spec, but in practice we've seen
+     * `failed → connected` on rapid AP roams / BT route changes on iOS.
+     * Give the ICE agent a short window to surprise us before rejecting
+     * the session.
+     */
+    onIceFailed(): void;
+    /**
+     * Cancel any pending ICE grace timer and visibility handler. Called
+     * on a healed `connected`/`completed` transition AND from the
+     * lifecycle teardown paths so a callback can't fire after the pc
+     * is closed.
+     */
+    clearIceGrace(): void;
+    /**
+     * Start a grace window. After `ms`, re-check the live ICE state:
+     *   - If we healed back to `connected`/`completed`, the timer was
+     *     already cancelled in the pc's state handler, so we never get
+     *     here.
+     *   - If we're still in the originally-observed bad state (or
+     *     worse), surface the error and reject any pending session
+     *     promise. The original code path is preserved verbatim so
+     *     downstream consumers see the same `error` payload shape.
+     */
+    private _scheduleIceGrace;
+    /**
+     * `disconnected` while the tab is hidden. JS timers are throttled
+     * in background tabs (Chrome clamps to ~1 Hz, Safari can pause
+     * altogether), so a foreground grace timer would either miss the
+     * window or fire long after the connection healed. Wait for the
+     * tab to come back, then re-evaluate.
+     */
+    private _armIceGraceOnVisibility;
+    /**
+     * Install browser-level network listeners and forward them as
+     * public `networkOnline` / `networkOffline` / `networkChange`
+     * events on the instance. Idempotent: called from `startSession()`,
+     * removed by `uninstallNetworkListeners` on teardown. Reachable
+     * only when there's a live `window` (defensive guard for SSR /
+     * test environments).
+     *
+     * `online` / `offline` are semantically about CONNECTIVITY:
+     * "does the OS think we can reach the internet". They flip
+     * symmetrically.
+     *
+     * `connection.change` (NetworkInformation API, Chrome / Android
+     * WebView only) is semantically about the TRANSPORT: it fires
+     * on Wi-Fi → 4G swaps, AP roams, etc. without necessarily going
+     * through `offline`. We forward it as its own `networkChange`
+     * event rather than aliasing it onto `networkOnline`, so
+     * consumers don't have to guess whether they're seeing a real
+     * connectivity recovery or a silent transport swap.
+     */
+    installNetworkListeners(): void;
+    /** Counterpart to `installNetworkListeners`. */
+    uninstallNetworkListeners(): void;
+    /**
+     * Escalation funnel for dead-transport signals. Returns `true` when
+     * the failure is being handled by a re-dial (callers should then skip
+     * their fatal `error` emit). Only fires for an ESTABLISHED session:
+     * mid-setup failures keep rejecting the startSession() promise so the
+     * original caller stays in charge of retries.
+     */
+    maybeBeginRedial(cause: string): boolean;
+    /**
+     * The re-dial loop. One teardown, then up to REDIAL_BACKOFF_MS.length
+     * attempts, each preceded by its backoff slot. Every attempt re-runs
+     * the normal startSession() flow (and connect() first if the SSE feed
+     * died with the network), so a success is indistinguishable from a
+     * fresh session: `streaming` re-fires, videoTrack re-attaches, the
+     * pose subscription is re-asserted by the session-ready path.
+     *
+     * Exits early — without emitting anything further — when the user
+     * calls stopSession()/disconnect() or dials another robot, all of
+     * which flip `_redialing` off via `cancelRedial`.
+     */
+    private _runRedialLoop;
+    /**
+     * Cancellable backoff sleep — `cancelRedial` wakes it immediately.
+     * A timer firing after a cancel is harmless: the loop re-checks
+     * `_redialing` right after every sleep.
+     */
+    private _redialSleep;
+    /**
+     * Abort a pending re-dial. Called from stopSession(), disconnect()
+     * and an external startSession() — every path where the user (or the
+     * consumer app) takes over the session lifecycle.
+     */
+    cancelRedial(): void;
+    /** (Re)start the watchdog. Called when a session reaches ready. */
+    startDcWatchdog(): void;
+    stopDcWatchdog(): void;
+    /**
+     * Liveness stamp: every inbound data-channel message — control
+     * replies, broadcasts, pose frames — proves the transport is alive.
+     */
+    stampDcInbound(): void;
+    private _dcWatchdogTick;
+}
+//# sourceMappingURL=session-supervisor.d.ts.map

package/dist/lib/session-supervisor.d.ts.map

@@ -0,0 +1 @@
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