@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.b50d97e → 1.10.0-dev.0.main.c8367cd

package/dist/lib/central-listener.test.js

@@ -0,0 +1,378 @@
+/**
+ * Central-listener tests: the shared fleet-watching SSE channel
+ * (roles=["listener"]) consumed by the host picker and the mobile
+ * scan screen.
+ *
+ * Properties that must hold:
+ *  - registration (`setPeerStatus`) lands BEFORE `onConnect` fires,
+ *    so consumers can trust the listener slot exists when they react;
+ *  - a silent server-side TTL eviction (heartbeat POST → 4xx) tears
+ *    the half-open SSE down and reconnects - the regression that
+ *    motivated moving this into the SDK;
+ *  - transient failures retry with exponential backoff, fatal auth
+ *    failures (401/403) do NOT retry;
+ *  - `close()` is idempotent and no callback ever fires after it.
+ *
+ * The fetch mock distinguishes the two wire surfaces: GET /events
+ * (long-lived SSE stream, hand-rolled reader) and POST /send
+ * (registration + heartbeat).
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { openCentralListener, } from './central-listener.js';
+const SIGNALING_URL = 'https://central.test';
+let eventsConns;
+let sendCalls;
+/** Status served to the next GET /events (then reset to 200). */
+let nextEventsStatus;
+/** Status served to every POST /send. */
+let sendStatus;
+/** When set, /send responses are parked until the test releases them. */
+let deferSend;
+let releaseSend;
+function makeEventsResponse(signal) {
+    const encoder = new TextEncoder();
+    const queue = [];
+    let waiter = null;
+    let rejecter = null;
+    signal.addEventListener('abort', () => {
+        rejecter?.(new DOMException('The operation was aborted.', 'AbortError'));
+        rejecter = null;
+        waiter = null;
+    });
+    const conn = {
+        push(msg) {
+            const item = {
+                done: false,
+                value: encoder.encode(`data: ${JSON.stringify(msg)}\n`),
+            };
+            if (waiter) {
+                const w = waiter;
+                waiter = null;
+                rejecter = null;
+                w(item);
+            }
+            else {
+                queue.push(item);
+            }
+        },
+        end() {
+            const item = { done: true, value: undefined };
+            if (waiter) {
+                const w = waiter;
+                waiter = null;
+                rejecter = null;
+                w(item);
+            }
+            else {
+                queue.push(item);
+            }
+        },
+    };
+    eventsConns.push(conn);
+    const reader = {
+        read() {
+            if (signal.aborted) {
+                return Promise.reject(new DOMException('The operation was aborted.', 'AbortError'));
+            }
+            const item = queue.shift();
+            if (item)
+                return Promise.resolve(item);
+            return new Promise((resolve, reject) => {
+                waiter = resolve;
+                rejecter = reject;
+            });
+        },
+    };
+    return {
+        ok: true,
+        status: 200,
+        body: { getReader: () => reader },
+    };
+}
+function installFetchMock() {
+    vi.stubGlobal('fetch', vi.fn(async (input, init) => {
+        const url = String(input);
+        if (url.endsWith('/events')) {
+            const status = nextEventsStatus;
+            nextEventsStatus = 200;
+            if (status !== 200) {
+                return { ok: false, status, body: null };
+            }
+            // openCentralListener always passes a signal for /events.
+            return makeEventsResponse(init.signal);
+        }
+        if (url.endsWith('/send')) {
+            sendCalls.push({ body: JSON.parse(String(init?.body)) });
+            const respond = () => ({ ok: sendStatus < 400, status: sendStatus });
+            if (deferSend) {
+                return new Promise((resolve) => {
+                    releaseSend.push(() => resolve(respond()));
+                });
+            }
+            return respond();
+        }
+        throw new Error(`unexpected fetch: ${url}`);
+    }));
+}
+/** Flush pending microtasks (mock fetch resolves in microtasks). */
+async function flush() {
+    for (let i = 0; i < 10; i++)
+        await Promise.resolve();
+}
+/** Strict accessor for the i-th /events connection. */
+function conn(i) {
+    const c = eventsConns[i];
+    if (!c)
+        throw new Error(`no /events connection #${i}`);
+    return c;
+}
+/** Strict accessor for the i-th /send call. */
+function sent(i) {
+    const c = sendCalls[i];
+    if (!c)
+        throw new Error(`no /send call #${i}`);
+    return c;
+}
+let handle = null;
+beforeEach(() => {
+    vi.useFakeTimers();
+    // Kill backoff jitter: Math.random()=0.5 → jitter term is exactly 0,
+    // so reconnect delays equal the nominal backoff (1s, 2s, 4s, ...).
+    vi.spyOn(Math, 'random').mockReturnValue(0.5);
+    eventsConns = [];
+    sendCalls = [];
+    nextEventsStatus = 200;
+    sendStatus = 200;
+    deferSend = false;
+    releaseSend = [];
+    installFetchMock();
+});
+afterEach(() => {
+    handle?.close();
+    handle = null;
+    vi.useRealTimers();
+    vi.unstubAllGlobals();
+    vi.restoreAllMocks();
+});
+function open(callbacks = {}) {
+    handle = openCentralListener({
+        token: 'hf_test',
+        signalingUrl: SIGNALING_URL,
+        appName: 'Test Listener',
+        ...callbacks,
+    });
+    return handle;
+}
+// ─────────────────────────────────────────────────────────────────
+// Registration & connect ordering
+// ─────────────────────────────────────────────────────────────────
+describe('registration', () => {
+    it('registers as listener after welcome, then reports connected', async () => {
+        const onConnect = vi.fn();
+        open({ onConnect });
+        await flush();
+        expect(eventsConns).toHaveLength(1);
+        expect(sendCalls).toHaveLength(0);
+        deferSend = true;
+        conn(0).push({ type: 'welcome' });
+        await flush();
+        // Registration POST is in flight; connect must NOT be reported yet.
+        expect(sendCalls).toHaveLength(1);
+        expect(sent(0).body).toMatchObject({
+            type: 'setPeerStatus',
+            roles: ['listener'],
+            meta: { name: 'Test Listener' },
+        });
+        expect(onConnect).not.toHaveBeenCalled();
+        releaseSend.shift()();
+        await flush();
+        expect(onConnect).toHaveBeenCalledTimes(1);
+    });
+});
+// ─────────────────────────────────────────────────────────────────
+// Event dispatch
+// ─────────────────────────────────────────────────────────────────
+describe('event dispatch', () => {
+    it('parses list / peerStatusChanged / sessionStateChanged frames', async () => {
+        const onList = vi.fn();
+        const onPeerStatusChanged = vi.fn();
+        const onSessionStateChanged = vi.fn();
+        open({ onList, onPeerStatusChanged, onSessionStateChanged });
+        await flush();
+        const c = conn(0);
+        c.push({ type: 'welcome' });
+        c.push({
+            type: 'list',
+            producers: [{ id: 'robot-1', meta: { name: 'Reachy' }, busy: false }],
+        });
+        c.push({ type: 'peerStatusChanged', peerId: 'robot-1', roles: [] });
+        c.push({
+            type: 'sessionStateChanged',
+            peerId: 'robot-1',
+            busy: true,
+            activeApp: 'conversation',
+        });
+        await flush();
+        expect(onList).toHaveBeenCalledWith([
+            { id: 'robot-1', meta: { name: 'Reachy' }, busy: false },
+        ]);
+        expect(onPeerStatusChanged).toHaveBeenCalledWith(expect.objectContaining({ peerId: 'robot-1', roles: [] }));
+        expect(onSessionStateChanged).toHaveBeenCalledWith(expect.objectContaining({
+            peerId: 'robot-1',
+            busy: true,
+            activeApp: 'conversation',
+        }));
+    });
+    it('ignores unknown frame types and unparsable payloads', async () => {
+        const onError = vi.fn();
+        const onList = vi.fn();
+        open({ onError, onList });
+        await flush();
+        const c = conn(0);
+        c.push({ type: 'ping' });
+        await flush();
+        expect(onError).not.toHaveBeenCalled();
+        expect(onList).not.toHaveBeenCalled();
+    });
+});
+// ─────────────────────────────────────────────────────────────────
+// Reconnect policy
+// ─────────────────────────────────────────────────────────────────
+describe('reconnect', () => {
+    it('reconnects after a clean EOF and resets backoff on welcome', async () => {
+        const onDisconnect = vi.fn();
+        open({ onDisconnect });
+        await flush();
+        conn(0).push({ type: 'welcome' });
+        await flush();
+        conn(0).end();
+        await flush();
+        expect(onDisconnect).toHaveBeenCalledWith('stream ended');
+        // Nominal first backoff: 1 s (jitter zeroed in beforeEach).
+        await vi.advanceTimersByTimeAsync(1_000);
+        await flush();
+        expect(eventsConns).toHaveLength(2);
+        // Welcome on the new stream resets backoff → next drop retries
+        // after 1 s again, not 2 s.
+        conn(1).push({ type: 'welcome' });
+        await flush();
+        conn(1).end();
+        await flush();
+        await vi.advanceTimersByTimeAsync(1_000);
+        await flush();
+        expect(eventsConns).toHaveLength(3);
+    });
+    it('doubles the backoff while central stays down', async () => {
+        nextEventsStatus = 503;
+        open({});
+        await flush();
+        expect(eventsConns).toHaveLength(0);
+        // Attempt 2 after 1 s - fails again (503).
+        nextEventsStatus = 503;
+        await vi.advanceTimersByTimeAsync(1_000);
+        await flush();
+        // Attempt 3 only after 2 more seconds.
+        await vi.advanceTimersByTimeAsync(1_999);
+        await flush();
+        expect(eventsConns).toHaveLength(0);
+        await vi.advanceTimersByTimeAsync(1);
+        await flush();
+        expect(eventsConns).toHaveLength(1);
+    });
+    it('treats 401 as fatal: no retry, auth_rejected surfaced', async () => {
+        const onError = vi.fn();
+        const onDisconnect = vi.fn();
+        nextEventsStatus = 401;
+        open({ onError, onDisconnect });
+        await flush();
+        expect(onError).toHaveBeenCalledTimes(1);
+        expect(String(onError.mock.calls[0]?.[0])).toContain('401');
+        expect(onDisconnect).toHaveBeenCalledWith('auth_rejected');
+        await vi.advanceTimersByTimeAsync(120_000);
+        await flush();
+        expect(eventsConns).toHaveLength(0);
+    });
+});
+// ─────────────────────────────────────────────────────────────────
+// Heartbeat & TTL eviction
+// ─────────────────────────────────────────────────────────────────
+describe('heartbeat', () => {
+    it('re-emits setPeerStatus at the cadence negotiated in welcome', async () => {
+        open({});
+        await flush();
+        conn(0).push({
+            type: 'welcome',
+            recommended_heartbeat_interval_seconds: 5,
+        });
+        await flush();
+        expect(sendCalls).toHaveLength(1); // initial registration
+        await vi.advanceTimersByTimeAsync(5_000);
+        await flush();
+        expect(sendCalls).toHaveLength(2);
+        await vi.advanceTimersByTimeAsync(5_000);
+        await flush();
+        expect(sendCalls).toHaveLength(3);
+    });
+    it('falls back to lease_seconds / 3 when no explicit cadence', async () => {
+        open({});
+        await flush();
+        conn(0).push({ type: 'welcome', lease_seconds: 30 });
+        await flush();
+        expect(sendCalls).toHaveLength(1);
+        await vi.advanceTimersByTimeAsync(10_000);
+        await flush();
+        expect(sendCalls).toHaveLength(2);
+    });
+    it('reconnects when a heartbeat reveals a server-side eviction', async () => {
+        const onDisconnect = vi.fn();
+        open({ onDisconnect });
+        await flush();
+        conn(0).push({
+            type: 'welcome',
+            recommended_heartbeat_interval_seconds: 5,
+        });
+        await flush();
+        // TTL sweeper reaped us server-side: next heartbeat gets a 400.
+        sendStatus = 400;
+        await vi.advanceTimersByTimeAsync(5_000);
+        await flush();
+        expect(onDisconnect).toHaveBeenCalledWith('listener evicted (HTTP 400)');
+        // A fresh stream is minted after the backoff.
+        sendStatus = 200;
+        await vi.advanceTimersByTimeAsync(1_000);
+        await flush();
+        expect(eventsConns).toHaveLength(2);
+        conn(1).push({ type: 'welcome' });
+        await flush();
+        // Re-registration on the new stream.
+        expect(sendCalls.length).toBeGreaterThanOrEqual(3);
+    });
+});
+// ─────────────────────────────────────────────────────────────────
+// close()
+// ─────────────────────────────────────────────────────────────────
+describe('close', () => {
+    it('is idempotent and silences every callback', async () => {
+        const onList = vi.fn();
+        const onDisconnect = vi.fn();
+        const h = open({ onList, onDisconnect });
+        await flush();
+        conn(0).push({
+            type: 'welcome',
+            recommended_heartbeat_interval_seconds: 5,
+        });
+        await flush();
+        const sendsBefore = sendCalls.length;
+        h.close();
+        h.close();
+        conn(0).push({ type: 'list', producers: [] });
+        await flush();
+        await vi.advanceTimersByTimeAsync(60_000);
+        await flush();
+        expect(onList).not.toHaveBeenCalled();
+        expect(onDisconnect).not.toHaveBeenCalled();
+        expect(sendCalls).toHaveLength(sendsBefore); // heartbeat stopped
+        expect(eventsConns).toHaveLength(1); // no reconnect
+    });
+});
+//# sourceMappingURL=central-listener.test.js.map

package/dist/lib/central-listener.test.js.map

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package/dist/lib/dc-watchdog.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=dc-watchdog.test.d.ts.map

package/dist/lib/dc-watchdog.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"dc-watchdog.test.d.ts","sourceRoot":"","sources":["../../lib/dc-watchdog.test.ts"],"names":[],"mappings":""}

package/dist/lib/dc-watchdog.test.js

@@ -0,0 +1,154 @@
+/**
+ * Data-channel silence watchdog tests.
+ *
+ * The properties that must hold:
+ *   - inbound traffic keeps the watchdog quiet (no nudge, no escalation);
+ *   - past DC_SILENCE_NUDGE_MS with no traffic, exactly one extra
+ *     `get_state` nudge goes out; a reply resets the cycle;
+ *   - past DC_SILENCE_FATAL_MS of TOTAL silence the transport is dead:
+ *     hand over to the auto re-dial when enabled, else emit the fatal
+ *     `error`;
+ *   - a large gap between ticks (throttled / suspended timer) re-baselines
+ *     instead of judging stale data;
+ *   - stopSession() stops the watchdog.
+ *
+ * Same testing approach as redial.test.ts: private surface + stubbed
+ * network, fake timers (which also fake Date.now, so silence accrues
+ * exactly as fast as the advanced clock).
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { ReachyMini } from './reachy-mini.js';
+function makeStreamingInstance(options = {}) {
+    const r = new ReachyMini(options);
+    const internals = r;
+    internals._state = 'streaming';
+    internals._selectedRobotId = 'robot-1';
+    internals._sessionId = 'session-1';
+    internals._sessionResolve = null;
+    internals._sessionReject = null;
+    internals._pc = { close: vi.fn() };
+    internals._token = 'hf_test';
+    internals._sendToServer = vi.fn().mockResolvedValue(null);
+    const nudges = vi.fn().mockReturnValue(true);
+    internals.requestState = nudges;
+    const dials = vi.fn().mockResolvedValue(undefined);
+    internals._startSessionInternal =
+        dials;
+    return { r, internals, nudges, dials };
+}
+function events(r, name) {
+    const seen = [];
+    r.addEventListener(name, (e) => {
+        seen.push(e.detail ?? {});
+    });
+    return seen;
+}
+beforeEach(() => {
+    vi.useFakeTimers();
+});
+afterEach(() => {
+    vi.useRealTimers();
+});
+describe('dc silence watchdog - quiet on a healthy link', () => {
+    it('never nudges nor escalates while traffic flows', async () => {
+        const { r, internals, nudges } = makeStreamingInstance();
+        const errors = events(r, 'error');
+        internals._supervisor.startDcWatchdog();
+        // 12 s of clock with a message every 500 ms, like the real poll.
+        for (let i = 0; i < 24; i++) {
+            await vi.advanceTimersByTimeAsync(500);
+            internals._handleRobotMessage({});
+        }
+        expect(nudges).not.toHaveBeenCalled();
+        expect(errors).toEqual([]);
+        expect(internals._supervisor.redialing).toBe(false);
+        internals._supervisor.stopDcWatchdog();
+    });
+    it('a reply to the nudge resets the cycle without escalating', async () => {
+        const { r, internals, nudges } = makeStreamingInstance();
+        const errors = events(r, 'error');
+        internals._supervisor.startDcWatchdog();
+        // Cross the nudge threshold in silence…
+        await vi.advanceTimersByTimeAsync(3000);
+        expect(nudges).toHaveBeenCalledTimes(1);
+        // …then the daemon answers.
+        internals._handleRobotMessage({});
+        // Well past the original fatal deadline: no escalation, and the
+        // next silent window starts a fresh nudge cycle.
+        await vi.advanceTimersByTimeAsync(3000);
+        expect(nudges).toHaveBeenCalledTimes(2);
+        expect(errors).toEqual([]);
+        expect(internals._supervisor.redialing).toBe(false);
+        internals._supervisor.stopDcWatchdog();
+    });
+});
+describe('dc silence watchdog - dead transport escalation', () => {
+    it('hands a silent transport over to the auto re-dial', async () => {
+        const { r, internals, nudges, dials } = makeStreamingInstance();
+        const reconnecting = events(r, 'sessionReconnecting');
+        const reconnected = events(r, 'sessionReconnected');
+        internals._supervisor.startDcWatchdog();
+        // Total silence past the fatal threshold, then let the re-dial
+        // loop run to completion (stubbed dial succeeds immediately).
+        await vi.advanceTimersByTimeAsync(20_000);
+        expect(nudges).toHaveBeenCalledTimes(1);
+        expect(dials).toHaveBeenCalledWith('robot-1');
+        expect(reconnecting).toHaveLength(1);
+        expect(String(reconnecting[0].cause)).toMatch(/No data-channel traffic/);
+        expect(reconnected).toEqual([{ attempt: 1 }]);
+    });
+    it('falls back to the fatal error when autoReconnect is off', async () => {
+        const { r, internals } = makeStreamingInstance({ autoReconnect: false });
+        const errors = events(r, 'error');
+        internals._supervisor.startDcWatchdog();
+        await vi.advanceTimersByTimeAsync(10_000);
+        expect(errors).toHaveLength(1);
+        expect(String(errors[0].error.message)).toMatch(/No data-channel traffic/);
+        expect(internals._supervisor.redialing).toBe(false);
+        // The fatal path stands the watchdog down: even a full extra
+        // escalation cycle (nudge at 2.5 s, fatal at 8 s) later, the
+        // error fired exactly once. Regression guard for the loop where
+        // the interval kept running and re-emitted every ~8 s forever.
+        await vi.advanceTimersByTimeAsync(10_000);
+        expect(errors).toHaveLength(1);
+        internals._supervisor.stopDcWatchdog();
+    });
+});
+describe('dc silence watchdog - throttled-timer awareness', () => {
+    it('re-baselines instead of judging after a large tick gap', async () => {
+        const { r, internals, nudges } = makeStreamingInstance();
+        const errors = events(r, 'error');
+        internals._supervisor.startDcWatchdog();
+        // Simulate a suspended tab: the interval did not fire for 30 s
+        // and no message was stamped either.
+        const clock = internals._supervisor;
+        clock._dcWatchdogLastTickAt -= 30_000;
+        clock._lastDcInboundAt -= 30_000;
+        await vi.advanceTimersByTimeAsync(1000);
+        // The gap tick re-baselined: no nudge, no error, and the silence
+        // clock restarts from the resume point.
+        expect(nudges).not.toHaveBeenCalled();
+        expect(errors).toEqual([]);
+        expect(internals._supervisor.redialing).toBe(false);
+        internals._supervisor.stopDcWatchdog();
+    });
+});
+describe('dc silence watchdog - lifecycle', () => {
+    it('stopSession() stops the watchdog', async () => {
+        const { r, internals, nudges } = makeStreamingInstance();
+        internals._supervisor.startDcWatchdog();
+        await r.stopSession();
+        await vi.advanceTimersByTimeAsync(20_000);
+        expect(nudges).not.toHaveBeenCalled();
+        expect(internals._supervisor.redialing).toBe(false);
+    });
+    it('ignores silence when the session is not streaming', async () => {
+        const { internals, nudges } = makeStreamingInstance();
+        internals._supervisor.startDcWatchdog();
+        internals._state = 'connected';
+        await vi.advanceTimersByTimeAsync(20_000);
+        expect(nudges).not.toHaveBeenCalled();
+        internals._supervisor.stopDcWatchdog();
+    });
+});
+//# sourceMappingURL=dc-watchdog.test.js.map

package/dist/lib/dc-watchdog.test.js.map

@@ -0,0 +1 @@
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package/dist/lib/ensure-awake.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=ensure-awake.test.d.ts.map

package/dist/lib/ensure-awake.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ensure-awake.test.d.ts","sourceRoot":"","sources":["../../lib/ensure-awake.test.ts"],"names":[],"mappings":""}