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

package/dist/lib/ensure-awake.test.js

@@ -0,0 +1,117 @@
+/**
+ * ensureAwake() bring-up contract.
+ *
+ * The properties that must hold:
+ *   - asleep (`motor_mode: 'disabled'`): plays `wake_up` and resolves only
+ *     once the daemon reports the trajectory completed, so a caller can
+ *     start commanding poses on resolution without fighting the emote;
+ *   - a wake the daemon never confirms resolves anyway after the internal
+ *     trajectory budget (degraded boot beats a boot trapped on the splash);
+ *   - `gravity_compensation` inherited from a previous session: flip back
+ *     to `enabled` (position control) WITHOUT replaying the wake emote,
+ *     and nudge a state refresh so `isAwake()` readers converge;
+ *   - already `enabled`: strict no-op, nothing on the wire;
+ *   - unknown motor mode (fresh session): ask for a state snapshot first
+ *     and fall through to the right branch once it lands.
+ *
+ * Same approach as the other SDK suites: private surface + a fake data
+ * channel, fake timers for the budget paths.
+ */
+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 };
+}
+/** Feed a state frame carrying the given motor mode into the mirror. */
+function pushMotorMode(internals, mode) {
+    internals._handleRobotMessage({ state: { motor_mode: mode } });
+}
+beforeEach(() => {
+    vi.useFakeTimers();
+});
+afterEach(() => {
+    vi.useRealTimers();
+});
+describe('ensureAwake - asleep robot', () => {
+    it('plays wake_up and resolves only on trajectory completion', async () => {
+        const { r, internals, sent } = makeInstance();
+        pushMotorMode(internals, 'disabled');
+        const settled = vi.fn();
+        const promise = r.ensureAwake().then(settled);
+        await vi.advanceTimersByTimeAsync(0);
+        // wakeUp() = enable motors + the wake_up command itself.
+        expect(sent).toEqual([
+            { type: 'set_motor_mode', mode: 'enabled' },
+            { type: 'wake_up' },
+        ]);
+        // Command acked but trajectory not completed yet: must still be pending.
+        expect(settled).not.toHaveBeenCalled();
+        internals._handleRobotMessage({ command: 'wake_up', completed: true });
+        await expect(promise).resolves.toBeUndefined();
+        expect(settled).toHaveBeenCalled();
+    });
+    it('resolves anyway when the daemon never confirms (internal budget)', async () => {
+        const { r, internals } = makeInstance();
+        pushMotorMode(internals, 'disabled');
+        const promise = r.ensureAwake();
+        // Past the 5 s trajectory budget with no completion in sight.
+        await vi.advanceTimersByTimeAsync(6000);
+        await expect(promise).resolves.toBe(true);
+    });
+});
+describe('ensureAwake - gravity compensation inherited from a fast handoff', () => {
+    it('flips back to enabled without replaying the wake emote', async () => {
+        const { r, internals, sent } = makeInstance();
+        pushMotorMode(internals, 'gravity_compensation');
+        await expect(r.ensureAwake()).resolves.toBe(true);
+        const types = sent.map((m) => m.type ?? m.command);
+        expect(types).toContain('set_motor_mode');
+        expect(types).not.toContain('wake_up');
+        expect(sent.find((m) => m.type === 'set_motor_mode')).toEqual({
+            type: 'set_motor_mode',
+            mode: 'enabled',
+        });
+        // Cache refresh so isAwake() readers converge on the new mode.
+        expect(types).toContain('get_state');
+    });
+});
+describe('ensureAwake - already under position control', () => {
+    it('is a strict no-op', async () => {
+        const { r, internals, sent } = makeInstance();
+        pushMotorMode(internals, 'enabled');
+        await expect(r.ensureAwake()).resolves.toBe(true);
+        expect(sent).toEqual([]);
+    });
+});
+describe('ensureAwake - unknown motor mode (fresh session)', () => {
+    it('requests a snapshot, then wakes when the state says disabled', async () => {
+        const { r, internals, sent } = makeInstance();
+        const settled = vi.fn();
+        const promise = r.ensureAwake().then(settled);
+        await vi.advanceTimersByTimeAsync(0);
+        // First move: ask for the state it doesn't have yet.
+        expect(sent[0]).toEqual({ type: 'get_state' });
+        pushMotorMode(internals, 'disabled');
+        await vi.advanceTimersByTimeAsync(0);
+        expect(sent.map((m) => m.type)).toContain('wake_up');
+        expect(settled).not.toHaveBeenCalled();
+        internals._handleRobotMessage({ command: 'wake_up', completed: true });
+        await promise;
+        expect(settled).toHaveBeenCalled();
+    });
+    it('falls through on the snapshot timeout and still resolves', async () => {
+        const { r } = makeInstance();
+        const promise = r.ensureAwake(1000);
+        // Snapshot never answered (1 s) + wake budget never confirmed (5 s).
+        await vi.advanceTimersByTimeAsync(6100);
+        await expect(promise).resolves.toBe(true);
+    });
+});
+//# sourceMappingURL=ensure-awake.test.js.map

package/dist/lib/ensure-awake.test.js.map

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package/dist/lib/ice-grace.test.d.ts

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

package/dist/lib/ice-grace.test.d.ts.map

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

package/dist/lib/ice-grace.test.js

@@ -0,0 +1,211 @@
+/**
+ * ICE-blip grace tests, run against an isolated SessionSupervisor with
+ * fully faked deps (no ReachyMini instance involved).
+ *
+ * The properties that must hold:
+ *   - `disconnected` is debounced ~3 s and escalates only if ICE is
+ *     still bad when the grace expires; healing (event or re-check)
+ *     stands the timer down;
+ *   - `failed` gets a shorter ~1 s debounce;
+ *   - repeated identical transitions coalesce onto the original timer
+ *     (no clock reset); a changed reason replaces the timer;
+ *   - mid-setup failures reject the pending startSession() promise and
+ *     never start a redial;
+ *   - while the tab is hidden the grace defers to the next foreground
+ *     frame; past the visibility ceiling the session is expired
+ *     immediately (straight to redial when enabled);
+ *   - escalation funnels into the redial when auto-reconnect is on and
+ *     falls back to the fatal `error` when it's off;
+ *   - network listeners forward browser events and uninstall cleanly.
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { SessionSupervisor } from './session-supervisor.js';
+function makeSupervisor(overrides = {}, options = { autoReconnect: true }) {
+    const deps = {
+        iceState: vi.fn().mockReturnValue('disconnected'),
+        hasPc: vi.fn().mockReturnValue(true),
+        isStreaming: vi.fn().mockReturnValue(true),
+        isMidSetup: vi.fn().mockReturnValue(false),
+        isSignalingDown: vi.fn().mockReturnValue(false),
+        selectedRobotId: vi.fn().mockReturnValue('robot-1'),
+        rejectPendingSession: vi.fn().mockReturnValue(false),
+        reconnectSignaling: vi.fn().mockResolvedValue(undefined),
+        dial: vi.fn().mockResolvedValue(undefined),
+        teardownForRedial: vi.fn(),
+        nudgeState: vi.fn(),
+        emit: vi.fn(),
+        ...overrides,
+    };
+    return { sup: new SessionSupervisor(deps, options), deps };
+}
+/** Details of every `emit(name, …)` call, in order. */
+function emitted(deps, name) {
+    return deps.emit.mock.calls.filter((c) => c[0] === name).map((c) => c[1]);
+}
+/** The `error` emits, unwrapped to their Error payloads. */
+function emittedErrors(deps) {
+    return emitted(deps, 'error').map((d) => d.error);
+}
+/** jsdom's document.hidden is read-only; swap in a controllable getter. */
+let hidden = false;
+beforeEach(() => {
+    vi.useFakeTimers();
+    hidden = false;
+    Object.defineProperty(document, 'hidden', {
+        configurable: true,
+        get: () => hidden,
+    });
+});
+afterEach(() => {
+    vi.useRealTimers();
+});
+describe('disconnected grace (foreground)', () => {
+    it('escalates only after the grace expires with ICE still down', async () => {
+        const { sup, deps } = makeSupervisor({}, { autoReconnect: false });
+        sup.onIceDisconnected();
+        await vi.advanceTimersByTimeAsync(2999);
+        expect(emittedErrors(deps)).toHaveLength(0);
+        await vi.advanceTimersByTimeAsync(1);
+        expect(emittedErrors(deps)).toHaveLength(1);
+        expect(String(emittedErrors(deps)[0])).toMatch(/ICE stuck in 'disconnected'/);
+    });
+    it('funnels into the redial instead of the error when auto-reconnect is on', async () => {
+        const { sup, deps } = makeSupervisor();
+        sup.onIceDisconnected();
+        await vi.runAllTimersAsync();
+        expect(emittedErrors(deps)).toHaveLength(0);
+        expect(deps.teardownForRedial).toHaveBeenCalled();
+        expect(deps.dial).toHaveBeenCalledWith('robot-1');
+        expect(emitted(deps, 'sessionReconnected')).toEqual([{ attempt: 1 }]);
+    });
+    it('stands down when ICE heals before the grace expires', async () => {
+        const { sup, deps } = makeSupervisor({}, { autoReconnect: false });
+        sup.onIceDisconnected();
+        await vi.advanceTimersByTimeAsync(1000);
+        sup.onIceHealed();
+        await vi.runAllTimersAsync();
+        expect(emittedErrors(deps)).toHaveLength(0);
+    });
+    it('re-checks the live state at expiry (healed without an event)', async () => {
+        const { sup, deps } = makeSupervisor({ iceState: vi.fn().mockReturnValue('connected') }, { autoReconnect: false });
+        sup.onIceDisconnected();
+        await vi.runAllTimersAsync();
+        expect(emittedErrors(deps)).toHaveLength(0);
+    });
+    it('coalesces repeated identical transitions onto the original clock', async () => {
+        const { sup, deps } = makeSupervisor({}, { autoReconnect: false });
+        sup.onIceDisconnected();
+        await vi.advanceTimersByTimeAsync(2000);
+        // A flurry of identical events must not reset the 3 s clock…
+        sup.onIceDisconnected();
+        await vi.advanceTimersByTimeAsync(1000);
+        // …so the grace fires 3 s after the FIRST transition.
+        expect(emittedErrors(deps)).toHaveLength(1);
+    });
+});
+describe('failed grace', () => {
+    it('escalates after ~1 s when ICE stays failed', async () => {
+        const { sup, deps } = makeSupervisor({ iceState: vi.fn().mockReturnValue('failed') }, { autoReconnect: false });
+        sup.onIceFailed();
+        await vi.advanceTimersByTimeAsync(1000);
+        expect(emittedErrors(deps)).toHaveLength(1);
+        expect(String(emittedErrors(deps)[0])).toMatch(/ICE connection failed/);
+    });
+    it('a disconnected → failed transition replaces the pending grace', async () => {
+        const { sup, deps } = makeSupervisor({ iceState: vi.fn().mockReturnValue('failed') }, { autoReconnect: false });
+        sup.onIceDisconnected();
+        sup.onIceFailed();
+        // The failed grace (1 s) wins over the disconnected one (3 s).
+        await vi.advanceTimersByTimeAsync(1000);
+        expect(emittedErrors(deps)).toHaveLength(1);
+        expect(String(emittedErrors(deps)[0])).toMatch(/ICE connection failed/);
+    });
+    it('rejects a pending startSession() and leaves the retry to its caller', async () => {
+        const rejectPendingSession = vi.fn().mockReturnValue(true);
+        const { sup, deps } = makeSupervisor({
+            iceState: vi.fn().mockReturnValue('failed'),
+            rejectPendingSession,
+        });
+        sup.onIceFailed();
+        await vi.advanceTimersByTimeAsync(1000);
+        expect(rejectPendingSession).toHaveBeenCalledTimes(1);
+        // Not an auto-reconnect case: the promise owner decides.
+        expect(deps.dial).not.toHaveBeenCalled();
+        // Outside a redial the classic fatal error still surfaces.
+        expect(emittedErrors(deps)).toHaveLength(1);
+    });
+});
+describe('visibility-deferred grace (hidden tab)', () => {
+    it('defers the grace to the foreground, then escalates if still down', async () => {
+        const { sup, deps } = makeSupervisor({}, { autoReconnect: false });
+        hidden = true;
+        sup.onIceDisconnected();
+        // Hidden: timers may be throttled, nothing may fire meanwhile.
+        await vi.advanceTimersByTimeAsync(10_000);
+        expect(emittedErrors(deps)).toHaveLength(0);
+        // Back to the foreground within the ceiling: a normal 3 s grace runs.
+        hidden = false;
+        document.dispatchEvent(new Event('visibilitychange'));
+        expect(emittedErrors(deps)).toHaveLength(0);
+        await vi.advanceTimersByTimeAsync(3000);
+        expect(emittedErrors(deps)).toHaveLength(1);
+        expect(String(emittedErrors(deps)[0])).toMatch(/ICE stuck in 'disconnected'/);
+    });
+    it('does nothing when ICE healed while backgrounded', async () => {
+        const { sup, deps } = makeSupervisor({}, { autoReconnect: false });
+        hidden = true;
+        sup.onIceDisconnected();
+        deps.iceState.mockReturnValue('connected');
+        hidden = false;
+        document.dispatchEvent(new Event('visibilitychange'));
+        await vi.runAllTimersAsync();
+        expect(emittedErrors(deps)).toHaveLength(0);
+    });
+    it('past the ceiling, expires the session immediately (straight to redial)', async () => {
+        const { sup, deps } = makeSupervisor();
+        hidden = true;
+        sup.onIceDisconnected();
+        // Fake timers also fake Date.now: cross the 60 s ceiling.
+        await vi.advanceTimersByTimeAsync(61_000);
+        hidden = false;
+        document.dispatchEvent(new Event('visibilitychange'));
+        await vi.runAllTimersAsync();
+        // No extra foreground grace — the redial starts right away.
+        expect(emitted(deps, 'sessionReconnecting')).toEqual([
+            expect.objectContaining({ cause: 'Session expired while tab was backgrounded' }),
+        ]);
+        expect(deps.dial).toHaveBeenCalledWith('robot-1');
+    });
+    it('clearIceGrace disarms the pending visibility handler', async () => {
+        const { sup, deps } = makeSupervisor({}, { autoReconnect: false });
+        hidden = true;
+        sup.onIceDisconnected();
+        sup.clearIceGrace();
+        hidden = false;
+        document.dispatchEvent(new Event('visibilitychange'));
+        await vi.runAllTimersAsync();
+        expect(emittedErrors(deps)).toHaveLength(0);
+    });
+});
+describe('network listeners', () => {
+    it('forwards online/offline while installed, stops after uninstall', () => {
+        const { sup, deps } = makeSupervisor();
+        sup.installNetworkListeners();
+        window.dispatchEvent(new Event('online'));
+        window.dispatchEvent(new Event('offline'));
+        expect(emitted(deps, 'networkOnline')).toHaveLength(1);
+        expect(emitted(deps, 'networkOffline')).toHaveLength(1);
+        sup.uninstallNetworkListeners();
+        window.dispatchEvent(new Event('online'));
+        expect(emitted(deps, 'networkOnline')).toHaveLength(1);
+    });
+    it('is idempotent: double install does not double the events', () => {
+        const { sup, deps } = makeSupervisor();
+        sup.installNetworkListeners();
+        sup.installNetworkListeners();
+        window.dispatchEvent(new Event('online'));
+        expect(emitted(deps, 'networkOnline')).toHaveLength(1);
+        sup.uninstallNetworkListeners();
+    });
+});
+//# sourceMappingURL=ice-grace.test.js.map

package/dist/lib/ice-grace.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ice-grace.test.js","sourceRoot":"","sources":["../../lib/ice-grace.test.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;GAmBG;AACH,OAAO,EAAE,SAAS,EAAE,UAAU,EAAE,QAAQ,EAAE,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,MAAM,QAAQ,CAAC;AAEzE,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAK5D,SAAS,cAAc,CACnB,YAAiC,EAAE,EACnC,UAAsC,EAAE,aAAa,EAAE,IAAI,EAAE;IAE7D,MAAM,IAAI,GAAe;QACrB,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,cAAc,CAAC;QACjD,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,IAAI,CAAC;QACpC,WAAW,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,IAAI,CAAC;QAC1C,UAAU,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,KAAK,CAAC;QAC1C,eAAe,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,KAAK,CAAC;QAC/C,eAAe,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,SAAS,CAAC;QACnD,oBAAoB,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,KAAK,CAAC;QACpD,kBAAkB,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CAAC,SAAS,CAAC;QACxD,IAAI,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CAAC,SAAS,CAAC;QAC1C,iBAAiB,EAAE,EAAE,CAAC,EAAE,EAAE;QAC1B,UAAU,EAAE,EAAE,CAAC,EAAE,EAAE;QACnB,IAAI,EAAE,EAAE,CAAC,EAAE,EAAE;QACb,GAAG,SAAS;KACf,CAAC;IACF,OAAO,EAAE,GAAG,EAAE,IAAI,iBAAiB,CAAC,IAAwC,EAAE,OAAO,CAAC,EAAE,IAAI,EAAE,CAAC;AACnG,CAAC;AAED,uDAAuD;AACvD,SAAS,OAAO,CAAC,IAAgB,EAAE,IAAY;IAC3C,OAAO,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,KAAK,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAC9E,CAAC;AAED,4DAA4D;AAC5D,SAAS,aAAa,CAAC,IAAgB;IACnC,OAAQ,OAAO,CAAC,IAAI,EAAE,OAAO,CAA6B,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC;AACnF,CAAC;AAED,2EAA2E;AAC3E,IAAI,MAAM,GAAG,KAAK,CAAC;AACnB,UAAU,CAAC,GAAG,EAAE;IACZ,EAAE,CAAC,aAAa,EAAE,CAAC;IACnB,MAAM,GAAG,KAAK,CAAC;IACf,MAAM,CAAC,cAAc,CAAC,QAAQ,EAAE,QAAQ,EAAE;QACtC,YAAY,EAAE,IAAI;QAClB,GAAG,EAAE,GAAG,EAAE,CAAC,MAAM;KACpB,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAEH,SAAS,CAAC,GAAG,EAAE;IACX,EAAE,CAAC,aAAa,EAAE,CAAC;AACvB,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,iCAAiC,EAAE,GAAG,EAAE;IAC7C,EAAE,CAAC,4DAA4D,EAAE,KAAK,IAAI,EAAE;QACxE,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,aAAa,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,GAAG,CAAC,iBAAiB,EAAE,CAAC;QAExB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAE5C,MAAM,EAAE,CAAC,wBAAwB,CAAC,CAAC,CAAC,CAAC;QACrC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAC5C,MAAM,CAAC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,6BAA6B,CAAC,CAAC;IAClF,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,wEAAwE,EAAE,KAAK,IAAI,EAAE;QACpF,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,EAAE,CAAC;QACvC,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,iBAAiB,EAAE,CAAC;QAE7B,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAC5C,MAAM,CAAC,IAAI,CAAC,iBAAiB,CAAC,CAAC,gBAAgB,EAAE,CAAC;QAClD,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,oBAAoB,CAAC,SAAS,CAAC,CAAC;QAClD,MAAM,CAAC,OAAO,CAAC,IAAI,EAAE,oBAAoB,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,qDAAqD,EAAE,KAAK,IAAI,EAAE;QACjE,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,aAAa,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,GAAG,CAAC,WAAW,EAAE,CAAC;QAClB,MAAM,EAAE,CAAC,iBAAiB,EAAE,CAAC;QAC7B,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;IAChD,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,8DAA8D,EAAE,KAAK,IAAI,EAAE;QAC1E,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAChC,EAAE,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,WAAW,CAAC,EAAE,EAClD,EAAE,aAAa,EAAE,KAAK,EAAE,CAC3B,CAAC;QACF,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,iBAAiB,EAAE,CAAC;QAC7B,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;IAChD,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,kEAAkE,EAAE,KAAK,IAAI,EAAE;QAC9E,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,aAAa,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,6DAA6D;QAC7D,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,sDAAsD;QACtD,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;IAChD,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,cAAc,EAAE,GAAG,EAAE;IAC1B,EAAE,CAAC,4CAA4C,EAAE,KAAK,IAAI,EAAE;QACxD,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAChC,EAAE,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,QAAQ,CAAC,EAAE,EAC/C,EAAE,aAAa,EAAE,KAAK,EAAE,CAC3B,CAAC;QACF,GAAG,CAAC,WAAW,EAAE,CAAC;QAClB,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;QACxC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QAC5C,MAAM,CAAC,MAAM,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,uBAAuB,CAAC,CAAC;IAC5E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,+DAA+D,EAAE,KAAK,IAAI,EAAE;QAC3E,MAAM,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,cAAc,CAChC,EAAE,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,eAAe,CAAC,QAAQ,CAAC,EAAE,EAC/C,EAAE,aAAa,EAAE,KAAK,EAAE,CAC3B,CAAC;QACF,GAAG,CAAC,iBAAiB,EAAE,CAAC;QACxB,GAAG,CAAC,WAAW,EAAE,CAAC;QAClB,+DAA+D;QAC/D,MAAM,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;Q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package/dist/lib/imu.test.d.ts

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

package/dist/lib/imu.test.d.ts.map

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

package/dist/lib/imu.test.js

@@ -0,0 +1,78 @@
+/**
+ * getImu() wire contract.
+ *
+ * The properties that must hold:
+ *   - `getImu()` sends `{type: "get_imu"}` and resolves the daemon's
+ *     `imu` payload as-is (accelerometer / gyroscope / quaternion /
+ *     temperature);
+ *   - an IMU-less robot (Lite, simulation) answers `imu: null` and the
+ *     call resolves `null` promptly - distinguishable from a timeout;
+ *   - an old daemon that doesn't know `get_imu` never answers: the
+ *     shared slot timeout fail-opens to `null` instead of hanging;
+ *   - a closed data channel rejects immediately (no waiter leaked).
+ *
+ * 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 };
+}
+const READING = {
+    accelerometer: [0.01, -0.02, 9.81],
+    gyroscope: [0.001, 0.002, -0.003],
+    quaternion: [1, 0, 0, 0],
+    temperature: 31.5,
+};
+beforeEach(() => {
+    vi.useFakeTimers();
+});
+afterEach(() => {
+    vi.useRealTimers();
+});
+describe('getImu - wire contract', () => {
+    it('sends get_imu and resolves the daemon reading untouched', async () => {
+        const { r, internals, sent } = makeInstance();
+        const promise = r.getImu();
+        expect(sent).toEqual([{ type: 'get_imu' }]);
+        internals._handleRobotMessage({ command: 'get_imu', imu: READING });
+        await expect(promise).resolves.toEqual(READING);
+    });
+    it('resolves null promptly on an IMU-less robot (imu: null reply)', async () => {
+        const { r, internals } = makeInstance();
+        const promise = r.getImu();
+        internals._handleRobotMessage({ command: 'get_imu', imu: null });
+        // No timer advance: this must be the reply, not the timeout.
+        await expect(promise).resolves.toBeNull();
+    });
+    it('an unrelated message does not settle the pending call', async () => {
+        const { r, internals } = makeInstance();
+        const settled = vi.fn();
+        void r.getImu().then(settled);
+        internals._handleRobotMessage({ command: 'get_tracked_face', face_target: { detected: false } });
+        await vi.advanceTimersByTimeAsync(0);
+        expect(settled).not.toHaveBeenCalled();
+    });
+});
+describe('getImu - degraded paths', () => {
+    it('fail-opens to null when the daemon never answers (old daemon)', async () => {
+        const { r } = makeInstance();
+        const promise = r.getImu();
+        await vi.advanceTimersByTimeAsync(4000);
+        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.getImu()).rejects.toThrow(/Data channel not open/);
+    });
+});
+//# sourceMappingURL=imu.test.js.map

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

@@ -0,0 +1 @@
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package/dist/lib/logger.d.ts

@@ -0,0 +1,38 @@
+/**
+ * Leveled, namespaced console logging shared by the SDK core, the
+ * embed runtime, and the host shell.
+ *
+ * Every log line is prefixed `[reachy:<ns>]` so a devtools filter on
+ * `reachy:` shows the whole story (or `reachy:session` just the
+ * reconnect layer), and gated by a single global level:
+ *
+ *   - `debug` — per-message traffic (commands, SSE events, media cache
+ *     ops). Off by default; also hidden behind devtools' "Verbose"
+ *     filter since it maps to `console.debug`.
+ *   - `info`  — lifecycle transitions (boot phases, wake/sleep steps,
+ *     reconnects). The default: a handful of lines per session, not
+ *     per second.
+ *   - `warn` / `error` — always worth seeing.
+ *   - `silent` — nothing at all.
+ *
+ * The level persists in `localStorage["reachy-log"]` so it survives
+ * reloads mid-debugging. Flip it from the console without touching
+ * code:
+ *
+ *   localStorage.setItem('reachy-log', 'debug'); location.reload();
+ *
+ * or at runtime via the exported `setLogLevel('debug')`.
+ */
+export type LogLevel = 'debug' | 'info' | 'warn' | 'error' | 'silent';
+/** Set the global log level (persisted to localStorage when available). */
+export declare function setLogLevel(level: LogLevel): void;
+export declare function getLogLevel(): LogLevel;
+export interface Logger {
+    debug: (...args: unknown[]) => void;
+    info: (...args: unknown[]) => void;
+    warn: (...args: unknown[]) => void;
+    error: (...args: unknown[]) => void;
+}
+/** Create a logger whose lines are prefixed `[reachy:<ns>]`. */
+export declare function createLogger(ns: string): Logger;
+//# sourceMappingURL=logger.d.ts.map

package/dist/lib/logger.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/logger.js

@@ -0,0 +1,81 @@
+/**
+ * Leveled, namespaced console logging shared by the SDK core, the
+ * embed runtime, and the host shell.
+ *
+ * Every log line is prefixed `[reachy:<ns>]` so a devtools filter on
+ * `reachy:` shows the whole story (or `reachy:session` just the
+ * reconnect layer), and gated by a single global level:
+ *
+ *   - `debug` — per-message traffic (commands, SSE events, media cache
+ *     ops). Off by default; also hidden behind devtools' "Verbose"
+ *     filter since it maps to `console.debug`.
+ *   - `info`  — lifecycle transitions (boot phases, wake/sleep steps,
+ *     reconnects). The default: a handful of lines per session, not
+ *     per second.
+ *   - `warn` / `error` — always worth seeing.
+ *   - `silent` — nothing at all.
+ *
+ * The level persists in `localStorage["reachy-log"]` so it survives
+ * reloads mid-debugging. Flip it from the console without touching
+ * code:
+ *
+ *   localStorage.setItem('reachy-log', 'debug'); location.reload();
+ *
+ * or at runtime via the exported `setLogLevel('debug')`.
+ */
+const ORDER = {
+    debug: 0,
+    info: 1,
+    warn: 2,
+    error: 3,
+    silent: 4,
+};
+const STORAGE_KEY = 'reachy-log';
+function initialLevel() {
+    try {
+        const stored = globalThis.localStorage?.getItem(STORAGE_KEY);
+        if (stored && stored in ORDER)
+            return stored;
+    }
+    catch {
+        /* SSR or storage-denied context */
+    }
+    return 'info';
+}
+let currentLevel = initialLevel();
+/** Set the global log level (persisted to localStorage when available). */
+export function setLogLevel(level) {
+    currentLevel = level;
+    try {
+        globalThis.localStorage?.setItem(STORAGE_KEY, level);
+    }
+    catch {
+        /* ignore */
+    }
+}
+export function getLogLevel() {
+    return currentLevel;
+}
+/** Create a logger whose lines are prefixed `[reachy:<ns>]`. */
+export function createLogger(ns) {
+    const prefix = `[reachy:${ns}]`;
+    return {
+        debug: (...args) => {
+            if (ORDER[currentLevel] <= ORDER.debug)
+                console.debug(prefix, ...args);
+        },
+        info: (...args) => {
+            if (ORDER[currentLevel] <= ORDER.info)
+                console.info(prefix, ...args);
+        },
+        warn: (...args) => {
+            if (ORDER[currentLevel] <= ORDER.warn)
+                console.warn(prefix, ...args);
+        },
+        error: (...args) => {
+            if (ORDER[currentLevel] <= ORDER.error)
+                console.error(prefix, ...args);
+        },
+    };
+}
+//# sourceMappingURL=logger.js.map

package/dist/lib/logger.js.map

@@ -0,0 +1 @@
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