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

package/dist/lib/session-supervisor.js

@@ -0,0 +1,520 @@
+/**
+ * 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 { createLogger } from './logger.js';
+const log = createLogger('session');
+/* ─── Tunables ─────────────────────────────────────────────────────── */
+// ICE grace windows. `disconnected` is transient per spec (browsers
+// usually heal it in 1-2 s on WiFi blips / AP roams), so debounce it.
+// `failed` IS terminal per spec, but we've observed real
+// `failed → connected` flips on rapid AP roams and iOS BT route
+// changes — 1 s of debounce absorbs those without noticeably delaying
+// a real failure.
+const ICE_DISCONNECT_GRACE_MS = 3000;
+const ICE_FAILED_GRACE_MS = 1000;
+/**
+ * Ceiling on how long `armIceGraceOnVisibility` waits for a hidden tab
+ * to come back. The daemon's `webrtcsink` runs a STUN consent-freshness
+ * check (RFC 7675, ~30 s default) and unilaterally tears its side of
+ * the session down past that window, releasing the producer slot on
+ * central — so after a long background stint the transport is gone and
+ * another foreground grace would be a lie. 60 s gives a 2× margin over
+ * the daemon-side timeout: long enough to absorb "phone in pocket for
+ * 45 s", short enough to be honest with the user.
+ */
+const MAX_VISIBILITY_DEFER_MS = 60_000;
+// Re-dial backoff (one entry per attempt, in ms of wait BEFORE that
+// attempt): ~22 s window + dial time. Each attempt is capped because
+// past ~15 s the robot side likely still holds the previous (dead)
+// session — tear the attempt down and retry against a freed slot.
+const REDIAL_BACKOFF_MS = [0, 2000, 4000, 8000, 8000];
+const REDIAL_DIAL_TIMEOUT_MS = 15_000;
+// Data-channel silence watchdog. A streaming session receives constant
+// inbound traffic (`get_state` replies every ≤500 ms and/or ~30 Hz pose
+// frames), so prolonged TOTAL silence is a dead transport even while
+// ICE still reports 'connected' (half-open links dodge STUN consent
+// checks for tens of seconds). Past the nudge threshold send one extra
+// `get_state`; past the fatal threshold escalate — still ~4× faster
+// than the RFC 7675 consent-freshness teardown (~30 s). Hidden /
+// throttled tabs re-baseline instead of judging stale data.
+const DC_WATCHDOG_TICK_MS = 1000;
+const DC_SILENCE_NUDGE_MS = 2500;
+const DC_SILENCE_FATAL_MS = 8000;
+/* ─── Supervisor ───────────────────────────────────────────────────── */
+export class SessionSupervisor {
+    _deps;
+    // ICE-blip debounce. All handler slots are scoped to the lifetime
+    // of a live session (armed from the pc's state handler, cleared by
+    // every teardown path via `clearIceGrace`).
+    _iceGraceTimer = null;
+    _iceGraceReason = null;
+    _pendingVisibilityHandler = null;
+    // Network awareness (installed in startSession, removed on teardown).
+    _onlineHandler = null;
+    _offlineHandler = null;
+    _connectionChangeHandler = null;
+    // Automatic re-dial. Mutable via `setAutoReconnect()` so flows that
+    // EXPECT a transport death (the daemon self-update reboot) can stand
+    // the machinery down.
+    _autoReconnect;
+    _redialing = false;
+    _redialWake = null;
+    // Data-channel silence watchdog.
+    _dcWatchdogId = null;
+    _lastDcInboundAt = 0;
+    _dcWatchdogLastTickAt = 0;
+    _dcSilenceNudged = false;
+    constructor(deps, options) {
+        this._deps = deps;
+        this._autoReconnect = options.autoReconnect;
+    }
+    /** True while the re-dial loop is running. */
+    get redialing() {
+        return this._redialing;
+    }
+    /**
+     * Enable/disable the automatic session re-dial at runtime.
+     * Disabling also aborts any re-dial already in flight.
+     */
+    setAutoReconnect(enabled) {
+        this._autoReconnect = enabled;
+        if (!enabled)
+            this.cancelRedial();
+    }
+    /** Fatal errors carry the classic webrtc `error` payload shape. */
+    _emitError(error) {
+        this._deps.emit('error', { source: 'webrtc', error });
+    }
+    /* ─── ICE-blip debounce + network awareness ──────────────────────
+     *
+     * Both halves below are intentionally generic (they don't know
+     * about motion, audio, or the FSM): they just smooth out
+     * browser-level events so the consumer's own state machine doesn't
+     * get torn down by routine WiFi/4G/screen-off noise.
+     */
+    /** ICE healed back to `connected`/`completed`. */
+    onIceHealed() {
+        this.clearIceGrace();
+    }
+    /**
+     * 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() {
+        if (typeof document !== 'undefined' && document.hidden) {
+            this._armIceGraceOnVisibility();
+        }
+        else {
+            this._scheduleIceGrace(ICE_DISCONNECT_GRACE_MS, 'disconnected');
+        }
+    }
+    /**
+     * 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() {
+        this._scheduleIceGrace(ICE_FAILED_GRACE_MS, 'failed');
+    }
+    /**
+     * 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() {
+        if (this._iceGraceTimer !== null) {
+            clearTimeout(this._iceGraceTimer);
+            this._iceGraceTimer = null;
+        }
+        this._iceGraceReason = null;
+        if (this._pendingVisibilityHandler && typeof document !== 'undefined') {
+            document.removeEventListener('visibilitychange', this._pendingVisibilityHandler);
+        }
+        this._pendingVisibilityHandler = null;
+    }
+    /**
+     * 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.
+     */
+    _scheduleIceGrace(ms, reason) {
+        // Coalesce: if a grace is already pending and the reason hasn't
+        // changed, keep the original timer so a flurry of identical
+        // transitions doesn't reset the clock. If the reason changed
+        // (typically `disconnected` → `failed`, but also the reverse on
+        // some Android WebViews), replace the timer with the new
+        // (reason, ms) pair — the latest signal wins.
+        if (this._iceGraceTimer !== null) {
+            if (this._iceGraceReason === reason)
+                return;
+            clearTimeout(this._iceGraceTimer);
+        }
+        this._iceGraceReason = reason;
+        this._iceGraceTimer = setTimeout(() => {
+            this._iceGraceTimer = null;
+            const r = this._iceGraceReason;
+            this._iceGraceReason = null;
+            const s = this._deps.iceState();
+            if (s === 'connected' || s === 'completed')
+                return; // healed
+            if (r === 'disconnected' && s === 'disconnected') {
+                if (this.maybeBeginRedial(`ICE stuck in 'disconnected' for > ${ms}ms`))
+                    return;
+                this._emitError(new Error(`ICE stuck in 'disconnected' for > ${ms}ms`));
+                return;
+            }
+            if (r === 'failed' || s === 'failed') {
+                const err = new Error('ICE connection failed');
+                if (this._deps.rejectPendingSession(err)) {
+                    // Mid-setup failure: keep the promise contract — the
+                    // caller of startSession() owns the retry decision.
+                    // When that caller is the redial loop itself, skip
+                    // the fatal `error` emit: the loop retries and the
+                    // app only sees `sessionReconnecting`.
+                    if (!this._redialing)
+                        this._emitError(err);
+                    return;
+                }
+                if (this.maybeBeginRedial('ICE connection failed'))
+                    return;
+                this._emitError(err);
+            }
+        }, ms);
+    }
+    /**
+     * `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.
+     */
+    _armIceGraceOnVisibility() {
+        if (this._pendingVisibilityHandler)
+            return;
+        const deferredAt = Date.now();
+        const handler = () => {
+            if (typeof document !== 'undefined' && document.hidden)
+                return;
+            document.removeEventListener('visibilitychange', handler);
+            this._pendingVisibilityHandler = null;
+            if (!this._deps.hasPc())
+                return;
+            const s = this._deps.iceState();
+            if (s === 'connected' || s === 'completed')
+                return; // healed in bg
+            // Ceiling: if the user backgrounded past the daemon's
+            // ICE-consent freshness window the session is gone from
+            // the daemon's side regardless of what the pc reports
+            // locally. Running another foreground grace would tell
+            // the user "Reconnecting…" for a recovery that can never
+            // happen. Escalate immediately so the host renders the
+            // real "session expired" UX. See MAX_VISIBILITY_DEFER_MS.
+            if (Date.now() - deferredAt > MAX_VISIBILITY_DEFER_MS) {
+                const err = new Error('Session expired while tab was backgrounded');
+                if (this._deps.rejectPendingSession(err)) {
+                    if (!this._redialing)
+                        this._emitError(err);
+                    return;
+                }
+                // The transport is unrecoverable (daemon dropped its side
+                // past the consent-freshness window) but the user is BACK
+                // and looking at the app — the perfect moment to re-dial
+                // rather than render "session expired".
+                if (this.maybeBeginRedial('Session expired while tab was backgrounded'))
+                    return;
+                this._emitError(err);
+                return;
+            }
+            if (s === 'failed') {
+                this._scheduleIceGrace(ICE_FAILED_GRACE_MS, 'failed');
+                return;
+            }
+            // Still disconnected when we came back — give it a normal
+            // foreground grace window now that timers fire reliably.
+            this._scheduleIceGrace(ICE_DISCONNECT_GRACE_MS, 'disconnected');
+        };
+        document.addEventListener('visibilitychange', handler);
+        this._pendingVisibilityHandler = handler;
+    }
+    /**
+     * 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() {
+        if (this._onlineHandler || typeof window === 'undefined')
+            return;
+        const onOnline = () => this._deps.emit('networkOnline', {});
+        const onOffline = () => this._deps.emit('networkOffline', {});
+        window.addEventListener('online', onOnline);
+        window.addEventListener('offline', onOffline);
+        this._onlineHandler = onOnline;
+        this._offlineHandler = onOffline;
+        const conn = navigator.connection;
+        if (conn && typeof conn.addEventListener === 'function') {
+            const onChange = () => this._deps.emit('networkChange', {
+                effectiveType: conn.effectiveType,
+                downlink: conn.downlink,
+                rtt: conn.rtt,
+                saveData: conn.saveData,
+            });
+            conn.addEventListener('change', onChange);
+            this._connectionChangeHandler = onChange;
+        }
+    }
+    /** Counterpart to `installNetworkListeners`. */
+    uninstallNetworkListeners() {
+        if (typeof window !== 'undefined') {
+            if (this._onlineHandler) {
+                window.removeEventListener('online', this._onlineHandler);
+            }
+            if (this._offlineHandler) {
+                window.removeEventListener('offline', this._offlineHandler);
+            }
+        }
+        const conn = navigator.connection;
+        if (conn && this._connectionChangeHandler && typeof conn.removeEventListener === 'function') {
+            conn.removeEventListener('change', this._connectionChangeHandler);
+        }
+        this._onlineHandler = null;
+        this._offlineHandler = null;
+        this._connectionChangeHandler = null;
+    }
+    /* ─── Automatic session re-dial ─────────────────────────────────── */
+    /**
+     * 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) {
+        if (!this._autoReconnect)
+            return false;
+        if (this._redialing)
+            return true; // already in progress
+        if (this._deps.isMidSetup())
+            return false;
+        const robotId = this._deps.selectedRobotId();
+        if (!robotId || !this._deps.hasPc())
+            return false;
+        this._redialing = true;
+        log.info(`auto-reconnect: ${cause} - re-dialing ${robotId}`);
+        void this._runRedialLoop(robotId, cause);
+        return true;
+    }
+    /**
+     * 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`.
+     */
+    async _runRedialLoop(robotId, cause) {
+        const maxAttempts = REDIAL_BACKOFF_MS.length;
+        this._deps.teardownForRedial();
+        for (let attempt = 1; attempt <= maxAttempts; attempt++) {
+            if (!this._redialing)
+                return;
+            this._deps.emit('sessionReconnecting', { attempt, maxAttempts, cause });
+            await this._redialSleep(REDIAL_BACKOFF_MS[attempt - 1]);
+            if (!this._redialing)
+                return;
+            try {
+                if (this._deps.isSignalingDown()) {
+                    // The network drop also killed the signaling SSE feed —
+                    // re-establish it before dialing.
+                    await this._deps.reconnectSignaling();
+                }
+                if (!this._redialing)
+                    return;
+                await withTimeout(this._deps.dial(robotId), REDIAL_DIAL_TIMEOUT_MS, 'auto-reconnect dial timed out');
+                if (!this._redialing)
+                    return;
+                this._redialing = false;
+                log.info(`auto-reconnect: recovered on attempt ${attempt}`);
+                this._deps.emit('sessionReconnected', { attempt });
+                return;
+            }
+            catch (e) {
+                log.warn(`auto-reconnect attempt ${attempt}/${maxAttempts} failed:`, e);
+                // A failed attempt can leave a half-open pc (e.g. the dial
+                // timed out mid-ICE). Clean it so the next attempt starts
+                // from a blank slate; also frees the robot-side slot via
+                // endSession when one was allocated.
+                if (this._redialing)
+                    this._deps.teardownForRedial();
+            }
+        }
+        if (!this._redialing)
+            return;
+        this._redialing = false;
+        const message = `Auto-reconnect gave up after ${maxAttempts} attempts (${cause})`;
+        log.warn(message);
+        this._deps.emit('sessionStopped', { reason: 'reconnect_failed', message });
+        this._emitError(new Error(message));
+    }
+    /**
+     * Cancellable backoff sleep — `cancelRedial` wakes it immediately.
+     * A timer firing after a cancel is harmless: the loop re-checks
+     * `_redialing` right after every sleep.
+     */
+    _redialSleep(ms) {
+        if (ms <= 0)
+            return Promise.resolve();
+        return new Promise((resolve) => {
+            this._redialWake = resolve;
+            setTimeout(() => {
+                if (this._redialWake === resolve)
+                    this._redialWake = null;
+                resolve();
+            }, ms);
+        });
+    }
+    /**
+     * 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() {
+        if (!this._redialing && !this._redialWake)
+            return;
+        this._redialing = false;
+        if (this._redialWake) {
+            const wake = this._redialWake;
+            this._redialWake = null;
+            wake();
+        }
+    }
+    /* ─── Data-channel silence watchdog ─────────────────────────────── */
+    /** (Re)start the watchdog. Called when a session reaches ready. */
+    startDcWatchdog() {
+        this.stopDcWatchdog();
+        const now = Date.now();
+        this._lastDcInboundAt = now;
+        this._dcWatchdogLastTickAt = now;
+        this._dcSilenceNudged = false;
+        this._dcWatchdogId = setInterval(() => this._dcWatchdogTick(), DC_WATCHDOG_TICK_MS);
+    }
+    stopDcWatchdog() {
+        if (this._dcWatchdogId !== null) {
+            clearInterval(this._dcWatchdogId);
+            this._dcWatchdogId = null;
+        }
+    }
+    /**
+     * Liveness stamp: every inbound data-channel message — control
+     * replies, broadcasts, pose frames — proves the transport is alive.
+     */
+    stampDcInbound() {
+        this._lastDcInboundAt = Date.now();
+        this._dcSilenceNudged = false;
+    }
+    _dcWatchdogTick() {
+        const now = Date.now();
+        const tickGap = now - this._dcWatchdogLastTickAt;
+        this._dcWatchdogLastTickAt = now;
+        if (!this._deps.isStreaming())
+            return;
+        // A tick that arrives way late means the timer was throttled or
+        // suspended (hidden tab, iOS app switch). Whatever silence we
+        // measure against that stale baseline is meaningless — and the
+        // background-transport question is already owned by the
+        // visibility-deferred ICE grace. Re-baseline and judge again
+        // from the next healthy tick.
+        if (tickGap > DC_WATCHDOG_TICK_MS * 3) {
+            this._lastDcInboundAt = now;
+            this._dcSilenceNudged = false;
+            return;
+        }
+        if (typeof document !== 'undefined' && document.hidden) {
+            this._lastDcInboundAt = now;
+            this._dcSilenceNudged = false;
+            return;
+        }
+        const silence = now - this._lastDcInboundAt;
+        if (silence < DC_SILENCE_NUDGE_MS)
+            return;
+        if (!this._dcSilenceNudged) {
+            // One extra get_state so a legitimately quiet channel (pose
+            // stream just died, poll on hold) gets a chance to answer
+            // before we call the transport dead. Any inbound message
+            // clears the flag via `stampDcInbound`.
+            this._dcSilenceNudged = true;
+            this._deps.nudgeState();
+            return;
+        }
+        if (silence < DC_SILENCE_FATAL_MS)
+            return;
+        // Dead transport, and no redial to hand it to: emit once and
+        // stand down. The next startDcWatchdog() re-arms.
+        this._dcSilenceNudged = false;
+        const cause = `No data-channel traffic for ${silence}ms`;
+        if (this.maybeBeginRedial(cause))
+            return;
+        this.stopDcWatchdog();
+        this._emitError(new Error(cause));
+    }
+}
+/** Reject `p` with `label` if it hasn't settled within `ms`. */
+function withTimeout(p, ms, label) {
+    return Promise.race([
+        p,
+        new Promise((_, rj) => setTimeout(() => rj(new Error(label)), ms)),
+    ]);
+}
+//# sourceMappingURL=session-supervisor.js.map

package/dist/lib/session-supervisor.js.map

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

@@ -0,0 +1,50 @@
+/**
+ * Session-scoped persistence of the HF OAuth token.
+ *
+ * The token lives in `sessionStorage` (tab-scoped, dies with the tab),
+ * under keys shared with the host shell and the embed bootstrap. On top
+ * of the OAuth expiry, reads enforce a SLIDING IDLE WINDOW: a token
+ * whose last successful read is older than `TOKEN_MAX_IDLE_MS` is
+ * treated as absent and wiped. That property replaced the host's old
+ * "wipe on pagehide" hygiene, which fired on every reload / navigation
+ * (pagehide can't tell a refresh from a tab close) and forced a
+ * re-login on every F5. The idle window keeps the one attack the wipe
+ * actually covered - a tab resurrected days later via session restore
+ * gets its sessionStorage back - without punishing reloads.
+ *
+ * `consumeOAuthErrorParams` supports the silent sign-in flow
+ * (`login({ prompt: 'none' })`): a failed silent authorization comes
+ * back as `?error=login_required...` query params, which must be
+ * stripped from the URL before the app router or a copy-pasted link
+ * leaks them around.
+ */
+/** Idle cutoff: a cached token unused for longer than this is dropped. */
+export declare const TOKEN_MAX_IDLE_MS: number;
+export interface StoredToken {
+    token: string;
+    username: string;
+    /** ISO date string of the OAuth expiry. */
+    expires: string;
+}
+/** Persist a token bundle and stamp its last-seen time. */
+export declare function writeStoredToken(bundle: StoredToken): void;
+/**
+ * Read the cached token if it is still usable, refreshing its
+ * last-seen stamp (sliding window). Returns `null` - and wipes the
+ * store - when the token is expired or idle for too long.
+ *
+ * A missing last-seen stamp (bundle written by an older SDK, or seeded
+ * by the embed's fragment-credentials path) is treated as fresh and
+ * stamped now, so a rollout never logs anyone out.
+ */
+export declare function readUsableToken(now?: number): StoredToken | null;
+/** Remove every token key from the store. */
+export declare function clearStoredToken(): void;
+/**
+ * Detect an OAuth error return (`?error=...` from a `prompt=none`
+ * silent authorization), strip the OAuth params from the URL, and
+ * return the error code. Returns `null` when the URL carries no OAuth
+ * error. Other query params are preserved.
+ */
+export declare function consumeOAuthErrorParams(): string | null;
+//# sourceMappingURL=token-store.d.ts.map

package/dist/lib/token-store.d.ts.map

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