@pollen-robotics/reachy-mini-sdk 1.11.0 → 1.12.0-dev.0.main.2f2e2ba
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/APP_CREATION_GUIDE.md +90 -41
- package/README.md +1 -1
- package/dist/lib/message-chunks.d.ts +22 -0
- package/dist/lib/message-chunks.d.ts.map +1 -0
- package/dist/lib/message-chunks.js +51 -0
- package/dist/lib/message-chunks.js.map +1 -0
- package/dist/lib/message-chunks.test.d.ts +2 -0
- package/dist/lib/message-chunks.test.d.ts.map +1 -0
- package/dist/lib/message-chunks.test.js +53 -0
- package/dist/lib/message-chunks.test.js.map +1 -0
- package/dist/lib/reachy-mini.d.ts.map +1 -1
- package/dist/lib/reachy-mini.js +9 -1
- package/dist/lib/reachy-mini.js.map +1 -1
- package/dist/lib/version.d.ts +1 -1
- package/dist/lib/version.d.ts.map +1 -1
- package/dist/lib/version.js +1 -1
- package/dist/lib/version.js.map +1 -1
- package/host/README.md +2 -2
- package/host/dist/chunks/{centralRest-vcOOpQK6.js → centralRest-K3a9U_Sk.js} +104 -82
- package/host/dist/chunks/{index-BrKBhTE0.js → index-B79tSfbK.js} +1 -1
- package/host/dist/chunks/{mountHost-CNQYkWZ4.js → mountHost-CMP4uYnZ.js} +1480 -1482
- package/host/dist/entry/auto.js +2 -2
- package/host/dist/entry/embed.js +2 -2
- package/host/dist/index.js +3 -3
- package/host/dist/lib/protocol.js +2 -2
- package/package.json +1 -1
package/APP_CREATION_GUIDE.md
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# App Creation Guide
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> ### Use `@pollen-robotics/reachy-mini-sdk
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> ### Use the latest `@pollen-robotics/reachy-mini-sdk` release
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> Install the latest stable release from
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> [npm](https://www.npmjs.com/package/@pollen-robotics/reachy-mini-sdk):
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>
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> ```bash
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> npm install @pollen-robotics/reachy-mini-sdk@latest
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> ```
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>
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> This pins the exact resolved version in your `package.json` (npm
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> versions are immutable, so this is fully reproducible). The minimum
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> supported version is **`1.8.0`** — anything older predates the host
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> shell contract described here. Every
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> reference app pins the same SDK release. The host shell, the embed
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> adapter, the SDK runtime, and the daemon on the robot are validated
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> end-to-end against that release. Mixing versions across these
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> boundaries causes silent protocol drift - see
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> [§10 SDK version pinning](#10-sdk-version-pinning).
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> Add this to your `package.json`:
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> ```json
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> { "dependencies": { "@pollen-robotics/reachy-mini-sdk": "1.8.0" } }
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> ```
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**This is the single source of truth for building a Reachy Mini JS
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app.** [`../AGENTS.md`](../AGENTS.md) at the repo root points here;
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```
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All three reference apps pin `@pollen-robotics/reachy-mini-sdk` to
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the same
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the same exact version (the latest npm release) in their
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`package.json` - see [§10 SDK version pinning](#10-sdk-version-pinning).
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> **Prefer a no-build path?** You can also ship the app as a single
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> `index.html` with the SDK loaded from a CDN. No `package.json`, no
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interface ConnectedHandle<TConfig> {
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// Live state at boot
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reachy: ReachyMiniInstance; // SDK instance, session live, robot awake
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media: RobotMedia; // WebRTC streams - see "Video: use `handle.media`"
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theme: 'dark' | 'light';
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config: TConfig | null;
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appName: string;
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between host and embed, file a feature request - we'll add it as
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a typed message rather than expose a free-form sink.
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### Video: use `handle.media`
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`connectToHost()` resolves only *after* the WebRTC handshake is
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complete. By the time your app mounts, the SDK's one-shot
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`videoTrack` event and the underlying `pc.ontrack` have **already
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fired**. So `reachy.attachVideo(el)` installs a listener that never
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fires, and an embed never calls `startSession()` again: the element
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stays black forever, with no error anywhere.
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`handle.media` exists for exactly this. It replays the streams from a
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synchronous snapshot of the peer connection's receivers, so a
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late-mounting consumer sees the camera immediately:
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```ts
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interface RobotMedia {
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attachVideo(el: HTMLVideoElement): () => void; // returns a detach fn
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readonly robotStream: MediaStream | null; // robot video + audio
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readonly micStream: MediaStream | null; // local mic, if enabled
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}
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const handle = await connectToHost();
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const detach = handle.media.attachVideo(videoEl);
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handle.onLeave(() => detach());
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```
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There is no equivalent race for the data channel, mute toggles, motor
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commands or state updates: the bridge resolves only once ICE **and**
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the data channel are connected, and state events keep arriving (every
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~500 ms, or ~30 Hz after `subscribePose()`). Keep calling `reachy.setHeadRpyDeg(...)`,
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`reachy.setMicMuted(...)` and `reachy.addEventListener('state', ...)`
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directly.
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`reachy.attachVideo()` remains correct in a **standalone** app
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(`mountHost`), where your code runs before the session starts.
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### Typing your config
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`connectToHost<T>()` types the `config` field; runtime validation
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`@pollen-robotics/reachy-mini-sdk/host`, and the daemon on the robot
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produces hard-to-debug protocol drift.
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Install the latest stable release from
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[npm](https://www.npmjs.com/package/@pollen-robotics/reachy-mini-sdk):
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```
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"dependencies": {
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"@pollen-robotics/reachy-mini-sdk": "1.8.0"
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}
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}
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```bash
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npm install @pollen-robotics/reachy-mini-sdk@latest
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```
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versions are immutable, so pinning the exact version is fully
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reproducible — no commit suffix needed. The stable release is
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validated end-to-end against the host shell + daemon. **Use the exact
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version string npm writes** unless you're explicitly tracking a newer
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release. In all cases the version must be **`>= 1.8.0`** — older
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supported.
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> (`npm view @pollen-robotics/reachy-mini-sdk version` works too), and
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> whichever string is currently shared by [`reachy_mini_minimal_conversation`'s
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> and [`reachy_mini_telepresence`'s `package.json`](https://huggingface.co/spaces/pollen-robotics/reachy_mini_telepresence/blob/main/package.json).
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### Why pin a specific build (not `^x.y.z` or a major like `@1`)?
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`package.json`**, i.e. the latest release shown on
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(see [§10 SDK version pinning](#10-sdk-version-pinning)). Substitute it
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```html
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<script type="module">
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import { ReachyMini } from "https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@<version>/+esm";
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import { mountHost } from "https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@<version>/host/dist/entry/auto.js";
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import { connectToHost } from "https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@<version>/host/dist/entry/embed.js";
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window.dispatchEvent(new Event("reachymini:ready"));
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// AFTER (modern host shell, same SDK runtime API)
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```
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changes. If you reached into private fields like `robot._pc`
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on `mountHost` for bidirectional audio. Once embedded, use
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Your `README.md` frontmatter doesn't need any changes: `sdk: static`
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and `hf_oauth: true` work for both variants. You can still skip
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- App bundles (`index-<hash>.js`): hashed by Vite, cache-busted
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on deploy.
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- `@pollen-robotics/reachy-mini-sdk` in `package.json`: pinned to
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an **exact version** (
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an **exact version** (the latest release on
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[npm](https://www.npmjs.com/package/@pollen-robotics/reachy-mini-sdk)),
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not a range. See
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- `@pollen-robotics/reachy-mini-sdk/host` subpath imports: same
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For Hugging Face Spaces apps that need OAuth + a robot picker + iframe lifecycle management:
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- **[`APP_CREATION_GUIDE.md`](./APP_CREATION_GUIDE.md)** — single source of truth for app authors (scaffold, `sdk: static` deploy, host ↔ embed contract, invariants).
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- **[`APP_CREATION_GUIDE.md`](./APP_CREATION_GUIDE.md)** — single source of truth for app authors (scaffold, `sdk: static` deploy, host ↔ embed contract, invariants). SDK pin: the latest stable release on [npm](https://www.npmjs.com/package/@pollen-robotics/reachy-mini-sdk).
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## Migration from `@pollen-robotics/reachy-mini-host`
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/**
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* Reassembly of daemon messages too large for one data channel frame.
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* `split_for_data_channel` in `reachy_mini/media/webrtc_utils.py`). Each
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*/
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export declare class MessageReassembler {
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private readonly _partials;
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/**
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* Feed one parsed frame. Returns the message to handle: the frame itself
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* when it is not a chunk, the reassembled message when this chunk
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* completes one, or `null` while a message is still arriving.
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*/
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accept(frame: Record<string, unknown>): Record<string, unknown> | null;
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}
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{"version":3,"file":"message-chunks.d.ts","sourceRoot":"","sources":["../../lib/message-chunks.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAKH,qBAAa,kBAAkB;IAC3B,OAAO,CAAC,QAAQ,CAAC,SAAS,CAA+B;IAEzD;;;;OAIG;IACH,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,IAAI;CA+BzE"}
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* `split_for_data_channel` in `reachy_mini/media/webrtc_utils.py`). Each
|
|
7
|
+
* carries a slice of the original text in `data`; joined in order they are
|
|
8
|
+
* the message the daemon meant to send.
|
|
9
|
+
*
|
|
10
|
+
* One instance per control channel: the channel is ordered, and a new
|
|
11
|
+
* channel means a new session, so nothing survives across the two.
|
|
12
|
+
*/
|
|
13
|
+
/** Upper bound on one reassembled message, against a runaway sender. */
|
|
14
|
+
const MAX_CHUNKS = 4096;
|
|
15
|
+
export class MessageReassembler {
|
|
16
|
+
_partials = new Map();
|
|
17
|
+
/**
|
|
18
|
+
* Feed one parsed frame. Returns the message to handle: the frame itself
|
|
19
|
+
* when it is not a chunk, the reassembled message when this chunk
|
|
20
|
+
* completes one, or `null` while a message is still arriving.
|
|
21
|
+
*/
|
|
22
|
+
accept(frame) {
|
|
23
|
+
if (frame.type !== 'message_chunk')
|
|
24
|
+
return frame;
|
|
25
|
+
const { id, index, count, data } = frame;
|
|
26
|
+
if (typeof id !== 'string' ||
|
|
27
|
+
typeof index !== 'number' ||
|
|
28
|
+
typeof count !== 'number' ||
|
|
29
|
+
typeof data !== 'string' ||
|
|
30
|
+
count < 1 ||
|
|
31
|
+
count > MAX_CHUNKS) {
|
|
32
|
+
return null;
|
|
33
|
+
}
|
|
34
|
+
let parts = this._partials.get(id);
|
|
35
|
+
if (index === 0) {
|
|
36
|
+
parts = [];
|
|
37
|
+
this._partials.set(id, parts);
|
|
38
|
+
}
|
|
39
|
+
// The channel is ordered, so a gap means the message is lost.
|
|
40
|
+
if (!parts || index !== parts.length) {
|
|
41
|
+
this._partials.delete(id);
|
|
42
|
+
return null;
|
|
43
|
+
}
|
|
44
|
+
parts.push(data);
|
|
45
|
+
if (parts.length < count)
|
|
46
|
+
return null;
|
|
47
|
+
this._partials.delete(id);
|
|
48
|
+
return JSON.parse(parts.join(''));
|
|
49
|
+
}
|
|
50
|
+
}
|
|
51
|
+
//# sourceMappingURL=message-chunks.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"message-chunks.js","sourceRoot":"","sources":["../../lib/message-chunks.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAEH,wEAAwE;AACxE,MAAM,UAAU,GAAG,IAAI,CAAC;AAExB,MAAM,OAAO,kBAAkB;IACV,SAAS,GAAG,IAAI,GAAG,EAAoB,CAAC;IAEzD;;;;OAIG;IACH,MAAM,CAAC,KAA8B;QACjC,IAAI,KAAK,CAAC,IAAI,KAAK,eAAe;YAAE,OAAO,KAAK,CAAC;QACjD,MAAM,EAAE,EAAE,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,GAAG,KAAK,CAAC;QACzC,IACI,OAAO,EAAE,KAAK,QAAQ;YACtB,OAAO,KAAK,KAAK,QAAQ;YACzB,OAAO,KAAK,KAAK,QAAQ;YACzB,OAAO,IAAI,KAAK,QAAQ;YACxB,KAAK,GAAG,CAAC;YACT,KAAK,GAAG,UAAU,EACpB,CAAC;YACC,OAAO,IAAI,CAAC;QAChB,CAAC;QAED,IAAI,KAAK,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;QACnC,IAAI,KAAK,KAAK,CAAC,EAAE,CAAC;YACd,KAAK,GAAG,EAAE,CAAC;YACX,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,EAAE,KAAK,CAAC,CAAC;QAClC,CAAC;QACD,8DAA8D;QAC9D,IAAI,CAAC,KAAK,IAAI,KAAK,KAAK,KAAK,CAAC,MAAM,EAAE,CAAC;YACnC,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;YAC1B,OAAO,IAAI,CAAC;QAChB,CAAC;QAED,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QACjB,IAAI,KAAK,CAAC,MAAM,GAAG,KAAK;YAAE,OAAO,IAAI,CAAC;QAEtC,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;QAC1B,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC,CAA4B,CAAC;IACjE,CAAC;CACJ"}
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"message-chunks.test.d.ts","sourceRoot":"","sources":["../../lib/message-chunks.test.ts"],"names":[],"mappings":""}
|
|
@@ -0,0 +1,53 @@
|
|
|
1
|
+
/**
|
|
2
|
+
* MessageReassembler tests.
|
|
3
|
+
*
|
|
4
|
+
* The frames are the ones the daemon's `split_for_data_channel` produces:
|
|
5
|
+
* ordered `message_chunk` frames whose `data` slices join back into the
|
|
6
|
+
* original JSON text.
|
|
7
|
+
*/
|
|
8
|
+
import { describe, expect, it } from 'vitest';
|
|
9
|
+
import { MessageReassembler } from './message-chunks.js';
|
|
10
|
+
/** Split like the daemon does, into `size`-character slices. */
|
|
11
|
+
function chunk(message, id, size) {
|
|
12
|
+
const text = JSON.stringify(message);
|
|
13
|
+
const parts = [];
|
|
14
|
+
for (let i = 0; i < text.length; i += size)
|
|
15
|
+
parts.push(text.slice(i, i + size));
|
|
16
|
+
return parts.map((data, index) => ({ type: 'message_chunk', id, index, count: parts.length, data }));
|
|
17
|
+
}
|
|
18
|
+
describe('MessageReassembler', () => {
|
|
19
|
+
it('passes a frame that is not a chunk straight through', () => {
|
|
20
|
+
const frame = { jsonrpc: '2.0', id: 1, result: 'ok' };
|
|
21
|
+
expect(new MessageReassembler().accept(frame)).toBe(frame);
|
|
22
|
+
});
|
|
23
|
+
it('returns the message once its last chunk lands', () => {
|
|
24
|
+
const reply = { jsonrpc: '2.0', id: 'sorry_bro', result: { svg: '<svg/>'.repeat(5000) } };
|
|
25
|
+
const frames = chunk(reply, 'a', 4096);
|
|
26
|
+
const reassembler = new MessageReassembler();
|
|
27
|
+
const results = frames.map((f) => reassembler.accept(f));
|
|
28
|
+
expect(results.slice(0, -1).every((r) => r === null)).toBe(true);
|
|
29
|
+
expect(results.at(-1)).toEqual(reply);
|
|
30
|
+
});
|
|
31
|
+
it('keeps two messages apart when their chunks interleave', () => {
|
|
32
|
+
const first = { jsonrpc: '2.0', id: 1, result: 'a'.repeat(9000) };
|
|
33
|
+
const second = { jsonrpc: '2.0', id: 2, result: 'b'.repeat(9000) };
|
|
34
|
+
const [a, b] = [chunk(first, 'one', 4096), chunk(second, 'two', 4096)];
|
|
35
|
+
const reassembler = new MessageReassembler();
|
|
36
|
+
const done = [0, 1, 2]
|
|
37
|
+
.flatMap((i) => [a[i], b[i]])
|
|
38
|
+
.map((f) => reassembler.accept(f))
|
|
39
|
+
.filter((r) => r !== null);
|
|
40
|
+
expect(done).toEqual([first, second]);
|
|
41
|
+
});
|
|
42
|
+
it('drops a message with a missing chunk instead of corrupting it', () => {
|
|
43
|
+
const frames = chunk({ jsonrpc: '2.0', id: 1, result: 'x'.repeat(9000) }, 'a', 4096);
|
|
44
|
+
const reassembler = new MessageReassembler();
|
|
45
|
+
expect(reassembler.accept(frames[0])).toBeNull();
|
|
46
|
+
expect(reassembler.accept(frames[2])).toBeNull();
|
|
47
|
+
// The next message still reassembles.
|
|
48
|
+
const next = { jsonrpc: '2.0', id: 2, result: 'ok' };
|
|
49
|
+
const again = chunk(next, 'b', 8);
|
|
50
|
+
expect(again.map((f) => reassembler.accept(f)).at(-1)).toEqual(next);
|
|
51
|
+
});
|
|
52
|
+
});
|
|
53
|
+
//# sourceMappingURL=message-chunks.test.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"message-chunks.test.js","sourceRoot":"","sources":["../../lib/message-chunks.test.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,OAAO,EAAE,QAAQ,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,QAAQ,CAAC;AAE9C,OAAO,EAAE,kBAAkB,EAAE,MAAM,qBAAqB,CAAC;AAEzD,gEAAgE;AAChE,SAAS,KAAK,CAAC,OAAgC,EAAE,EAAU,EAAE,IAAY;IACrE,MAAM,IAAI,GAAG,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC;IACrC,MAAM,KAAK,GAAa,EAAE,CAAC;IAC3B,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,MAAM,EAAE,CAAC,IAAI,IAAI;QAAE,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;IAChF,OAAO,KAAK,CAAC,GAAG,CAAC,CAAC,IAAI,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,EAAE,IAAI,EAAE,eAAe,EAAE,EAAE,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AACzG,CAAC;AAED,QAAQ,CAAC,oBAAoB,EAAE,GAAG,EAAE;IAChC,EAAE,CAAC,qDAAqD,EAAE,GAAG,EAAE;QAC3D,MAAM,KAAK,GAAG,EAAE,OAAO,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC;QACtD,MAAM,CAAC,IAAI,kBAAkB,EAAE,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IAC/D,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,+CAA+C,EAAE,GAAG,EAAE;QACrD,MAAM,KAAK,GAAG,EAAE,OAAO,EAAE,KAAK,EAAE,EAAE,EAAE,WAAW,EAAE,MAAM,EAAE,EAAE,GAAG,EAAE,QAAQ,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC;QAC1F,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;QACvC,MAAM,WAAW,GAAG,IAAI,kBAAkB,EAAE,CAAC;QAE7C,MAAM,OAAO,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,WAAW,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;QAEzD,MAAM,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QACjE,MAAM,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;IAC1C,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,uDAAuD,EAAE,GAAG,EAAE;QAC7D,MAAM,KAAK,GAAG,EAAE,OAAO,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,EAAE,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC;QAClE,MAAM,MAAM,GAAG,EAAE,OAAO,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,EAAE,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC;QACnE,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,EAAE,IAAI,CAAC,EAAE,KAAK,CAAC,MAAM,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC,CAAC;QACvE,MAAM,WAAW,GAAG,IAAI,kBAAkB,EAAE,CAAC;QAE7C,MAAM,IAAI,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;aACjB,OAAO,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAE,EAAE,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC;aAC9B,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,WAAW,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;aACjC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,KAAK,IAAI,CAAC,CAAC;QAE/B,MAAM,CAAC,IAAI,CAAC,CAAC,OAAO,CAAC,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC;IAC1C,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,+DAA+D,EAAE,GAAG,EAAE;QACrE,MAAM,MAAM,GAAG,KAAK,CAAC,EAAE,OAAO,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,EAAE,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;QACrF,MAAM,WAAW,GAAG,IAAI,kBAAkB,EAAE,CAAC;QAE7C,MAAM,CAAC,WAAW,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,CAAE,CAAC,CAAC,CAAC,QAAQ,EAAE,CAAC;QAClD,MAAM,CAAC,WAAW,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,CAAE,CAAC,CAAC,CAAC,QAAQ,EAAE,CAAC;QAClD,sCAAsC;QACtC,MAAM,IAAI,GAAG,EAAE,OAAO,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC;QACrD,MAAM,KAAK,GAAG,KAAK,CAAC,IAAI,EAAE,GAAG,EAAE,CAAC,CAAC,CAAC;QAClC,MAAM,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,WAAW,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;IACzE,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC"}
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"reachy-mini.d.ts","sourceRoot":"","sources":["../../lib/reachy-mini.ts"],"names":[],"mappings":"AAAA;;;;GAIG;
|
|
1
|
+
{"version":3,"file":"reachy-mini.d.ts","sourceRoot":"","sources":["../../lib/reachy-mini.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAoCH,OAAO,KAAK,EACR,uBAAuB,EACvB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EAEjB,UAAU,EACV,OAAO,EACP,YAAY,EACZ,kBAAkB,EAClB,QAAQ,EACR,eAAe,EACf,cAAc,EACd,wBAAwB,EAExB,kBAAkB,EAClB,iBAAiB,EACjB,cAAc,EACd,SAAS,EACT,UAAU,EAEV,wBAAwB,EACxB,oBAAoB,EACpB,mBAAmB,EACnB,kBAAkB,EACrB,MAAM,YAAY,CAAC;AASpB,YAAY,EAAE,mBAAmB,EAAE,CAAC;AAyDpC,qBAAa,UAAW,SAAQ,WAAY,YAAW,kBAAkB;IAGrE,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgB;IAC1C,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAS;IAClC,OAAO,CAAC,QAAQ,CAAC,0BAA0B,CAAS;IACpD,OAAO,CAAC,iBAAiB,CAAU;IACnC,OAAO,CAAC,mBAAmB,CAAU;IAGrC,OAAO,CAAC,MAAM,CAA8D;IAC5E,OAAO,CAAC,OAAO,CAAmB;IAClC,OAAO,CAAC,WAAW,CAAkB;IAIrC,OAAO,CAAC,YAAY,CAAuB;IAG3C,OAAO,CAAC,gBAAgB,CAAK;IAM7B,OAAO,CAAC,YAAY,CAAK;IACzB,OAAO,CAAC,QAAQ,CAAC,mBAAmB,CAAgB;IAGpD,OAAO,CAAC,MAAM,CAAuB;IACrC,OAAO,CAAC,SAAS,CAAuB;IACxC,OAAO,CAAC,aAAa,CAA8B;IAGnD,OAAO,CAAC,mBAAmB,CAAgC;IAG3D,GAAG,EAAE,iBAAiB,GAAG,IAAI,CAAQ;IACrC,OAAO,CAAC,GAAG,CAA+B;IAC1C,OAAO,CAAC,UAAU,CAAuB;IACzC,OAAO,CAAC,gBAAgB,CAAuB;IAC/C,OAAO,CAAC,iBAAiB,CAA8C;IAGvE,UAAU,EAAE,WAAW,GAAG,IAAI,CAAQ;IACtC,OAAO,CAAC,SAAS,CAAQ;IACzB,OAAO,CAAC,WAAW,CAAQ;IAC3B,OAAO,CAAC,aAAa,CAAS;IAG9B,OAAO,CAAC,iBAAiB,CAA+C;IACxE,OAAO,CAAC,qBAAqB,CAA+C;IAK5E,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAwB;IAGjD,OAAO,CAAC,QAAQ,CAAC,eAAe,CAAiC;IACjE,OAAO,CAAC,QAAQ,CAAC,0BAA0B,CAA0C;IAKrF,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAqE;IAGnG,OAAO,CAAC,mBAAmB,CAAuB;IAClD,OAAO,CAAC,oBAAoB,CAAuB;IAGnD,OAAO,CAAC,eAAe,CAA6B;IACpD,OAAO,CAAC,cAAc,CAAuC;IAC7D,OAAO,CAAC,aAAa,CAAS;IAC9B,OAAO,CAAC,OAAO,CAAS;IAOxB,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAoB;IAGhD,OAAO,CAAC,aAAa,CAAiC;gBAE1C,OAAO,GAAE,iBAAsB;IAyC3C,IAAI,KAAK,IAAI,cAAc,GAAG,WAAW,GAAG,WAAW,CAAwB;IAC/E,IAAI,MAAM,IAAI,SAAS,EAAE,CAAyB;IAClD,IAAI,UAAU,IAAI,UAAU,CAA6B;IACzD,IAAI,QAAQ,IAAI,MAAM,GAAG,IAAI,CAA2B;IACxD,IAAI,eAAe,IAAI,OAAO,CAA0B;IACxD,IAAI,YAAY,IAAI,OAAO,CAA+B;IAC1D,IAAI,QAAQ,IAAI,OAAO,CAA2B;IAClD,IAAI,UAAU,IAAI,OAAO,CAA6B;IACtD,IAAI,kBAAkB,IAAI,MAAM,GAAG,IAAI,CAAqC;IAC5E,IAAI,UAAU,IAAI,OAAO,CAA8C;IACvE;;;;;OAKG;IACH,IAAI,cAAc,IAAI,iBAAiB,GAAG,IAAI,CAAqB;IAEnE;;;;;;OAMG;IACH,IAAI,UAAU,IAAI,MAAM,CAAwB;IAEhD;0CACsC;IACtC,MAAM,KAAK,OAAO,IAAI,MAAM,CAAwB;IAEpD;;;;;OAKG;IACH,eAAe,IAAI,IAAI;IAmBjB,YAAY,IAAI,OAAO,CAAC,OAAO,CAAC;IA6ChC,KAAK,CAAC,OAAO,CAAC,EAAE,YAAY,GAAG,OAAO,CAAC,IAAI,CAAC;IAiBlD,MAAM,IAAI,IAAI;IASR,OAAO,CAAC,KAAK,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IA0EtC,WAAW,CAAC,OAAO,GAAE,kBAAuB,GAAG,OAAO,CAAC,iBAAiB,CAAC;YA8EjE,iBAAiB;IA+C/B,OAAO,CAAC,mBAAmB;IAkBrB,YAAY,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;YASpC,qBAAqB;IAmKnC;;;;;;;;;;OAUG;IACH,OAAO,CAAC,eAAe;IA4BvB,OAAO,CAAC,oBAAoB;IAoBtB,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAoBlC,UAAU,IAAI,IAAI;IAqBlB;;;;;;;;;;;;OAYG;IACH,gBAAgB,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAIxC;;;;;;;;;;OAUG;IACH,OAAO,CAAC,kBAAkB;IAc1B;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OA0CG;IACH,SAAS,CACL,EAAE,IAAI,EAAE,QAAQ,EAAE,QAAQ,EAAE,GAAE;QAAE,IAAI,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,CAAA;KAAO,GAC/F,OAAO;IAiCV,UAAU,CACN,EAAE,IAAI,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,EAClC;QAAE,IAAI,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;QAAC,QAAQ,EAAE,MAAM,CAAA;KAAE,GAClF,OAAO;IAuCV,aAAa,CAAC,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,OAAO;IAIzE,cAAc,CAAC,QAAQ,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,GAAG,OAAO;IAI1D,aAAa,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO;IAItC,SAAS,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO;IAIhC,gBAAgB,CACZ,QAAQ,EAAE,MAAM,EAChB,EACI,OAAO,EACP,mBAAmB,GACtB,GAAE;QAAE,OAAO,CAAC,EAAE,MAAM,CAAC;QAAC,mBAAmB,CAAC,EAAE,MAAM,CAAA;KAAO,GAC3D,OAAO;IAWV;;;;;OAKG;IACH,QAAQ,IAAI,OAAO;IAInB,cAAc,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO;IAIxC;;;;;;;;;OASG;IACH,qBAAqB,CACjB,OAAO,EAAE,MAAM,EACf,EAAE,SAAkB,EAAE,GAAE;QAAE,SAAS,CAAC,EAAE,MAAM,CAAA;KAAO,GACpD,OAAO,CAAC,OAAO,GAAG,IAAI,CAAC;IAmB1B,kBAAkB,IAAI,OAAO;IAI7B,iBAAiB,CAAC,MAAM,SAAM,GAAG,OAAO;IAYxC,gBAAgB,IAAI,OAAO;IAI3B,cAAc,IAAI,OAAO,CAAC,UAAU,GAAG,IAAI,CAAC;IAI5C;;;;;;;;;;;;;OAaG;IACH,iBAAiB,CACb,EAAE,UAAkB,EAAE,UAAU,EAAE,GAAE,wBAA6B,GAClE,OAAO;IAKV,YAAY,CAAC,IAAI,EAAE,SAAS,GAAG,UAAU,GAAG,sBAAsB,GAAG,OAAO;IAI5E,cAAc,CAAC,EAAE,EAAE,OAAO,EAAE,GAAG,GAAE,MAAM,EAAE,GAAG,IAAW,GAAG,OAAO;IAIjE,MAAM,CAAC,EAAE,SAAgB,EAAE,GAAE,kBAAuB,GAAG,OAAO,CAAC,IAAI,CAAC;IAKpE,SAAS,CAAC,EAAE,SAAgB,EAAE,GAAE,kBAAuB,GAAG,OAAO,CAAC,IAAI,CAAC;IAIvE,OAAO,CAAC,2BAA2B;IAUnC,OAAO,IAAI,OAAO;IAKZ,WAAW,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,OAAO,CAAC;IAkDrD;;;;OAIG;IACH,UAAU,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAIpC,aAAa,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAIvC;;;;OAIG;IACH,MAAM,IAAI,OAAO,CAAC,OAAO,GAAG,IAAI,CAAC;IAIjC,SAAS,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAInC,SAAS,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAIjD,mBAAmB,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAI7C,mBAAmB,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAI3D;;;;;;OAMG;IACH,cAAc,IAAI,OAAO,CAAC,OAAO,GAAG,IAAI,CAAC;IAOzC;;;OAGG;IACH,cAAc,CAAC,WAAW,EAAE,OAAO,GAAG,OAAO,CAAC,OAAO,G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|
package/dist/lib/reachy-mini.js
CHANGED
|
@@ -6,6 +6,7 @@
|
|
|
6
6
|
import { oauthHandleRedirectIfPresent, oauthLoginUrl, } from '@huggingface/hub';
|
|
7
7
|
import { createLogger } from './logger.js';
|
|
8
8
|
import { degToRad, rpyToMatrix } from './math.js';
|
|
9
|
+
import { MessageReassembler } from './message-chunks.js';
|
|
9
10
|
import { BroadcastTimeoutError, PendingReplies, SLOT_ROUNDTRIP_TIMEOUT_MS } from './pending-replies.js';
|
|
10
11
|
import { SessionSupervisor } from './session-supervisor.js';
|
|
11
12
|
import { SDK_VERSION } from './version.js';
|
|
@@ -626,7 +627,14 @@ export class ReachyMini extends EventTarget {
|
|
|
626
627
|
this._dcOpen = true;
|
|
627
628
|
this._checkSessionReady();
|
|
628
629
|
};
|
|
629
|
-
|
|
630
|
+
// Replies over 64 KiB arrive as ordered chunks; one
|
|
631
|
+
// reassembler per channel, so nothing leaks across sessions.
|
|
632
|
+
const reassembler = new MessageReassembler();
|
|
633
|
+
this._dc.onmessage = (ev) => {
|
|
634
|
+
const msg = reassembler.accept(JSON.parse(ev.data));
|
|
635
|
+
if (msg)
|
|
636
|
+
this._handleRobotMessage(msg);
|
|
637
|
+
};
|
|
630
638
|
};
|
|
631
639
|
this._sendToServer({ type: 'startSession', peerId: robotId }).then((r) => {
|
|
632
640
|
if (r?.type === 'sessionRejected') {
|