@pollen-robotics/reachy-mini-sdk 1.13.0-dev.0.main.57898f1 → 1.13.0-dev.0.main.6037158

package/dist/lib/central-timeouts.test.d.ts

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

package/dist/lib/central-timeouts.test.d.ts.map

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

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

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+/**
+ * Every call to central is bounded.
+ *
+ * A path that stalls without failing (lossy Wi-Fi, a half-dead connection)
+ * used to hang whatever awaited it: a re-dial waiting on connect(), a
+ * session start waiting for an offer that would never come, a stop waiting
+ * on its endSession. The properties that must hold:
+ *   - a /send that never answers resolves null after CENTRAL_REQUEST_TIMEOUT_MS;
+ *   - connect() rejects when /events never answers, or answers but never
+ *     sends `welcome`, and leaves the instance disconnected;
+ *   - a stream that is welcomed in time is not aborted afterwards;
+ *   - a startSession that central did not take fails the dial at once.
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { ReachyMini } from './reachy-mini.js';
+const encoder = new TextEncoder();
+/** A fetch that never settles on its own, only when aborted. */
+function hangingFetch() {
+    vi.stubGlobal('fetch', vi.fn((_url, init) => new Promise((_resolve, reject) => {
+        init?.signal?.addEventListener('abort', () => reject(new DOMException('aborted', 'AbortError')));
+    })));
+}
+/** A /events stream that answers 200, then sends `firstLine` if given. */
+function eventsStream(firstLine) {
+    vi.stubGlobal('fetch', vi.fn(async (_url, init) => {
+        const body = new ReadableStream({
+            start(c) {
+                if (firstLine)
+                    c.enqueue(encoder.encode(firstLine));
+                init?.signal?.addEventListener('abort', () => c.error(new DOMException('aborted', 'AbortError')));
+            },
+        });
+        return new Response(body, { status: 200 });
+    }));
+}
+beforeEach(() => vi.useFakeTimers());
+afterEach(() => {
+    vi.useRealTimers();
+    vi.unstubAllGlobals();
+});
+describe('central calls are bounded', () => {
+    it('a /send that never answers resolves null', async () => {
+        hangingFetch();
+        const r = new ReachyMini();
+        const s = r;
+        s._token = 'hf_test';
+        let result = 'pending';
+        void s._sendToServer({ type: 'endSession' }).then((v) => { result = v; });
+        await vi.advanceTimersByTimeAsync(9_000);
+        expect(result).toBe('pending');
+        await vi.advanceTimersByTimeAsync(2_000);
+        expect(result).toBeNull();
+    });
+    it('connect() rejects when /events never answers', async () => {
+        hangingFetch();
+        const r = new ReachyMini();
+        const outcome = r.connect('hf_test').then(() => 'resolved', (e) => e.message);
+        await vi.advanceTimersByTimeAsync(16_000);
+        expect(await outcome).toMatch(/no answer from central/);
+        expect(r.state).toBe('disconnected');
+        expect(r._sseAbortController).toBeNull();
+    });
+    it('connect() rejects when central answers but never welcomes', async () => {
+        eventsStream();
+        const r = new ReachyMini();
+        r._sendToServer = vi.fn().mockResolvedValue(null);
+        const outcome = r.connect('hf_test').then(() => 'resolved', (e) => e.message);
+        await vi.advanceTimersByTimeAsync(16_000);
+        expect(await outcome).toMatch(/no welcome from central/);
+        expect(r.state).toBe('disconnected');
+    });
+    it('keeps a stream welcomed in time', async () => {
+        eventsStream('data: {"type":"welcome","peerId":"me"}\n\n');
+        const r = new ReachyMini();
+        r._sendToServer = vi.fn().mockResolvedValue(null);
+        const disconnected = vi.fn();
+        r.addEventListener('disconnected', disconnected);
+        await r.connect('hf_test');
+        await vi.advanceTimersByTimeAsync(20_000);
+        expect(r.state).toBe('connected');
+        expect(disconnected).not.toHaveBeenCalled();
+        r.disconnect();
+    });
+});
+describe('a startSession central did not take', () => {
+    it('fails the dial at once instead of waiting for an offer', async () => {
+        vi.stubGlobal('RTCPeerConnection', class {
+            iceConnectionState = 'new';
+            close() { }
+        });
+        const r = new ReachyMini();
+        const s = r;
+        s._token = 'hf_test';
+        s._state = 'connected';
+        s._sendToServer = vi.fn().mockResolvedValue(null);
+        const outcome = r.startSession('robot-1').then(() => 'resolved', (e) => e.message);
+        await vi.advanceTimersByTimeAsync(0);
+        expect(await outcome).toMatch(/Could not reach central/);
+    });
+});
+//# sourceMappingURL=central-timeouts.test.js.map

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

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package/dist/lib/dial-races.test.d.ts

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+export {};
+//# sourceMappingURL=dial-races.test.d.ts.map

package/dist/lib/dial-races.test.d.ts.map

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

package/dist/lib/dial-races.test.js

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+/**
+ * Races between dials, signaling opens and late replies.
+ *
+ * Found in review of the session-id and time-limit changes:
+ *   - a startSession reply that lands after its dial was abandoned must not
+ *     become the next dial's id (it would hide that dial's own rejection or
+ *     its robot's end); it is retired and the robot told to end it;
+ *   - two signaling opens at once share one stream instead of running two;
+ *   - a stall timer that fires late because the page was frozen gives the
+ *     buffered bytes a moment before aborting;
+ *   - robot `peer` messages for a retired session are dropped;
+ *   - the robot list fetch is bounded;
+ *   - with a stale id kept after central's advisory end, an endSession for
+ *     another id is still ignored.
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { ReachyMini } from './reachy-mini.js';
+const encoder = new TextEncoder();
+const WELCOME = 'data: {"type":"welcome","peerId":"me"}\n\n';
+function streamResponse(init, first) {
+    const body = new ReadableStream({
+        start(c) {
+            if (first)
+                c.enqueue(encoder.encode(first));
+            init?.signal?.addEventListener('abort', () => c.error(new DOMException('aborted', 'AbortError')));
+        },
+    });
+    return new Response(body, { status: 200 });
+}
+beforeEach(() => vi.useFakeTimers());
+afterEach(() => {
+    vi.useRealTimers();
+    vi.unstubAllGlobals();
+});
+describe('late startSession replies', () => {
+    function redialing() {
+        vi.stubGlobal('RTCPeerConnection', class {
+            iceConnectionState = 'new';
+            close() { }
+        });
+        const r = new ReachyMini();
+        const s = r;
+        s._token = 'hf';
+        s._state = 'streaming';
+        s._selectedRobotId = 'robot-1';
+        s._sessionId = 'sess-0';
+        s._pc = { close: vi.fn(), iceConnectionState: 'connected' };
+        const replies = [];
+        const send = vi.fn((m) => m.type === 'startSession'
+            ? new Promise((res) => replies.push(res))
+            : Promise.resolve(null));
+        s._sendToServer = send;
+        const sent = () => send.mock.calls.map((c) => c[0]);
+        return { r, s, replies, sent };
+    }
+    it("an abandoned dial's late reply does not hide the next dial's rejection", async () => {
+        const { r, s, replies, sent } = redialing();
+        s._supervisor.maybeBeginRedial('test');
+        await vi.advanceTimersByTimeAsync(0);
+        // Attempt 1 is rejected over SSE before its HTTP reply.
+        s._handleEndSession({ type: 'endSession', sessionId: 'X1', reason: 'robot_busy_local' });
+        await vi.advanceTimersByTimeAsync(2_100);
+        const starts = () => sent().filter((m) => m.type === 'startSession').length;
+        expect(starts()).toBe(2);
+        replies[0]({ type: 'sessionStarted', sessionId: 'X1' });
+        await vi.advanceTimersByTimeAsync(0);
+        expect(s._sessionId).toBeNull();
+        expect(s._retiredSessionIds.has('X1')).toBe(true);
+        // The robot is told to end the session it may have started for it.
+        expect(sent()).toContainEqual({ type: 'endSession', sessionId: 'X1', reason: 'client_stop' });
+        // Attempt 2's own rejection still applies: the loop moves on.
+        s._handleEndSession({ type: 'endSession', sessionId: 'Y2', reason: 'robot_busy_local' });
+        await vi.advanceTimersByTimeAsync(4_100);
+        expect(starts()).toBe(3);
+        r.disconnect();
+    });
+    it('a timed-out start central took anyway is ended on the robot', async () => {
+        const { r, s, replies, sent } = redialing();
+        s._state = 'connected';
+        s._pc = null;
+        const outcome = r.startSession('robot-1').then(() => 'resolved', () => 'rejected');
+        await vi.advanceTimersByTimeAsync(0);
+        // Central delivered the id over SSE, but the HTTP reply was lost.
+        s._sessionId = 'ghost-1';
+        replies[0](null);
+        await vi.advanceTimersByTimeAsync(0);
+        expect(await outcome).toBe('rejected');
+        expect(sent()).toContainEqual({ type: 'endSession', sessionId: 'ghost-1', reason: 'client_stop' });
+        r.disconnect();
+    });
+    it('a central refusal fails the dial at once', async () => {
+        const { r, s, replies } = redialing();
+        s._state = 'connected';
+        s._pc = null;
+        const outcome = r.startSession('robot-1').then(() => 'resolved', (e) => e.message);
+        await vi.advanceTimersByTimeAsync(0);
+        replies[0]({ type: 'error', message: 'Producer not found' });
+        await vi.advanceTimersByTimeAsync(0);
+        expect(await outcome).toMatch(/Central refused the session: Producer not found/);
+        r.disconnect();
+    });
+});
+describe('signaling opens', () => {
+    it('a second connect() joins the open in flight: one stream, both resolve', async () => {
+        let release;
+        const fetchMock = vi.fn((_u, init) => new Promise((res) => {
+            release = () => res(streamResponse(init, WELCOME));
+        }));
+        vi.stubGlobal('fetch', fetchMock);
+        const r = new ReachyMini();
+        r._sendToServer = vi.fn().mockResolvedValue(null);
+        const a = r.connect('hf');
+        const b = r.connect('hf');
+        release();
+        await Promise.all([a, b]);
+        expect(fetchMock).toHaveBeenCalledTimes(1);
+        expect(r.state).toBe('connected');
+        r.disconnect();
+    });
+    it('connect() right after disconnect() opens a fresh stream', async () => {
+        const fetchMock = vi.fn(async (_u, init) => streamResponse(init, WELCOME));
+        vi.stubGlobal('fetch', fetchMock);
+        const r = new ReachyMini();
+        r._sendToServer = vi.fn().mockResolvedValue(null);
+        const first = r.connect('hf').catch(() => 'aborted');
+        r.disconnect(); // aborts the open in flight
+        await r.connect('hf');
+        await first;
+        expect(fetchMock).toHaveBeenCalledTimes(2);
+        expect(r.state).toBe('connected');
+        r.disconnect();
+    });
+    it('a stall timer fired late by a frozen page re-judges after a grace', async () => {
+        let push;
+        vi.stubGlobal('fetch', vi.fn(async (_u, init) => {
+            const body = new ReadableStream({
+                start(c) {
+                    push = (line) => c.enqueue(encoder.encode(line));
+                    c.enqueue(encoder.encode(WELCOME));
+                    init?.signal?.addEventListener('abort', () => c.error(new DOMException('aborted', 'AbortError')));
+                },
+            });
+            return new Response(body, { status: 200 });
+        }));
+        const r = new ReachyMini();
+        r._sendToServer = vi.fn().mockResolvedValue(null);
+        const disconnected = vi.fn();
+        r.addEventListener('disconnected', disconnected);
+        await r.connect('hf');
+        // The page freezes for 3 minutes: wall clock jumps, the timer fires late.
+        vi.setSystemTime(Date.now() + 180_000);
+        await vi.advanceTimersByTimeAsync(75_000);
+        expect(disconnected).not.toHaveBeenCalled();
+        // The bytes central buffered meanwhile are read within the grace.
+        push(': ping\n\n');
+        await vi.advanceTimersByTimeAsync(6_000);
+        expect(disconnected).not.toHaveBeenCalled();
+        expect(r.state).toBe('connected');
+        r.disconnect();
+    });
+});
+describe('retired sessions', () => {
+    it("drops a robot offer for a retired session", async () => {
+        // Real enough for the handler to reach setRemoteDescription.
+        vi.stubGlobal('RTCSessionDescription', class {
+            constructor(init) { Object.assign(this, init); }
+        });
+        const r = new ReachyMini();
+        const s = r;
+        const setRemoteDescription = vi.fn();
+        s._pc = { setRemoteDescription, close: vi.fn() };
+        s._retiredSessionIds.add('old');
+        await s._handlePeerMessage({ type: 'peer', sessionId: 'old', sdp: { type: 'answer', sdp: 'v=0' } });
+        expect(setRemoteDescription).not.toHaveBeenCalled();
+        // Control: the same message for a live session does reach the pc.
+        await s._handlePeerMessage({ type: 'peer', sessionId: 'live', sdp: { type: 'answer', sdp: 'v=0' } });
+        expect(setRemoteDescription).toHaveBeenCalledOnce();
+    });
+    it('with a stale id kept, an endSession for another id is ignored', () => {
+        const r = new ReachyMini();
+        const s = r;
+        s._token = 'hf';
+        s._state = 'streaming';
+        s._sessionId = 'central-1';
+        s._dcOpen = true;
+        s._dc = { readyState: 'open', close: vi.fn() };
+        s._pc = { iceConnectionState: 'connected', close: vi.fn() };
+        s._sendToServer = vi.fn().mockResolvedValue(null);
+        s._supervisor.stampDcInbound();
+        // Central's advisory end: the id becomes stale, the session lives on.
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1' });
+        expect(s._sessionId).toBeNull();
+        const stopped = vi.fn();
+        r.addEventListener('sessionStopped', stopped);
+        s._handleEndSession({ type: 'endSession', sessionId: 'someone-else', reason: 'robot_stopping' });
+        expect(stopped).not.toHaveBeenCalled();
+        expect(s._state).toBe('streaming');
+    });
+});
+describe('robot list fetch', () => {
+    it('falls back to the SSE list when /api/robot-status never answers', async () => {
+        vi.stubGlobal('fetch', vi.fn((_u, init) => new Promise((_res, rej) => init?.signal?.addEventListener('abort', () => rej(new DOMException('aborted', 'AbortError'))))));
+        const r = new ReachyMini();
+        const s = r;
+        s._token = 'hf';
+        s._robots = [{ id: 'robot-1', meta: { name: 'Reachy' } }];
+        let result = 'pending';
+        void s._fetchOwnedRobots().then((v) => { result = v; });
+        await vi.advanceTimersByTimeAsync(11_000);
+        expect(result).toEqual([
+            expect.objectContaining({ id: 'robot-1', name: 'Reachy' }),
+        ]);
+    });
+});
+//# sourceMappingURL=dial-races.test.js.map

package/dist/lib/dial-races.test.js.map

@@ -0,0 +1 @@
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package/dist/lib/end-session-id.test.d.ts

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

package/dist/lib/end-session-id.test.d.ts.map

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

package/dist/lib/end-session-id.test.js

@@ -0,0 +1,113 @@
+/**
+ * An endSession only ends the session it names.
+ *
+ * Central routes endSession by session id to the consumer peer, and a
+ * re-dial reuses that peer: a late endSession for the old session (the
+ * robot superseding its ghost after our client_redial got lost) must not
+ * end the new one. The properties that must hold:
+ *   - an endSession for a session we already closed is ignored;
+ *   - an endSession for another id than the current one is ignored;
+ *   - with no id known yet (startSession in flight) it still applies, so
+ *     rejections keep working;
+ *   - after central dropped our session while the link lived on, the
+ *     robot can still end it under its old id.
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { ReachyMini } from './reachy-mini.js';
+function streamOn(s, sessionId) {
+    s._state = 'streaming';
+    s._sessionId = sessionId;
+    s._dcOpen = true;
+    s._dc = { readyState: 'open', close: vi.fn() };
+    s._pc = { iceConnectionState: 'connected', close: vi.fn() };
+    s._supervisor.stampDcInbound();
+}
+function liveSession(sessionId = 'central-1') {
+    const r = new ReachyMini();
+    const s = r;
+    s._token = 'hf_test';
+    s._sendToServer = vi.fn().mockResolvedValue(null);
+    streamOn(s, sessionId);
+    return { r, s };
+}
+function stoppedEvents(r) {
+    const seen = [];
+    r.addEventListener('sessionStopped', (e) => seen.push(e.detail));
+    return seen;
+}
+beforeEach(() => {
+    vi.useFakeTimers();
+});
+afterEach(() => {
+    vi.useRealTimers();
+});
+describe('endSession is matched to the current session', () => {
+    it("ignores a late end for a re-dial's old session", () => {
+        const { r, s } = liveSession('central-1');
+        s._teardownForRedial(); // retires central-1
+        streamOn(s, 'central-2');
+        const stopped = stoppedEvents(r);
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1', reason: 'superseded' });
+        expect(stopped).toEqual([]);
+        expect(s._state).toBe('streaming');
+        expect(s._sessionId).toBe('central-2');
+    });
+    it('ignores an end for an id that is not ours', () => {
+        const { r, s } = liveSession('central-1');
+        const stopped = stoppedEvents(r);
+        s._handleEndSession({ type: 'endSession', sessionId: 'someone-else', reason: 'robot_stopping' });
+        expect(stopped).toEqual([]);
+        expect(s._state).toBe('streaming');
+    });
+    it('still ends the current session', () => {
+        const { r, s } = liveSession('central-1');
+        const stopped = stoppedEvents(r);
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1', reason: 'robot_stopping' });
+        expect(stopped).toEqual([{ reason: 'robot_stopping', message: null }]);
+        expect(s._state).toBe('connected');
+    });
+    it('applies while startSession is in flight, so rejections still land', () => {
+        const r = new ReachyMini();
+        const s = r;
+        s._state = 'connected';
+        s._sessionId = null; // the startSession reply has not come back yet
+        const reject = vi.fn();
+        s._sessionReject = reject;
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-9', reason: 'robot_busy_local' });
+        expect(reject).toHaveBeenCalledOnce();
+    });
+    it("a rejected start leaves no id behind to hide the next start's rejection", () => {
+        const r = new ReachyMini();
+        const s = r;
+        s._state = 'connected';
+        // First dial: central gave it id X, then the robot refused it.
+        s._sessionId = 'central-X';
+        const firstReject = vi.fn();
+        s._sessionReject = firstReject;
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-X', reason: 'robot_busy_local' });
+        expect(firstReject).toHaveBeenCalledOnce();
+        expect(s._sessionId).toBeNull();
+        // Second dial: its rejection (id Y) lands before the startSession
+        // reply has set the id. It must still reject this dial.
+        const secondReject = vi.fn();
+        s._sessionReject = secondReject;
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-Y', reason: 'robot_busy_local' });
+        expect(secondReject).toHaveBeenCalledOnce();
+        // And a late repeat for X is ignored.
+        const thirdReject = vi.fn();
+        s._sessionReject = thirdReject;
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-X', reason: 'robot_busy_local' });
+        expect(thirdReject).not.toHaveBeenCalled();
+    });
+    it('lets the robot end a session central already dropped', () => {
+        const { r, s } = liveSession('central-1');
+        const stopped = stoppedEvents(r);
+        // Central's own eviction: advisory, the link is live.
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1' });
+        expect(s._state).toBe('streaming');
+        expect(s._sessionId).toBeNull();
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1', reason: 'robot_stopping' });
+        expect(stopped).toEqual([{ reason: 'robot_stopping', message: null }]);
+    });
+});
+//# sourceMappingURL=end-session-id.test.js.map

package/dist/lib/end-session-id.test.js.map

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

@@ -23,9 +23,16 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _username;
     private _tokenExpires;
     private _sseAbortController;
+    /** The open in flight (fetch → welcome): a second open joins it. */
+    private _signalingOpening;
+    private _signalingOpeningController;
     _pc: RTCPeerConnection | null;
     private _dc;
     private _sessionId;
+    /** Our session after central dropped it while the peer link lived on. */
+    private _staleSessionId;
+    /** Sessions we closed: a late endSession for one must not end the next. */
+    private _retiredSessionIds;
     private _selectedRobotId;
     private _pendingRemoteIce;
     _micStream: MediaStream | null;
@@ -109,6 +116,7 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
      * session keeps streaming without signaling (see `signalingLost`).
      */
     private _openSignaling;
+    private _openSignalingOnce;
     autoConnect(options?: AutoConnectOptions): Promise<AutoConnectResult>;
     private _fetchOwnedRobots;
     private _waitForRobotInList;
@@ -126,6 +134,14 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
      * lands — stays with the callers.
      */
     private _closeTransport;
+    private _retireSession;
+    /**
+     * Whether an endSession is about another session than ours: one we
+     * already closed (a re-dial's old session, ended late by the robot as
+     * superseded), or any id but the current one. With no id known yet
+     * (startSession in flight) it is ours: rejections arrive that way.
+     */
+    private _isOtherSession;
     private _failSessionRejected;
     stopSession(): Promise<void>;
     disconnect(): void;

package/dist/lib/reachy-mini.d.ts.map

@@ -1 +1 @@
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