@rainbow-robotics/plugin-ui 0.1.2-dev.6 → 0.1.2-dev.8

package/dist-browser/@rainbow-robotics/plugin-ui/elements.js

@@ -1 +1 @@
-import{b as a,c as b,d as c,e as d,f as e,g as f,h as g,i as h,j as i}from"./chunks/chunk-3DOWEHFU.js";import"./chunks/chunk-HJVATDC6.js";export{h as RB_ELEMENT_NAMES,b as RbButtonElement,c as RbIconButtonElement,g as RbSelectElement,a as RbSliderElement,f as RbSwitchElement,d as RbTextElement,e as RbTextInputElement,i as defineElements};
+import{b as a,c as b,d as c,e as d,f as e,g as f,h as g,i as h,j as i}from"./chunks/chunk-4MGSRUAS.js";import"./chunks/chunk-37HVFFJB.js";export{h as RB_ELEMENT_NAMES,b as RbButtonElement,c as RbIconButtonElement,g as RbSelectElement,a as RbSliderElement,f as RbSwitchElement,d as RbTextElement,e as RbTextInputElement,i as defineElements};

package/dist-browser/@rainbow-robotics/plugin-ui/react.js

@@ -1 +1 @@
-import{b as A}from"./chunks/chunk-Q6XGCIPE.js";import{b as d,c as x,d as h,e as S,f as C,g as y,h as g}from"./chunks/chunk-3DOWEHFU.js";import"./chunks/chunk-HJVATDC6.js";import{forwardRef as L,useRef as T,isValidElement as k,cloneElement as M,createElement as I,useLayoutEffect as O}from"react";function o(n,w=customElements.get(n),{slotProps:m=!0,eventProps:B={}}={}){let N=!!m,c=(typeof m=="object"?m.wrapper:void 0)??!0,E=typeof c=="string"?c:c?"remote-fragment":!1,u=L(function(l,i){let a=T(),v=T(),r={},R=V(l.children);for(let e in l){let t=l[e];if(e==="slot"){r.slot=t;continue}if(N&&w.remoteSlotDefinitions.has(e)&&k(t)){E?R.push(I(E,{slot:e},t)):R.push(M(t,{slot:e}));continue}r[e]=t}return O(()=>{let e=a.current;if(e!=null){for(let t in r){if(t==="children")continue;let b=v.current?.[t],s=r[t];if(b===s)continue;let P=B[t];if(P){let f=P.event;b&&e.removeEventListener(f,b),s&&e.addEventListener(f,s);continue}if(t in e){e[t]=r[t];continue}s==null?e.removeAttribute(t):e.setAttribute(t,String(s))}v.current=r}}),I(n,{ref:e=>{a.current=e,typeof i=="function"?i(e):i!=null&&(i.current=e)}},...R)});return u.displayName=`RemoteComponent(${n})`,u}function V(n){return n==null?[]:Array.isArray(n)?[...n]:[n]}var p=n=>({eventProps:n}),G=o("rb-slider",d,p({onChange:{event:"change"}})),H=o("rb-button",x,p({onPress:{event:"press"}})),J=o("rb-icon-button",h,p({onPress:{event:"press"}})),K=o("rb-text",S),Q=o("rb-text-input",C,p({onInput:{event:"input"}})),U=o("rb-switch",y,p({onChange:{event:"change"}})),X=o("rb-select",g,p({onChange:{event:"change"}}));export{H as Button,J as IconButton,X as Select,G as Slider,U as Switch,K as Text,Q as TextInput,A as useRb};
+import{b as A}from"./chunks/chunk-Q6XGCIPE.js";import{b as d,c as x,d as h,e as S,f as C,g as y,h as g}from"./chunks/chunk-4MGSRUAS.js";import"./chunks/chunk-37HVFFJB.js";import{forwardRef as L,useRef as T,isValidElement as k,cloneElement as M,createElement as I,useLayoutEffect as O}from"react";function o(n,w=customElements.get(n),{slotProps:m=!0,eventProps:B={}}={}){let N=!!m,c=(typeof m=="object"?m.wrapper:void 0)??!0,E=typeof c=="string"?c:c?"remote-fragment":!1,u=L(function(l,i){let a=T(),v=T(),r={},R=V(l.children);for(let e in l){let t=l[e];if(e==="slot"){r.slot=t;continue}if(N&&w.remoteSlotDefinitions.has(e)&&k(t)){E?R.push(I(E,{slot:e},t)):R.push(M(t,{slot:e}));continue}r[e]=t}return O(()=>{let e=a.current;if(e!=null){for(let t in r){if(t==="children")continue;let b=v.current?.[t],s=r[t];if(b===s)continue;let P=B[t];if(P){let f=P.event;b&&e.removeEventListener(f,b),s&&e.addEventListener(f,s);continue}if(t in e){e[t]=r[t];continue}s==null?e.removeAttribute(t):e.setAttribute(t,String(s))}v.current=r}}),I(n,{ref:e=>{a.current=e,typeof i=="function"?i(e):i!=null&&(i.current=e)}},...R)});return u.displayName=`RemoteComponent(${n})`,u}function V(n){return n==null?[]:Array.isArray(n)?[...n]:[n]}var p=n=>({eventProps:n}),G=o("rb-slider",d,p({onChange:{event:"change"}})),H=o("rb-button",x,p({onPress:{event:"press"}})),J=o("rb-icon-button",h,p({onPress:{event:"press"}})),K=o("rb-text",S),Q=o("rb-text-input",C,p({onInput:{event:"input"}})),U=o("rb-switch",y,p({onChange:{event:"change"}})),X=o("rb-select",g,p({onChange:{event:"change"}}));export{H as Button,J as IconButton,X as Select,G as Slider,U as Switch,K as Text,Q as TextInput,A as useRb};

package/dist-browser/@rainbow-robotics/plugin-ui/sdk.js

@@ -1 +1 @@
-import{a,b}from"./chunks/chunk-Q6XGCIPE.js";import"./chunks/chunk-HJVATDC6.js";export{a as RbContext,b as useRb};
+import{a,b}from"./chunks/chunk-Q6XGCIPE.js";import"./chunks/chunk-37HVFFJB.js";export{a as RbContext,b as useRb};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/plugin-ui",
-  "version": "0.1.2-dev.6",
+  "version": "0.1.2-dev.8",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -48,6 +48,7 @@
   },
   "devDependencies": {
     "@repo/eslint-config": "*",
+    "@repo/rb-components": "*",
     "@repo/typescript-config": "*",
     "@types/node": "^22.13.9",
     "@types/react": "^19.0.10",
@@ -56,19 +57,13 @@
     "typescript": "^5.8.0"
   },
   "dependencies": {
-    "@eclipse-zenoh/zenoh-ts": "^1.9.0",
     "@quilted/threads": "^4.0.3",
     "@remote-dom/core": "^1.11.1",
-    "@remote-dom/react": "^1.2.2"
+    "@remote-dom/react": "^1.2.2",
+    "socket.io-client": "^4.8.0"
   },
   "peerDependencies": {
-    "@repo/rb-components": "*",
     "react": ">=18",
     "react-dom": ">=18"
-  },
-  "peerDependenciesMeta": {
-    "@repo/rb-components": {
-      "optional": true
-    }
   }
 }

package/src/connect.ts

@@ -2,10 +2,8 @@
  * Sandbox bootstrap — runs *inside* the plugin iframe.
  *
  * The sandbox initiates the handshake: imports the host's `connect()` and calls
- * it. The host responds with the RemoteConnection, toast(), and Zenoh config
- * (url + pluginId). We open a Zenoh session and wire up the rb object.
- *
- * Verified against @remote-dom/core@1.11.x + @quilted/threads@4.x.
+ * it. The host responds with the RemoteConnection, toast(), and Socket.IO config
+ * (socketUrl + pluginId). We open a Socket.IO connection and wire up the rb object.
  */
 import { RemoteMutationObserver } from "@remote-dom/core/elements";
 import type { RemoteConnection } from "@remote-dom/core";
@@ -14,13 +12,13 @@ import { createElement, type ComponentType } from "react";
 import { createRoot } from "react-dom/client";
 import { defineElements } from "./elements";
 import { RbContext, type RbSdk } from "./sdk";
-import { RbZenoh } from "./zenoh";
+import { RbWs } from "./ws";
 
 interface HostExports {
   connect: () => Promise<{
     connection: RemoteConnection;
     toast: (message: string, type?: string) => void;
-    zenohUrl: string;
+    socketUrl: string;
     pluginId: string;
   }>;
 }
@@ -40,15 +38,15 @@ export function connect(App: ComponentType): void {
     targetOrigin: "*",
   });
 
-  void host.connect().then(async ({ connection, toast, zenohUrl, pluginId }) => {
-    const zenoh = await RbZenoh.open(zenohUrl, pluginId);
+  void host.connect().then(async ({ connection, toast, socketUrl, pluginId }) => {
+    const ws = await RbWs.connect(socketUrl, pluginId);
 
     const rb: RbSdk = {
-      pub:    (topic, payload)  => zenoh.pub(topic, payload),
-      sub:    (topic, handler)  => zenoh.sub(topic, handler),
-      action: (topic, payload)  => zenoh.action(topic, payload),
-      serve:  (topic, handler)  => zenoh.serve(topic, handler),
-      toast: (message, type)   => toast(message, type),
+      pub:    (topic, payload) => ws.pub(topic, payload),
+      sub:    (topic, handler) => ws.sub(topic, handler),
+      action: (topic, payload) => ws.action(topic, payload),
+      serve:  (topic, handler) => ws.serve(topic, handler),
+      toast:  (message, type)  => toast(message, type),
     };
 
     const root = document.createElement("remote-root");

package/src/host.tsx

@@ -39,7 +39,7 @@ import {
   RBIcons,
 } from "@repo/rb-components/new_components";
 import type { RbSelectOption } from "./elements";
-import type { RbSdk } from "./sdk";
+import type { RbNotifyType } from "./sdk";
 
 type IconComponent = ComponentType<{ title?: string }>;
 
@@ -266,36 +266,49 @@ export const RB_COMPONENT_MAP: RemoteComponentRendererMap = new Map([
 /* Host SDK contract + mount component                                         */
 /* -------------------------------------------------------------------------- */
 
-export type RbSdkImpl = RbSdk;
-
-/** Shape the host exposes to the sandbox over the thread (see ./connect). */
+/**
+ * Shape the host exposes to the sandbox over the thread (see ./connect).
+ * The sandbox opens its own Socket.IO connection from `socketUrl` + `pluginId`
+ * and implements pub/sub/action/serve directly; the host only forwards the
+ * remote-dom connection, the Socket.IO config, and toast().
+ */
 interface HostThreadExports {
   connect: () => {
     connection: {
       mutate: (records: unknown) => void;
       call: (id: string, method: string, ...args: unknown[]) => unknown;
     };
-    action: (id: string, payload?: unknown) => Promise<unknown>;
-    notify: (message: string, type?: string) => void;
+    toast: (message: string, type?: RbNotifyType) => void;
+    socketUrl: string;
+    pluginId: string;
   };
 }
 
 export interface PluginContentProps {
   /** URL of the plugin sandbox document (e.g. /plugin/:id/sandbox.html). */
   sandboxUrl: string;
-  /** Host SDK implementation handed to the plugin. */
-  rb: RbSdkImpl;
+  /** Zenoh router URL the sandbox connects to. */
+  socketUrl: string;
+  /** Plugin id — used for Zenoh topic namespacing inside the sandbox. */
+  pluginId: string;
+  /** Host toast notification handed to the plugin. */
+  toast: (message: string, type?: RbNotifyType) => void;
 }
 
 /**
  * Renders a sandboxed plugin: spins up a hidden iframe running the plugin's
  * remote tree, and mirrors that tree with real rb-components in the host.
  */
-export function PluginContent({ sandboxUrl, rb }: PluginContentProps) {
+export function PluginContent({
+  sandboxUrl,
+  socketUrl,
+  pluginId,
+  toast,
+}: PluginContentProps) {
   const receiver = useMemo(() => new RemoteReceiver(), []);
   const iframeRef = useRef<HTMLIFrameElement>(null);
-  const rbRef = useRef(rb);
-  rbRef.current = rb;
+  const toastRef = useRef(toast);
+  toastRef.current = toast;
 
   useEffect(() => {
     const iframe = iframeRef.current;
@@ -316,17 +329,17 @@ export function PluginContent({ sandboxUrl, rb }: PluginContentProps) {
               call: (id: string, method: string, ...args: unknown[]) =>
                 receiver.connection.call(id, method, ...args),
             },
-            action: (id: string, payload?: unknown) =>
-              rbRef.current.action(id, payload),
-            notify: (message: string, type?: string) =>
-              rbRef.current.notify(message, type as never),
+            toast: (message: string, type?: RbNotifyType) =>
+              toastRef.current(message, type),
+            socketUrl,
+            pluginId,
           };
         },
       },
     });
 
     return () => controller.abort();
-  }, [receiver]);
+  }, [receiver, socketUrl, pluginId]);
 
   return (
     <>

package/src/sdk.ts

@@ -8,7 +8,7 @@
  * notify() is still host-mediated (goes through the Muscat shell).
  */
 import { createContext, useContext } from "react";
-import type { Subscriber, Queryable } from "./zenoh";
+import type { WsSubscriber as Subscriber, WsQueryable as Queryable } from "./ws";
 
 export type RbNotifyType = "info" | "success" | "warning" | "error";
 

package/src/ws.ts

@@ -0,0 +1,120 @@
+/**
+ * Socket.IO communication client for plugin frontends.
+ *
+ * Topics are automatically namespaced to prevent cross-plugin collisions:
+ *   "sensor/data"  →  "plugin/{pluginId}/sensor/data"
+ *   "/broadcast/x" →  "broadcast/x"   (leading slash = absolute)
+ *
+ * Browser ←→ Python backend protocol:
+ *   browser emits : sub, unsub, pub, action (with ack), serve_reply
+ *   server emits  : msg, serve_call
+ */
+import { io, type Socket } from "socket.io-client";
+
+export interface WsHandle {
+  undeclare(): void;
+}
+
+export type WsSubscriber = WsHandle;
+export type WsQueryable = WsHandle;
+
+function resolveTopic(pluginId: string, topic: string): string {
+  return topic.startsWith("/") ? topic.slice(1) : `plugin/${pluginId}/${topic}`;
+}
+
+export class RbWs {
+  private readonly _socket: Socket;
+  private readonly _pluginId: string;
+  private readonly _subHandlers = new Map<string, Set<(payload: unknown) => void>>();
+  private readonly _serveHandlers = new Map<string, (payload?: unknown) => unknown | Promise<unknown>>();
+
+  private constructor(socket: Socket, pluginId: string) {
+    this._socket = socket;
+    this._pluginId = pluginId;
+
+    // Deliver incoming pub/sub messages to registered handlers
+    socket.on("msg", ({ topic, payload }: { topic: string; payload: unknown }) => {
+      this._subHandlers.get(topic)?.forEach((h) => h(payload));
+    });
+
+    // Python calls a browser-side serve handler
+    socket.on("serve_call", async ({ id, topic, payload }: { id: string; topic: string; payload: unknown }) => {
+      const handler = this._serveHandlers.get(topic);
+      const result = handler ? await handler(payload) : undefined;
+      socket.emit("serve_reply", { id, payload: result });
+    });
+  }
+
+  static connect(url: string, pluginId: string): Promise<RbWs> {
+    return new Promise((resolve, reject) => {
+      const socket = io(url, { transports: ["websocket"] });
+      const onConnect = () => { cleanup(); resolve(new RbWs(socket, pluginId)); };
+      const onError   = (err: Error) => { cleanup(); reject(err); };
+      const cleanup   = () => { socket.off("connect", onConnect); socket.off("connect_error", onError); };
+      socket.once("connect", onConnect);
+      socket.once("connect_error", onError);
+    });
+  }
+
+  private _key(topic: string): string {
+    return resolveTopic(this._pluginId, topic);
+  }
+
+  // eslint-disable-next-line @typescript-eslint/no-explicit-any
+  async pub<P = any>(topic: string, payload: P): Promise<void> {
+    this._socket.emit("pub", { topic: this._key(topic), payload });
+  }
+
+  // eslint-disable-next-line @typescript-eslint/no-explicit-any
+  async sub<P = any>(topic: string, handler: (payload: P) => void): Promise<WsSubscriber> {
+    const key = this._key(topic);
+    if (!this._subHandlers.has(key)) {
+      this._subHandlers.set(key, new Set());
+      this._socket.emit("sub", { topic: key });
+    }
+    const h = handler as (payload: unknown) => void;
+    this._subHandlers.get(key)!.add(h);
+    return {
+      undeclare: () => {
+        const set = this._subHandlers.get(key);
+        if (!set) return;
+        set.delete(h);
+        if (set.size === 0) {
+          this._subHandlers.delete(key);
+          this._socket.emit("unsub", { topic: key });
+        }
+      },
+    };
+  }
+
+  // eslint-disable-next-line @typescript-eslint/no-explicit-any
+  async action<R = any, P = any>(topic: string, payload?: P): Promise<R> {
+    return new Promise((resolve) => {
+      this._socket
+        .timeout(10_000)
+        .emit("action", { topic: this._key(topic), payload }, (_err: Error | null, result: R) => {
+          resolve(_err ? (undefined as R) : result);
+        });
+    });
+  }
+
+  // eslint-disable-next-line @typescript-eslint/no-explicit-any
+  async serve<P = any, R = any>(
+    topic: string,
+    handler: (payload?: P) => R | Promise<R>,
+  ): Promise<WsQueryable> {
+    const key = this._key(topic);
+    this._serveHandlers.set(key, handler as (payload?: unknown) => unknown);
+    this._socket.emit("serve_register", { topic: key });
+    return {
+      undeclare: () => {
+        this._serveHandlers.delete(key);
+        this._socket.emit("serve_unregister", { topic: key });
+      },
+    };
+  }
+
+  close(): void {
+    this._socket.disconnect();
+  }
+}

package/dist/zenoh.d.ts

@@ -1,29 +0,0 @@
-import type { Subscriber, Queryable } from "@eclipse-zenoh/zenoh-ts";
-export type { Subscriber, Queryable };
-export interface ZenohHandle {
-    undeclare(): Promise<void>;
-}
-export declare class RbZenoh {
-    private readonly _session;
-    private readonly _pluginId;
-    private readonly _pubs;
-    private constructor();
-    static open(url: string, pluginId: string): Promise<RbZenoh>;
-    private _key;
-    /** Publish JSON payload to a topic. Publisher is cached per topic. */
-    pub<P = any>(topic: string, payload: P): Promise<void>;
-    /** Subscribe to a topic. Returns a handle with undeclare(). */
-    sub<P = any>(topic: string, handler: (payload: P) => void): Promise<Subscriber>;
-    /**
-     * Send a request and await the first reply (Zenoh query).
-     * Equivalent to a remote procedure call.
-     */
-    action<R = any, P = any>(topic: string, payload?: P): Promise<R>;
-    /**
-     * Register a queryable handler (Zenoh queryable).
-     * The backend calls action(), this side responds.
-     */
-    serve<P = any, R = any>(topic: string, handler: (payload?: P) => R | Promise<R>): Promise<Queryable>;
-    close(): Promise<void>;
-}
-//# sourceMappingURL=zenoh.d.ts.map

package/dist/zenoh.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"zenoh.d.ts","sourceRoot":"","sources":["../src/zenoh.ts"],"names":[],"mappings":"AAOA,OAAO,KAAK,EAAa,UAAU,EAAE,SAAS,EAAE,MAAM,yBAAyB,CAAC;AAEhF,YAAY,EAAE,UAAU,EAAE,SAAS,EAAE,CAAC;AAEtC,MAAM,WAAW,WAAW;IAC1B,SAAS,IAAI,OAAO,CAAC,IAAI,CAAC,CAAC;CAC5B;AAmBD,qBAAa,OAAO;IAClB,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAU;IACnC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAS;IACnC,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAgC;IAEtD,OAAO;WAKM,IAAI,CAAC,GAAG,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,OAAO,CAAC;IAKlE,OAAO,CAAC,IAAI;IAIZ,sEAAsE;IAEhE,GAAG,CAAC,CAAC,GAAG,GAAG,EAAE,KAAK,EAAE,MAAM,EAAE,OAAO,EAAE,CAAC,GAAG,OAAO,CAAC,IAAI,CAAC;IAU5D,+DAA+D;IAEzD,GAAG,CAAC,CAAC,GAAG,GAAG,EACf,KAAK,EAAE,MAAM,EACb,OAAO,EAAE,CAAC,OAAO,EAAE,CAAC,KAAK,IAAI,GAC5B,OAAO,CAAC,UAAU,CAAC;IAQtB;;;OAGG;IAEG,MAAM,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,GAAG,GAAG,EAAE,KAAK,EAAE,MAAM,EAAE,OAAO,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC;IActE;;;OAGG;IAEG,KAAK,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,GAAG,GAAG,EAC1B,KAAK,EAAE,MAAM,EACb,OAAO,EAAE,CAAC,OAAO,CAAC,EAAE,CAAC,KAAK,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,GACvC,OAAO,CAAC,SAAS,CAAC;IAaf,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;CAK7B"}

package/dist-browser/@rainbow-robotics/plugin-ui/chunks/chunk-HJVATDC6.js

@@ -1 +0,0 @@
-var i=Object.create;var f=Object.defineProperty;var j=Object.getOwnPropertyDescriptor;var k=Object.getOwnPropertyNames;var l=Object.getPrototypeOf,m=Object.prototype.hasOwnProperty;var h=b=>{throw TypeError(b)};var n=(b,a,c)=>a in b?f(b,a,{enumerable:!0,configurable:!0,writable:!0,value:c}):b[a]=c;var p=(b,a)=>()=>(a||b((a={exports:{}}).exports,a),a.exports),q=(b,a)=>{for(var c in a)f(b,c,{get:a[c],enumerable:!0})},o=(b,a,c,d)=>{if(a&&typeof a=="object"||typeof a=="function")for(let e of k(a))!m.call(b,e)&&e!==c&&f(b,e,{get:()=>a[e],enumerable:!(d=j(a,e))||d.enumerable});return b};var r=(b,a,c)=>(c=b!=null?i(l(b)):{},o(a||!b||!b.__esModule?f(c,"default",{value:b,enumerable:!0}):c,b));var s=(b,a,c)=>n(b,typeof a!="symbol"?a+"":a,c),g=(b,a,c)=>a.has(b)||h("Cannot "+c);var t=(b,a,c)=>(g(b,a,"read from private field"),c?c.call(b):a.get(b)),u=(b,a,c)=>a.has(b)?h("Cannot add the same private member more than once"):a instanceof WeakSet?a.add(b):a.set(b,c),v=(b,a,c,d)=>(g(b,a,"write to private field"),d?d.call(b,c):a.set(b,c),c),w=(b,a,c)=>(g(b,a,"access private method"),c);export{p as a,q as b,r as c,s as d,t as e,u as f,v as g,w as h};

package/src/zenoh.ts

@@ -1,122 +0,0 @@
-/**
- * Zenoh communication client for plugin frontends.
- * All topics are automatically namespaced to prevent cross-plugin collisions:
- *   "sensor/data"  →  "plugin/{pluginId}/sensor/data"
- *   "/broadcast/x" →  "broadcast/x"   (leading slash = absolute)
- */
-import { Session, Config } from "@eclipse-zenoh/zenoh-ts";
-import type { Publisher, Subscriber, Queryable } from "@eclipse-zenoh/zenoh-ts";
-
-export type { Subscriber, Queryable };
-
-export interface ZenohHandle {
-  undeclare(): Promise<void>;
-}
-
-function resolveTopic(pluginId: string, topic: string): string {
-  return topic.startsWith("/") ? topic.slice(1) : `plugin/${pluginId}/${topic}`;
-}
-
-function encode(payload: unknown): string {
-  return JSON.stringify(payload);
-}
-
-function decode(raw: string | Uint8Array): unknown {
-  const str = typeof raw === "string" ? raw : new TextDecoder().decode(raw);
-  try {
-    return JSON.parse(str);
-  } catch {
-    return str;
-  }
-}
-
-export class RbZenoh {
-  private readonly _session: Session;
-  private readonly _pluginId: string;
-  private readonly _pubs = new Map<string, Publisher>();
-
-  private constructor(session: Session, pluginId: string) {
-    this._session = session;
-    this._pluginId = pluginId;
-  }
-
-  static async open(url: string, pluginId: string): Promise<RbZenoh> {
-    const session = await Session.open(new Config(url));
-    return new RbZenoh(session, pluginId);
-  }
-
-  private _key(topic: string): string {
-    return resolveTopic(this._pluginId, topic);
-  }
-
-  /** Publish JSON payload to a topic. Publisher is cached per topic. */
-  // eslint-disable-next-line @typescript-eslint/no-explicit-any
-  async pub<P = any>(topic: string, payload: P): Promise<void> {
-    const key = this._key(topic);
-    let publisher = this._pubs.get(key);
-    if (!publisher) {
-      publisher = await this._session.declarePublisher(key);
-      this._pubs.set(key, publisher);
-    }
-    await publisher.put(encode(payload));
-  }
-
-  /** Subscribe to a topic. Returns a handle with undeclare(). */
-  // eslint-disable-next-line @typescript-eslint/no-explicit-any
-  async sub<P = any>(
-    topic: string,
-    handler: (payload: P) => void,
-  ): Promise<Subscriber> {
-    return this._session.declareSubscriber(this._key(topic), {
-      handler: (sample) => {
-        handler(decode(sample.payload().toBytes()) as P);
-      },
-    });
-  }
-
-  /**
-   * Send a request and await the first reply (Zenoh query).
-   * Equivalent to a remote procedure call.
-   */
-  // eslint-disable-next-line @typescript-eslint/no-explicit-any
-  async action<R = any, P = any>(topic: string, payload?: P): Promise<R> {
-    const opts =
-      payload !== undefined ? { payload: encode(payload) } : undefined;
-    const receiver = await this._session.get(this._key(topic), opts);
-    if (!receiver) return undefined;
-    for await (const reply of receiver) {
-      const result = reply.result();
-      if (result && "payload" in result) {
-        return decode(result.payload().toBytes()) as R;
-      }
-    }
-    return undefined;
-  }
-
-  /**
-   * Register a queryable handler (Zenoh queryable).
-   * The backend calls action(), this side responds.
-   */
-  // eslint-disable-next-line @typescript-eslint/no-explicit-any
-  async serve<P = any, R = any>(
-    topic: string,
-    handler: (payload?: P) => R | Promise<R>,
-  ): Promise<Queryable> {
-    const key = this._key(topic);
-    return this._session.declareQueryable(key, {
-      handler: async (query) => {
-        const reqPayload = query.payload()
-          ? (decode(query.payload()!.toBytes()) as P)
-          : undefined;
-        const result = await handler(reqPayload);
-        await query.reply(key, encode(result));
-      },
-    });
-  }
-
-  async close(): Promise<void> {
-    for (const pub of this._pubs.values()) await pub.undeclare();
-    this._pubs.clear();
-    await this._session.close();
-  }
-}