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import type {
SmartCubeCommand,
SmartCubeDiagnosticEvent,
SmartCubeEvent,
SmartCubeTransportConnection,
SmartCubeVendorCommand,
} from '@wstein/regrip-core/bindings/smartCubeTransport';
import * as GyroPipeline from '@wstein/regrip-core/domain/GyroPipeline';
import * as AbsoluteRegripDetector from '@wstein/regrip-core/domain/AbsoluteRegripDetector';
import * as MoveBackTrigger from '@wstein/regrip-core/domain/MoveBackTrigger';
import * as MoveTracker from '@wstein/regrip-core/domain/MoveTracker';
import * as SnapshotDeduper from '@wstein/regrip-core/domain/SnapshotDeduper';
import * as ShakeTrigger from '@wstein/regrip-core/domain/ShakeTrigger';
import type { regripToken as RegripToken } from '@wstein/regrip-core/domain/CubeNotation';
import {
disconnectConnection,
requestInitialState,
} from '@wstein/regrip-core/session/connectionLifecycle';
import {
resolveSessionFeatures,
mergeSessionFeatures,
stabilizerConfig,
type SessionFeatures,
type SessionFeaturesPatch,
} from '@wstein/regrip-core/session/features';
import { bundledProfiles } from '@wstein/regrip-core/session/profile/bundled';
import { resolveProfile } from '@wstein/regrip-core/session/profile/resolveProfile';
import { parseSensorToBodyAxisMap } from '@wstein/regrip-core/session/profile/axisMap';
import * as SensorToBody from '@wstein/regrip-core/domain/SensorToBody';
import type { ProfileOverrides, ResolvedProfile } from '@wstein/regrip-core/session/profile/types';
import { structuralEqual } from '../internal/structuralEqual.js';
import { deepMergeRecord } from '../internal/deepMergeRecord.js';
/** A whole-cube rotation inferred from calibrated gyro orientation. */
export type VirtualRegripEvent = {
type: 'REGRIP';
timestamp: number;
/** Clockwise Singmaster x/y/z notation. */
notationToken: RegripToken;
/** The corresponding positive/negative calibrated sensor axis. */
sensorFrameToken: RegripToken;
};
/** A configured move-based gesture recognized by the session. */
export type CustomTriggerEvent = {
type: 'CUSTOM_TRIGGER';
timestamp: number;
/** The initiating quarter-turn, e.g. `R` for `R R'`. */
move: string;
};
/** A shake gesture recognized from the calibrated gyro stream. */
export type ShakeTriggerEvent = {
type: 'SHAKE';
/** Time of the final reversal-bearing gyro sample; emission lags by the guard. */
timestamp: number;
steps: number;
reversals: number;
spanMs: number;
};
/** A protocol move serial skipped one or more turns; await FACELETS recovery. */
export type MoveGapEvent = {
type: 'MOVE_GAP';
timestamp: number;
previousSerial: number;
serial: number;
missing: number;
};
/** Raw gyro data enriched with the session's calibrated orientation. */
export type SessionGyroEvent = Extract<SmartCubeEvent, { type: 'GYRO' }> & {
/** One session-owned, basis-normalized pose for every gyro consumer. */
relative: { x: number; y: number; z: number; w: number };
/** Drift-compensated pose before magnetic detent; equals `relative` when disabled. */
driftCorrected: { x: number; y: number; z: number; w: number };
/** Drift-compensated pose after magnetic detent; equals `relative` when disabled. */
stabilized: { x: number; y: number; z: number; w: number };
velocityMagnitude: number;
dtSeconds: number;
};
/** Union of raw cube events and session-derived events. */
export type SmartCubeSessionEvent =
| Exclude<SmartCubeEvent, { type: 'GYRO' }>
| SessionGyroEvent
| VirtualRegripEvent
| CustomTriggerEvent
| ShakeTriggerEvent
| MoveGapEvent;
type FaceletsEvent = Extract<SmartCubeEvent, { type: 'FACELETS' }>;
type SessionEventType = SmartCubeSessionEvent['type'];
type SessionEventOf<T extends SessionEventType> = Extract<SmartCubeSessionEvent, { type: T }>;
/** Observable state owned by a smart-cube session. */
export type SmartCubeSessionState = {
status: 'disconnected' | 'connecting' | 'connected' | 'error';
connection: SmartCubeTransportConnection | null;
lastEvent: SmartCubeSessionEvent | null;
profile: ResolvedProfile;
/** Fully resolved feature configuration for the selected device profile. */
features: SessionFeatures;
error: string | null;
};
/** Dependencies and optional host overrides for a smart-cube session. */
export type SmartCubeSessionOptions = {
connect: () => Promise<SmartCubeTransportConnection>;
/**
* Schedules the latest contiguous gyro packet at display cadence. Supplying
* this is primarily useful for deterministic hosts and tests.
*/
gyroFrameScheduler?: GyroFrameScheduler;
/**
* @deprecated Use `features.regrip.enabled`. This compatibility option will
* be removed after downstream callers migrate to the profile feature model.
*/
virtualRegrips?: boolean;
/** App-layer feature overrides, applied after the selected device profile. */
features?: SessionFeaturesPatch;
};
/** Host scheduler used to coalesce gyro updates at display cadence. */
export type GyroFrameScheduler = {
schedule: (flush: () => void) => unknown;
cancel: (handle: unknown) => void;
};
/** Public controller returned by {@link createSmartCubeSession}. */
export type SmartCubeSession = ReturnType<typeof createSmartCubeSession>;
/**
* Raw protocol evidence kept outside `SmartCubeSessionEvent`: it must never
* affect cube state, gyro processing, or feature detectors.
*/
export type SmartCubeSessionDiagnostic = SmartCubeDiagnosticEvent;
const browserGyroFrameScheduler: GyroFrameScheduler =
typeof requestAnimationFrame === 'function'
? {
schedule: (flush) => requestAnimationFrame(flush),
cancel: (handle) => cancelAnimationFrame(handle as number),
}
: {
// Keep headless replay synchronous. Browsers use requestAnimationFrame
// and therefore receive the real 60 Hz coalescing behavior.
schedule: (flush) => {
flush();
return undefined;
},
cancel: () => {},
};
/** Create a connection-safe smart-cube session and derived-event pipeline. */
export function createSmartCubeSession(options: SmartCubeSessionOptions) {
let subscription: Subscription | null = null;
let diagnosticSubscription: Subscription | null = null;
let connectionGeneration = 0;
const gyroFrameScheduler = options.gyroFrameScheduler ?? browserGyroFrameScheduler;
let pendingGyro: Extract<SmartCubeEvent, { type: 'GYRO' }> | undefined;
let pendingGyroFrame: unknown;
let hasCalibratedGyro = false;
if (options.virtualRegrips !== undefined) {
console.warn(
'virtualRegrips is deprecated; use features: { regrip: { enabled: ... } } instead.',
);
}
// Preserve the former explicit option while keeping the resulting value in
// the normal app profile layer. An explicit new feature value takes priority.
const featurePatch: SessionFeaturesPatch | undefined =
options.features?.regrip?.enabled === undefined && options.virtualRegrips !== undefined
? {
...options.features,
regrip: { ...options.features?.regrip, enabled: options.virtualRegrips },
}
: options.features;
const profileOverrides: ProfileOverrides = featurePatch
? { app: { features: featurePatch } }
: {};
const resolveSessionProfile = (context: Parameters<typeof resolveProfile>[0]): ResolvedProfile =>
resolveProfile(context, bundledProfiles, profileOverrides);
const initialProfile = resolveSessionProfile({});
let state: SmartCubeSessionState = {
status: 'disconnected',
connection: null,
lastEvent: null,
error: null,
profile: initialProfile,
features: resolveSessionFeatures(initialProfile.value.features),
};
const listeners = new Set<(next: SmartCubeSessionState) => void>();
const eventListeners = new Set<(event: SmartCubeSessionEvent) => void>();
const diagnosticListeners = new Set<(event: SmartCubeSessionDiagnostic) => void>();
const pendingFaceletSyncs = new Set<(error: Error) => void>();
// The session owns calibration once; both regrip detection and display
// stabilization consume the resulting calibrated pose.
let gyroConfig = GyroPipeline.makeConfig(stabilizerConfig(state.features));
let gyroState = GyroPipeline.initial;
// A patch, not a resolved snapshot: it must keep applying on top of
// whatever the currently-selected profile resolves to, not replace that
// profile's own feature configuration wholesale on the next reprofile.
let runtimeFeaturePatch: SessionFeaturesPatch | undefined;
const applyProfileAxisMap = (profile: ResolvedProfile): void => {
gyroConfig = GyroPipeline.withSensorToBody(
gyroConfig,
parseSensorToBodyAxisMap(profile.value.gyro?.axisMap) ?? SensorToBody.default,
);
};
let regripState = AbsoluteRegripDetector.initial;
let moveBackState = MoveBackTrigger.initial;
let shakeState = ShakeTrigger.initial;
let moveTrackerState = MoveTracker.initial;
let snapshotDeduperState = SnapshotDeduper.initial;
function moveBackWindow(features: SessionFeatures): number | undefined {
return features.customTrigger.triggers.find((trigger) => trigger.kind === 'moveBack')?.windowMs;
}
function shakeConfig(features: SessionFeatures): ShakeTrigger.config | undefined {
const spec = features.customTrigger.triggers.find((trigger) => trigger.kind === 'shake');
if (!spec) return undefined;
const { kind: _kind, ...overrides } = spec;
return { ...ShakeTrigger.defaults, ...overrides };
}
function resetFeatureDetectors(): void {
regripState = AbsoluteRegripDetector.initial;
moveBackState = MoveBackTrigger.initial;
shakeState = ShakeTrigger.initial;
}
function resetMoveTracker(): void {
moveTrackerState = MoveTracker.initial;
}
function resetSnapshotDeduper(): void {
snapshotDeduperState = SnapshotDeduper.initial;
}
function requestFaceletsAfterMoveGap(): void {
const connection = state.connection;
Iif (!connection?.capabilities.facelets) return;
snapshotDeduperState = SnapshotDeduper.request(snapshotDeduperState);
void connection.sendCommand({ type: 'REQUEST_FACELETS' }).catch((error: unknown) => {
snapshotDeduperState = SnapshotDeduper.cancel(snapshotDeduperState);
console.warn('Could not request facelets after a move serial gap.', error);
});
}
function observeMoveBack(move: string, timestamp: number): string | undefined {
const [nextState, trigger] = MoveBackTrigger.step(moveBackState, move, timestamp, {
windowMs: moveBackWindow(state.features) ?? 300,
});
moveBackState = nextState;
return trigger;
}
function observeShake(
orientation: { x: number; y: number; z: number; w: number },
timestamp: number,
config: ShakeTrigger.config,
): ShakeTrigger.detection | undefined {
const [nextState, detection] = ShakeTrigger.observe(shakeState, timestamp, orientation, config);
shakeState = nextState;
return detection;
}
function observeShakeMove(timestamp: number, config: ShakeTrigger.config): void {
shakeState = ShakeTrigger.observeMove(shakeState, timestamp, config);
}
function observeRegrip(orientation: { x: number; y: number; z: number; w: number }) {
const [nextState, observation] = AbsoluteRegripDetector.step(
regripState,
orientation,
undefined,
);
regripState = nextState;
return observation;
}
function applyFeatures(features: SessionFeatures): void {
gyroConfig = GyroPipeline.withStabilizerConfig(gyroConfig, stabilizerConfig(features));
gyroState = GyroPipeline.resetStabilizer(gyroState);
resetFeatureDetectors();
setState({ features });
}
const publish = (): void => listeners.forEach((listener) => listener(state));
const setState = (next: Partial<SmartCubeSessionState>): void => {
state = { ...state, ...next };
publish();
};
const sameProfile = (left: ResolvedProfile, right: ResolvedProfile): boolean =>
left.id === right.id && structuralEqual(left.value, right.value);
function reprofile(
context: Parameters<typeof resolveSessionProfile>[0],
force = false,
): ResolvedProfile {
const profile = resolveSessionProfile(context);
if (!force && sameProfile(state.profile, profile)) return state.profile;
const features = mergeSessionFeatures(
resolveSessionFeatures(profile.value.features),
runtimeFeaturePatch,
);
applyProfileAxisMap(profile);
setState({ profile });
applyFeatures(features);
return profile;
}
const processEvent = (event: SmartCubeEvent): void => {
const sessionEvent: SmartCubeSessionEvent = (() => {
if (event.type !== 'GYRO') return event;
const [nextGyroState, sample] = GyroPipeline.step(
gyroState,
event.quaternion,
event.timestamp,
event.velocity,
gyroConfig,
state.features.stabilizer.enabled,
);
gyroState = nextGyroState;
return { ...event, ...sample };
})();
// Gyro packets are already coalesced to display cadence by `scheduleGyro`.
// Do not filter them again: sub-degree drift corrections are intentional
// visual motion, while MagneticDetent handles resting sensor noise.
if (event.type === 'FACELETS') {
moveTrackerState = MoveTracker.observeSnapshot(moveTrackerState, event.serial);
const [nextSnapshotDeduperState, shouldPublish] = SnapshotDeduper.observe(
snapshotDeduperState,
{ serial: event.serial, facelets: event.facelets },
);
snapshotDeduperState = nextSnapshotDeduperState;
if (!shouldPublish) return;
}
const [nextMoveTrackerState, moveGap] =
event.type === 'MOVE'
? MoveTracker.observeMove(moveTrackerState, event.serial)
: [moveTrackerState, undefined];
moveTrackerState = nextMoveTrackerState;
const calibrated = sessionEvent.type === 'GYRO' ? sessionEvent.relative : undefined;
const regripOrientation =
sessionEvent.type === 'GYRO' ? sessionEvent.driftCorrected : undefined;
const regrip =
regripOrientation && state.features.regrip.enabled
? observeRegrip(regripOrientation)
: undefined;
const customTrigger =
event.type === 'MOVE' &&
state.features.customTrigger.enabled &&
moveBackWindow(state.features) !== undefined
? observeMoveBack(event.move, event.timestamp)
: undefined;
const shakeCfg = state.features.customTrigger.enabled ? shakeConfig(state.features) : undefined;
const shake =
shakeCfg && calibrated ? observeShake(calibrated, event.timestamp, shakeCfg) : undefined;
if (shakeCfg && event.type === 'MOVE') observeShakeMove(event.timestamp, shakeCfg);
setState({ lastEvent: sessionEvent });
if (event.type === 'HARDWARE' && state.connection) {
reprofile({
protocol: state.connection.protocol.id,
deviceName: state.connection.deviceName,
deviceMAC: state.connection.deviceMAC,
hardwareName: event.hardwareName,
goCubeType: event.goCubeType?.name,
});
}
if (moveGap) {
eventListeners.forEach((listener) =>
listener({
type: 'MOVE_GAP',
timestamp: event.timestamp,
previousSerial: moveGap.previousSerial,
serial: moveGap.serial,
missing: moveGap.missing,
}),
);
requestFaceletsAfterMoveGap();
}
eventListeners.forEach((listener) => listener(sessionEvent));
if (regrip) {
eventListeners.forEach((listener) =>
listener({
type: 'REGRIP',
timestamp: event.timestamp,
notationToken: regrip.notationToken,
sensorFrameToken: regrip.sensorFrameToken,
}),
);
}
if (customTrigger) {
eventListeners.forEach((listener) =>
listener({
type: 'CUSTOM_TRIGGER',
timestamp: event.timestamp,
move: customTrigger,
}),
);
}
if (shake) {
eventListeners.forEach((listener) =>
listener({
type: 'SHAKE',
timestamp: shake.at,
steps: shake.steps,
reversals: shake.reversals,
spanMs: shake.spanMs,
}),
);
}
if (event.type === 'DISCONNECT') void disconnect();
};
const flushPendingGyro = (): void => {
const event = pendingGyro;
pendingGyro = undefined;
if (pendingGyroFrame !== undefined) {
gyroFrameScheduler.cancel(pendingGyroFrame);
pendingGyroFrame = undefined;
}
if (event) processEvent(event);
};
const scheduleGyro = (event: Extract<SmartCubeEvent, { type: 'GYRO' }>): void => {
// The calibration sample establishes an exact identity-relative pose for
// both the regrip ratchet and render pipeline. Do not drop it in a burst.
if (!hasCalibratedGyro) {
hasCalibratedGyro = true;
processEvent(event);
return;
}
pendingGyro = event;
if (pendingGyroFrame !== undefined) return;
const handle = gyroFrameScheduler.schedule(flushPendingGyro);
// The headless scheduler may flush synchronously. Only retain a handle
// when a gyro packet is still pending after schedule() returns.
if (pendingGyro !== undefined && pendingGyroFrame === undefined) pendingGyroFrame = handle;
};
const onEvent = (event: SmartCubeEvent): void => {
if (event.type === 'GYRO') {
scheduleGyro(event);
return;
}
// Do not let a following MOVE/FACELETS/DISCONNECT overtake the final gyro
// sample in the preceding BLE packet burst.
flushPendingGyro();
processEvent(event);
};
const resetGyro = (): void => {
pendingGyro = undefined;
Iif (pendingGyroFrame !== undefined) gyroFrameScheduler.cancel(pendingGyroFrame);
pendingGyroFrame = undefined;
hasCalibratedGyro = false;
gyroState = GyroPipeline.reset(gyroState);
regripState = AbsoluteRegripDetector.initial;
moveBackState = MoveBackTrigger.initial;
shakeState = ShakeTrigger.initial;
resetMoveTracker();
resetSnapshotDeduper();
};
async function connect(): Promise<void> {
Iif (state.status === 'connecting' || state.connection) return;
const generation = ++connectionGeneration;
setState({ status: 'connecting', error: null });
resetGyro();
let connection: SmartCubeTransportConnection | null = null;
try {
connection = await options.connect();
if (generation !== connectionGeneration) {
await disconnectConnection(connection);
return;
}
const profile = reprofile(
{
protocol: connection.protocol.id,
deviceName: connection.deviceName,
deviceMAC: connection.deviceMAC,
},
true,
);
setState({
connection,
profile,
});
subscription = connection.events$.subscribe(onEvent);
diagnosticSubscription =
connection.diagnostics$?.subscribe((diagnostic) => {
// Diagnostics have a deliberately separate channel. Keeping this
// guard here also prevents late emissions from a replaced transport
// from reaching a newly connected session.
Iif (generation !== connectionGeneration || state.connection !== connection) return;
diagnosticListeners.forEach((listener) => listener(diagnostic));
}) ?? null;
await requestInitialState(connection);
// A device can send DISCONNECT while initial commands are in flight.
// Never let that earlier attempt restore a dead connection afterwards.
if (generation !== connectionGeneration || state.connection !== connection) return;
setState({ status: 'connected', connection });
} catch (error) {
if (generation !== connectionGeneration) return;
subscription?.unsubscribe();
subscription = null;
diagnosticSubscription?.unsubscribe();
diagnosticSubscription = null;
await disconnectConnection(connection);
setState({
status: 'error',
connection: null,
error: error instanceof Error ? error.message : String(error),
});
}
}
async function disconnect(): Promise<void> {
connectionGeneration += 1;
pendingFaceletSyncs.forEach((reject) =>
reject(new Error('Cube disconnected before state sync')),
);
pendingFaceletSyncs.clear();
subscription?.unsubscribe();
subscription = null;
diagnosticSubscription?.unsubscribe();
diagnosticSubscription = null;
const connection = state.connection;
resetGyro();
setState({ status: 'disconnected', connection: null });
await disconnectConnection(connection);
}
async function sendCommand(command: SmartCubeCommand): Promise<void> {
const connection = state.connection;
if (!connection) throw new Error('Cube is not connected');
await connection.sendCommand(command);
}
/** Request an authoritative snapshot and resolve only when it arrives. */
function syncFacelets(): Promise<FaceletsEvent> {
const connection = state.connection;
Iif (!connection) return Promise.reject(new Error('Cube is not connected'));
Iif (!connection.capabilities.facelets)
return Promise.reject(new Error('Cube does not support facelet snapshots'));
snapshotDeduperState = SnapshotDeduper.request(snapshotDeduperState);
return new Promise<FaceletsEvent>((resolve, reject) => {
let unsubscribe = (): void => {};
const finish = (result: FaceletsEvent | Error): void => {
unsubscribe();
pendingFaceletSyncs.delete(rejectSync);
Iif (result instanceof Error) reject(result);
else resolve(result);
};
const rejectSync = (error: Error): void => finish(error);
pendingFaceletSyncs.add(rejectSync);
const listener = (event: SmartCubeSessionEvent): void => {
if (event.type === 'FACELETS') finish(event);
else Eif (event.type === 'DISCONNECT')
finish(new Error('Cube disconnected before state sync'));
};
eventListeners.add(listener);
unsubscribe = () => eventListeners.delete(listener);
void connection.sendCommand({ type: 'REQUEST_FACELETS' }).catch((error: unknown) => {
snapshotDeduperState = SnapshotDeduper.cancel(snapshotDeduperState);
finish(error instanceof Error ? error : new Error(String(error)));
});
});
}
async function sendVendorCommand(command: SmartCubeVendorCommand): Promise<void> {
const connection = state.connection;
Iif (!connection) throw new Error('Cube is not connected');
if (
!connection.sendVendorCommand ||
!connection.capabilities.vendorCommands?.includes(command.type)
) {
throw new Error(`Unsupported cube command: ${command.type}`);
}
await connection.sendVendorCommand(command);
}
return {
getState: (): SmartCubeSessionState => state,
subscribe(listener: (next: SmartCubeSessionState) => void): () => void {
listeners.add(listener);
return () => listeners.delete(listener);
},
/** Events remain owned by the session; consumers only observe them here. */
subscribeEvents(listener: (event: SmartCubeSessionEvent) => void): () => void {
eventListeners.add(listener);
return () => eventListeners.delete(listener);
},
/**
* Observe raw transport diagnostics without admitting them to the typed
* cube-state stream. A transport may omit this capability entirely.
*/
subscribeDiagnostics(listener: (event: SmartCubeSessionDiagnostic) => void): () => void {
diagnosticListeners.add(listener);
return () => diagnosticListeners.delete(listener);
},
/** Observe one event type without creating a parallel event channel. */
on<T extends SessionEventType>(
type: T,
listener: (event: SessionEventOf<T>) => void,
): () => void {
return this.subscribeEvents((event) => {
if (event.type === type) listener(event as SessionEventOf<T>);
});
},
connect,
disconnect,
resetGyro,
/** Apply a runtime feature patch and reset any detector state it affects.
* Accumulates across calls and keeps applying on top of whichever
* profile is current, including one resolved later (e.g. after a
* `HARDWARE` event or a reconnect to a different device). */
configureFeatures(patch: SessionFeaturesPatch): void {
runtimeFeaturePatch = deepMergeRecord(
runtimeFeaturePatch ?? {},
patch,
) as SessionFeaturesPatch;
applyFeatures(mergeSessionFeatures(state.features, patch));
},
sendCommand,
syncFacelets,
sendVendorCommand,
};
}
|