RobotWebTools / rclnodejs / 28150493030

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Build Type

push

github

Committed by web-flow

Commit Message

[Web runtime] Add SSE subscribe + CORS to HttpTransport (#1537)

Adds Server-Sent Events (SSE) subscription support and CORS to the HTTP transport, so browsers and other HTTP clients can `subscribe` to ROS topics over plain HTTP (no WebSocket required) and call the runtime cross-origin.

## Core (`lib/runtime/`)

- **`transports/http.js`** (+334 / −26) — the bulk of the change:
  - New `HttpSseConnection`: a long-lived `Connection` that streams one subscription as `text/event-stream`. The `200` SSE headers are deferred until the dispatcher acks (`{ok:true}`), so a rejected subscribe still returns a normal JSON error instead of a half-open stream; on success it emits a `ready` event (`{capability, subId:"sse"}`) followed by `message` events, and starts an unref'd keep-alive `setInterval`. Includes `_writeEvent`, `_writeError`, and a once-only close path.
  - `subscribe` is served only when `sse: true`, via `GET /capability/subscribe/<name>` (non-GET → `405` with `allow: GET`; unexposed / `sse` off → JSON `404`); `call` and `publish` continue to work as before.
  - CORS via `_applyCors` / `_normaliseCors`: `cors` accepts `true`/`'*'` (any origin), a single origin string, or an allow-list array. Allow-list mode echoes a matching `Origin` and sets `Vary: Origin`. `Access-Control-Allow-Headers` reflects the browser's `Access-Control-Request-Headers` on preflight (falling back to `content-type`), so `Authorization` and custom headers pass. `OPTIONS` preflight returns `204` for capability routes when CORS is on. CORS headers are applied first, so they appear on JSON replies, 204s, and SSE streams alike.
  - `sseKeepAliveMs` configurable (default `15000`, `0` disables).
- **`cli-config.js`** (+67 / −5) — new flags `--http-sse`, `--http-sse-keep-alive <ms>`, and repeatable `--http-cors <origin>`; maps to `http.sse` / `http.sseKeepAliveMs` / `http.cors`. DEFAULTS, validation, merge, HELP, and examples all updated.
- **`index.d.ts`** (+3) — `HttpTransportOptions... (continued)

Coverage Stats

2132 of 2509 branches covered (84.97%)

Branch coverage included in aggregate %.

361 of 401 new or added lines in 2 files covered. (90.02%)

5 existing lines in 1 file now uncovered.

17057 of 18554 relevant lines covered (91.93%)

225.38 hits per line