@blueyerobotics/blueye-ts 3.13.0 → 4.0.0

package/dist/example.js

@@ -1,8 +1,6 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-const index_1 = require("./index");
+import { BlueyeClient } from "./index";
 const main = async () => {
-    const client = new index_1.BlueyeClient();
+    const client = new BlueyeClient();
     client.on("connected", async () => {
         try {
             // request battery information
@@ -12,8 +10,8 @@ const main = async () => {
             const batteryTel = await client.getTelemetry("BatteryTel");
             console.log("batteryTel:", batteryTel);
         }
-        catch (error) {
-            // console.error("Error:", error);
+        catch {
+            // swallow request/telemetry errors and continue with the control demo
         }
         // send a control message to change the light intensity to 0.1
         console.log("setting light intensity to 0.1 for 1 second...");

package/dist/index.js

@@ -1,20 +1,4 @@
-"use strict";
-var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    var desc = Object.getOwnPropertyDescriptor(m, k);
-    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
-      desc = { enumerable: true, get: function() { return m[k]; } };
-    }
-    Object.defineProperty(o, k2, desc);
-}) : (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    o[k2] = m[k];
-}));
-var __exportStar = (this && this.__exportStar) || function(m, exports) {
-    for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-__exportStar(require("@blueyerobotics/protocol-definitions"), exports);
-__exportStar(require("./src/binlog-parser"), exports);
-__exportStar(require("./src/client"), exports);
-__exportStar(require("./src/schema"), exports);
+export * from "@blueyerobotics/protocol-definitions";
+export * from "./src/binlog-parser";
+export * from "./src/client";
+export * from "./src/schema";

package/dist/sonar-example.js

@@ -1,8 +1,6 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-const index_1 = require("./index");
+import { BlueyeClient } from "./index";
 const main = async () => {
-    const client = new index_1.BlueyeClient();
+    const client = new BlueyeClient();
     client.on("connected", () => {
         console.log("client connected");
     });

package/dist/src/async-queue.js

@@ -1,7 +1,4 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.AsyncQueue = void 0;
-class AsyncQueue {
+export class AsyncQueue {
     lastPromise = Promise.resolve();
     enqueue(fn) {
         const run = this.lastPromise.then(() => fn());
@@ -9,4 +6,3 @@ class AsyncQueue {
         return run;
     }
 }
-exports.AsyncQueue = AsyncQueue;

package/dist/src/binlog-parser.d.ts

@@ -1,4 +1,3 @@
-import { Buffer } from "buffer";
 import { type Protocol, type ProtocolKey, type ProtocolType } from "./client";
 export type Message = {
     [K in ProtocolKey]: {
@@ -20,9 +19,9 @@ export declare const parse: (rawData: Blob, fixTimes?: boolean) => Promise<Messa
 /**
  * Decompress the gzipped binlog data (.bez).
  * @param rawData The compressed binary data to decompress (gzip format).
- * @returns A promise that resolves to the decompressed data as a Buffer.
+ * @returns A promise that resolves to the decompressed data as a Uint8Array.
  */
-export declare const decompress: (rawData: Blob) => Promise<Buffer<ArrayBuffer>>;
+export declare const decompress: (rawData: Blob) => Promise<Uint8Array<ArrayBuffer>>;
 /**
  * Parse the decompressed binlog data into structured messages.
  * @param decompressed The gunzipped binlog data.

package/dist/src/binlog-parser.js

@@ -1,30 +1,25 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.fixMessageTimes = exports.parseFrames = exports.parseFrame = exports.parseMessages = exports.decompress = exports.parse = void 0;
-const protocol_definitions_1 = require("@blueyerobotics/protocol-definitions");
-const wire_1 = require("@bufbuild/protobuf/wire");
-const buffer_1 = require("buffer");
-const fflate_1 = require("fflate");
-const client_1 = require("./client");
+import { blueye } from "@blueyerobotics/protocol-definitions";
+import { BinaryReader } from "@bufbuild/protobuf/wire";
+import { Gunzip } from "fflate";
+import { isInProtocol, } from "./client";
 /**
  * Parse a binlog file from raw (gzipped) data into structured messages..
  * @param rawData The raw binary data of the binlog file (gzip format).
  * @param fixTimes Fix the message times based on the last message's monotonic and unix timestamps. Useful for ensuring the times are in sync.
  * @returns A promise that resolves to an array of parsed messages.
  */
-const parse = async (rawData, fixTimes = true) => {
-    const decompressed = await (0, exports.decompress)(rawData);
-    const messages = (0, exports.parseMessages)(decompressed, fixTimes);
+export const parse = async (rawData, fixTimes = true) => {
+    const decompressed = await decompress(rawData);
+    const messages = parseMessages(decompressed, fixTimes);
     return messages;
 };
-exports.parse = parse;
 /**
  * Decompress the gzipped binlog data (.bez).
  * @param rawData The compressed binary data to decompress (gzip format).
- * @returns A promise that resolves to the decompressed data as a Buffer.
+ * @returns A promise that resolves to the decompressed data as a Uint8Array.
  */
-const decompress = async (rawData) => {
-    const gunzip = new fflate_1.Gunzip();
+export const decompress = async (rawData) => {
+    const gunzip = new Gunzip();
     const blobReader = rawData.stream().getReader();
     const chunks = [];
     gunzip.ondata = (chunk) => {
@@ -43,17 +38,25 @@ const decompress = async (rawData) => {
         }
         gunzip.push(value);
     }
-    return buffer_1.Buffer.concat(chunks);
+    let total = 0;
+    for (const c of chunks)
+        total += c.byteLength;
+    const out = new Uint8Array(total);
+    let offset = 0;
+    for (const c of chunks) {
+        out.set(c, offset);
+        offset += c.byteLength;
+    }
+    return out;
 };
-exports.decompress = decompress;
 /**
  * Parse the decompressed binlog data into structured messages.
  * @param decompressed The gunzipped binlog data.
  * @param fixTimes Fix the message times based on the last message's monotonic and unix timestamps. Useful for ensuring the times are in sync.
  * @returns An array of parsed messages with their timestamps, types, keys, and data.
  */
-const parseMessages = (decompressed, fixTimes = true) => {
-    const reader = new wire_1.BinaryReader(decompressed);
+export const parseMessages = (decompressed, fixTimes = true) => {
+    const reader = new BinaryReader(decompressed);
     let messages = [];
     while (reader.pos < reader.len) {
         const length = reader.uint32();
@@ -65,9 +68,9 @@ const parseMessages = (decompressed, fixTimes = true) => {
         }
         const msgBytes = decompressed.buffer.slice(start, end);
         reader.pos = end;
-        const msg = protocol_definitions_1.blueye.protocol.BinlogRecord.decode(new Uint8Array(msgBytes), length);
+        const msg = blueye.protocol.BinlogRecord.decode(new Uint8Array(msgBytes), length);
         const key = msg.payload?.typeUrl.split(".").at(-1);
-        if (!key || !(0, client_1.isInProtocol)(key)) {
+        if (!key || !isInProtocol(key)) {
             console.warn(`Unknown protocol key: ${key}`);
             continue;
         }
@@ -75,17 +78,17 @@ const parseMessages = (decompressed, fixTimes = true) => {
             console.warn(`Missing payload for key: ${key}`);
             continue;
         }
-        const data = protocol_definitions_1.blueye.protocol[key].decode(msg.payload.value);
+        const data = blueye.protocol[key].decode(msg.payload.value);
         let innerData;
         if (key === "GetTelemetryRep") {
             const telRep = data;
             const innerKey = telRep.payload?.typeUrl.split(".").at(-1);
-            if (!innerKey || !(0, client_1.isInProtocol)(innerKey)) {
+            if (!innerKey || !isInProtocol(innerKey)) {
                 console.warn(`Unknown inner protocol key: ${innerKey}`);
                 continue;
             }
             innerData = telRep.payload
-                ? protocol_definitions_1.blueye.protocol[innerKey].decode(telRep.payload.value)
+                ? blueye.protocol[innerKey].decode(telRep.payload.value)
                 : undefined;
         }
         let type = "Tel";
@@ -105,11 +108,10 @@ const parseMessages = (decompressed, fixTimes = true) => {
         });
     }
     if (fixTimes) {
-        messages = (0, exports.fixMessageTimes)(messages);
+        messages = fixMessageTimes(messages);
     }
     return messages;
 };
-exports.parseMessages = parseMessages;
 /**
  * Fix the message times based on the last message's monotonic and unix timestamps.
  * @param messages The messages to fix the times for.
@@ -121,22 +123,20 @@ exports.parseMessages = parseMessages;
  * @param bytes Raw bytes containing a single varint-length-prefixed BinlogRecord.
  * @returns The parsed message, or null if the record is not a known protocol type.
  */
-const parseFrame = (bytes) => {
-    const messages = (0, exports.parseFrames)(bytes);
+export const parseFrame = (bytes) => {
+    const messages = parseFrames(bytes);
     return messages.length > 0 ? messages[0] : null;
 };
-exports.parseFrame = parseFrame;
 /**
  * Parse multiple contiguous varint-prefixed BinlogRecords from raw (uncompressed) bytes.
  * Used for streaming playback where frame batches are fetched via HTTP Range requests.
  * @param bytes Raw bytes containing one or more varint-length-prefixed BinlogRecords.
  * @returns An array of parsed messages.
  */
-const parseFrames = (bytes) => {
-    return (0, exports.parseMessages)(bytes, false);
+export const parseFrames = (bytes) => {
+    return parseMessages(bytes, false);
 };
-exports.parseFrames = parseFrames;
-const fixMessageTimes = (messages) => {
+export const fixMessageTimes = (messages) => {
     if (messages.length === 0)
         return messages;
     const last = messages.at(-1);
@@ -150,4 +150,3 @@ const fixMessageTimes = (messages) => {
     }
     return messages;
 };
-exports.fixMessageTimes = fixMessageTimes;

package/dist/src/client.js

@@ -1,63 +1,25 @@
-"use strict";
-var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    var desc = Object.getOwnPropertyDescriptor(m, k);
-    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
-      desc = { enumerable: true, get: function() { return m[k]; } };
-    }
-    Object.defineProperty(o, k2, desc);
-}) : (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    o[k2] = m[k];
-}));
-var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
-    Object.defineProperty(o, "default", { enumerable: true, value: v });
-}) : function(o, v) {
-    o["default"] = v;
-});
-var __importStar = (this && this.__importStar) || (function () {
-    var ownKeys = function(o) {
-        ownKeys = Object.getOwnPropertyNames || function (o) {
-            var ar = [];
-            for (var k in o) if (Object.prototype.hasOwnProperty.call(o, k)) ar[ar.length] = k;
-            return ar;
-        };
-        return ownKeys(o);
-    };
-    return function (mod) {
-        if (mod && mod.__esModule) return mod;
-        var result = {};
-        if (mod != null) for (var k = ownKeys(mod), i = 0; i < k.length; i++) if (k[i] !== "default") __createBinding(result, mod, k[i]);
-        __setModuleDefault(result, mod);
-        return result;
-    };
-})();
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.BlueyeClient = exports.isInProtocol = exports.MULTIBEAM_DEVICE_IDS = void 0;
-const protocol_definitions_1 = require("@blueyerobotics/protocol-definitions");
-const buffer_1 = require("buffer");
-const consola_1 = require("consola");
-const jszmq_1 = require("@blueyerobotics/jszmq");
-const strict_event_emitter_1 = require("strict-event-emitter");
-const async_queue_1 = require("./async-queue");
-const schema_1 = require("./schema");
-const semver = __importStar(require("semver"));
+import { Pub as ZMQPub, Req as ZMQRep, Sub as ZMQSub, } from "@blueyerobotics/jszmq";
+import { blueye } from "@blueyerobotics/protocol-definitions";
+import { createConsola, LogLevels, } from "consola";
+import * as semver from "semver";
+import { Emitter } from "strict-event-emitter";
+import { AsyncQueue } from "./async-queue";
+import { responseSchema, telemetrySchema } from "./schema";
 const DEFAULT_SUB_URL = "ws://192.168.1.101:9985";
 const DEFAULT_RPC_URL = "ws://192.168.1.101:9986";
 const DEFAULT_PUB_URL = "ws://192.168.1.101:9987";
 const DEFAULT_SONAR_URL = "ws://192.168.1.101:9988";
-exports.MULTIBEAM_DEVICE_IDS = [13, 16, 18, 20, 29, 30, 41, 42];
-const isInProtocol = (key) => {
-    return key in protocol_definitions_1.blueye.protocol;
+export const MULTIBEAM_DEVICE_IDS = [13, 16, 18, 20, 29, 30, 41, 42];
+export const isInProtocol = (key) => {
+    return key in blueye.protocol;
 };
-exports.isInProtocol = isInProtocol;
 const hasSonarEndpoint = (version) => {
     const coercedVersion = semver.coerce(version);
     return coercedVersion
         ? semver.satisfies(coercedVersion, ">=4.7.0") || version.endsWith("-dev")
         : false;
 };
-class BlueyeClient extends strict_event_emitter_1.Emitter {
+export class BlueyeClient extends Emitter {
     timeout;
     reconnectInterval;
     subUrl;
@@ -78,7 +40,7 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         pub: "disconnected",
         sonar: "disconnected",
     };
-    constructor({ subUrl = DEFAULT_SUB_URL, rpcUrl = DEFAULT_RPC_URL, pubUrl = DEFAULT_PUB_URL, sonarUrl = DEFAULT_SONAR_URL, timeout = 2000, reconnectInterval = 2000, logLevel = consola_1.LogLevels.info, autoConnect = false, } = {}) {
+    constructor({ subUrl = DEFAULT_SUB_URL, rpcUrl = DEFAULT_RPC_URL, pubUrl = DEFAULT_PUB_URL, sonarUrl = DEFAULT_SONAR_URL, timeout = 2000, reconnectInterval = 2000, logLevel = LogLevels.info, autoConnect = false, } = {}) {
         super();
         this.timeout = timeout;
         this.reconnectInterval = reconnectInterval;
@@ -86,12 +48,12 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         this.rpcUrl = rpcUrl;
         this.pubUrl = pubUrl;
         this.sonarUrl = sonarUrl;
-        this.sub = new jszmq_1.Sub();
-        this.rpc = new jszmq_1.Req();
-        this.pub = new jszmq_1.Pub();
-        this.sonarSub = new jszmq_1.Sub();
-        this.queue = new async_queue_1.AsyncQueue();
-        this.logger = (0, consola_1.createConsola)({
+        this.sub = new ZMQSub();
+        this.rpc = new ZMQRep();
+        this.pub = new ZMQPub();
+        this.sonarSub = new ZMQSub();
+        this.queue = new AsyncQueue();
+        this.logger = createConsola({
             level: logLevel,
             formatOptions: { colors: true, compact: false },
         });
@@ -138,12 +100,12 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         }
     }
     handleTelemetryMessage(socketName, topic, msg) {
-        const { key, data } = schema_1.responseSchema.parse({ key: topic, data: msg });
-        if (!(0, exports.isInProtocol)(key) || !key.endsWith("Tel")) {
+        const { key, data } = responseSchema.parse({ key: topic, data: msg });
+        if (!isInProtocol(key) || !key.endsWith("Tel")) {
             this.logger.warn(`[${socketName}] unknown protocol:`, key);
             return;
         }
-        const protocol = protocol_definitions_1.blueye.protocol[key];
+        const protocol = blueye.protocol[key];
         const message = protocol.decode(data);
         this.logger.verbose(`[${socketName}] message:`, key, message);
         this.emit(key, message);
@@ -182,7 +144,7 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
                 ...(msg.droneInfo?.gp?.gp2?.deviceList?.devices ?? []),
                 ...(msg.droneInfo?.gp?.gp3?.deviceList?.devices ?? []),
             ].map((device) => device.deviceId);
-            if (devices.some((deviceId) => exports.MULTIBEAM_DEVICE_IDS.includes(deviceId))) {
+            if (devices.some((deviceId) => MULTIBEAM_DEVICE_IDS.includes(deviceId))) {
                 this.logger.info("[sonar] multibeam device detected in DroneInfoTel");
                 this.isSonarDetected = true;
                 this.sonarSub.connect(this.sonarUrl);
@@ -222,10 +184,10 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
     }
     async sendRequest(req, opts = {}) {
         this.ensureConnected("rpc");
-        if (!(0, exports.isInProtocol)(req) || !req.endsWith("Req")) {
+        if (!isInProtocol(req) || !req.endsWith("Req")) {
             throw new Error(`[rpc] unknown protocol: ${req}`);
         }
-        const protocol = protocol_definitions_1.blueye.protocol[req];
+        const protocol = blueye.protocol[req];
         const message = protocol.create(opts);
         const encoded = protocol.encode(message).finish();
         const request = () => {
@@ -233,22 +195,22 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
                 const timer = setTimeout(() => reject(new Error("[rpc] request timed out")), this.timeout);
                 this.rpc.once("message", (topic, msg) => {
                     clearTimeout(timer);
-                    resolve({ key: topic.toString().split(".").at(-1), data: msg });
+                    resolve({
+                        key: new TextDecoder().decode(topic).split(".").at(-1) ?? "",
+                        data: msg,
+                    });
                 });
-                this.rpc.send([
-                    buffer_1.Buffer.from(`blueye.protocol.${req}`),
-                    buffer_1.Buffer.from(encoded),
-                ]);
+                this.rpc.send([`blueye.protocol.${req}`, encoded]);
             });
         };
         const { key, data } = await this.queue.enqueue(request);
         if (key === "Empty") {
             return null;
         }
-        if (!(0, exports.isInProtocol)(key) || !key.endsWith("Rep")) {
+        if (!isInProtocol(key) || !key.endsWith("Rep")) {
             throw new Error(`[rpc] unknown response protocol: ${key}`);
         }
-        const rep = protocol_definitions_1.blueye.protocol[key];
+        const rep = blueye.protocol[key];
         const result = rep.decode(data);
         this.logger.debug("[rpc] decoded:", result);
         return result;
@@ -260,12 +222,12 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         if (!response) {
             throw new Error(`[rpc] no response for telemetry request: ${type}`);
         }
-        const { payload } = schema_1.telemetrySchema.parse(response);
+        const { payload } = telemetrySchema.parse(response);
         const { typeUrl, value } = payload;
-        if (!(0, exports.isInProtocol)(typeUrl) || !typeUrl.endsWith("Tel")) {
+        if (!isInProtocol(typeUrl) || !typeUrl.endsWith("Tel")) {
             throw new Error(`[rpc] unknown telemetry typeUrl: ${typeUrl}`);
         }
-        const result = protocol_definitions_1.blueye.protocol[typeUrl].decode(value);
+        const result = blueye.protocol[typeUrl].decode(value);
         this.logger.debug("[rpc] result:", result);
         return result;
     }
@@ -296,17 +258,13 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
     }
     async sendControl(ctrl, opts = {}) {
         this.ensureConnected("pub");
-        if (!(0, exports.isInProtocol)(ctrl) || !ctrl.endsWith("Ctrl")) {
+        if (!isInProtocol(ctrl) || !ctrl.endsWith("Ctrl")) {
             throw new Error(`[pub] unknown protocol: ${ctrl}`);
         }
-        const protocol = protocol_definitions_1.blueye.protocol[ctrl];
+        const protocol = blueye.protocol[ctrl];
         const message = protocol.create(opts);
         const encoded = protocol.encode(message).finish();
         this.logger.debug("[pub] sending control:", ctrl, message);
-        this.pub.send([
-            buffer_1.Buffer.from(`blueye.protocol.${ctrl}`),
-            buffer_1.Buffer.from(encoded),
-        ]);
+        this.pub.send([`blueye.protocol.${ctrl}`, encoded]);
     }
 }
-exports.BlueyeClient = BlueyeClient;

package/dist/src/schema.d.ts

@@ -6,6 +6,6 @@ export declare const responseSchema: z.ZodObject<{
 export declare const telemetrySchema: z.ZodObject<{
     payload: z.ZodObject<{
         typeUrl: z.ZodPipe<z.ZodString, z.ZodTransform<string, string>>;
-        value: z.ZodPipe<z.ZodAny & z.ZodType<Buffer<ArrayBuffer> | Buffer<any> | Uint8Array<ArrayBufferLike>, any, z.core.$ZodTypeInternals<Buffer<ArrayBuffer> | Buffer<any> | Uint8Array<ArrayBufferLike>, any>>, z.ZodTransform<Buffer<any>, any>>;
+        value: z.ZodCustom<Uint8Array<ArrayBuffer>, Uint8Array<ArrayBuffer>>;
     }, z.core.$strip>;
 }, z.core.$strip>;

package/dist/src/schema.js

@@ -1,22 +1,14 @@
-"use strict";
-var __importDefault = (this && this.__importDefault) || function (mod) {
-    return (mod && mod.__esModule) ? mod : { "default": mod };
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.telemetrySchema = exports.responseSchema = void 0;
-const zod_1 = __importDefault(require("zod"));
-exports.responseSchema = zod_1.default.object({
-    key: zod_1.default
+import z from "zod";
+const utf8 = new TextDecoder();
+export const responseSchema = z.object({
+    key: z
         .instanceof(Uint8Array)
-        .transform((val) => val.toString().split(".").at(-1)),
-    data: zod_1.default.instanceof(Uint8Array),
+        .transform((val) => utf8.decode(val).split(".").at(-1) ?? ""),
+    data: z.instanceof(Uint8Array),
 });
-exports.telemetrySchema = zod_1.default.object({
-    payload: zod_1.default.object({
-        typeUrl: zod_1.default.string().transform((val) => val.split(".").at(-1)),
-        value: zod_1.default
-            .any()
-            .refine((val) => val instanceof Buffer || val instanceof Uint8Array)
-            .transform((val) => (Buffer.isBuffer(val) ? val : Buffer.from(val))),
+export const telemetrySchema = z.object({
+    payload: z.object({
+        typeUrl: z.string().transform((val) => val.split(".").at(-1) ?? ""),
+        value: z.instanceof(Uint8Array),
     }),
 });

package/package.json

@@ -1,13 +1,18 @@
 {
   "name": "@blueyerobotics/blueye-ts",
-  "version": "3.13.0",
+  "version": "4.0.0",
   "description": "A TypeScript client for interacting with Blueye underwater drones.",
   "repository": {
     "type": "git",
     "url": "https://github.com/BluEye-Robotics/blueye-ts.git"
   },
-  "main": "dist/index.js",
-  "types": "dist/index.d.ts",
+  "type": "module",
+  "sideEffects": false,
+  "exports": {
+    ".": "./dist/index.js",
+    "./package.json": "./package.json"
+  },
+  "types": "./dist/index.d.ts",
   "files": [
     "dist"
   ],
@@ -15,10 +20,9 @@
   "author": "Blueye <contact@blueye.no> (https://blueye.no/)",
   "license": "LGPL-3.0-only",
   "dependencies": {
-    "@blueyerobotics/jszmq": "^0.2.0",
+    "@blueyerobotics/jszmq": "^0.3.0",
     "@blueyerobotics/protocol-definitions": "3.2.0-a57cd215",
     "@bufbuild/protobuf": "^2.11.0",
-    "buffer": "^6.0.3",
     "consola": "^3.4.2",
     "fflate": "^0.8.2",
     "semver": "^7.7.4",
@@ -29,13 +33,15 @@
     "@biomejs/biome": "2.3.14",
     "@types/node": "^25.4.0",
     "@types/semver": "^7.7.1",
-    "typescript": "^5.9.3"
+    "tsx": "^4.20.7",
+    "typescript": "^5.9.3",
+    "vitest": "^4.0.5"
   },
   "scripts": {
-    "start": "pnpm build && node dist/example.js",
-    "start:sonar": "pnpm build && node dist/sonar-example.js",
+    "start": "tsx example.ts",
+    "start:sonar": "tsx sonar-example.ts",
     "build": "tsc",
-    "test": "pnpm build && node --test --experimental-test-isolation=none --test-concurrency=1 test/**/*.test.js",
-    "test:one": "node --test --test-concurrency=1"
+    "check": "biome ci",
+    "test": "vitest run"
   }
 }