@depz/sensor-sdk 0.1.0

package/README.md

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+# @depz/sensor-sdk
+
+TypeScript SDK for the **DEPZ USB sensor line** — three USB CDC-ACM sensors that
+speak one shared framed protocol, usable from **the browser (WebSerial)** and
+**Node (serialport)**:
+
+- **HC-SR04** — ultrasonic distance
+- **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD)
+- **BNO086** — 9-axis IMU (host runs the SH-2 stack)
+
+Pure ESM, zero runtime dependencies on the browser path (`serialport` is an
+optional peer used only by the `./node` entry). Mirrors the Python
+[`depz-sensor-sdk`](https://pypi.org/project/depz-sensor-sdk/) byte-for-byte via
+shared golden test vectors.
+
+## Install
+
+```bash
+npm install @depz/sensor-sdk
+# for Node serial access also:
+npm install serialport
+```
+
+## Quick start (browser, WebSerial)
+
+```ts
+import { openDevice } from "@depz/sensor-sdk/web";
+
+const port = await navigator.serial.requestPort(); // user gesture
+const dev = await openDevice(port);
+// dev is the correctly-typed sensor class (Sr04 | Vl53l8Cx/Ch | Bno086)
+```
+
+## Quick start (Node)
+
+```ts
+import { openDevice, listDepzDevices } from "@depz/sensor-sdk/node";
+
+const dev = await openDevice();          // default: the DEPZ device with the smallest serial
+```
+
+## Selecting a device (contract 02 §4.3)
+
+Selection is by **USB identity**: only ports with a known DEPZ (vid,pid) are
+considered, ordered by serial — the same rules across Node and browser (in the
+browser the serial comes from a `GET_SERIAL` probe of granted ports).
+
+```ts
+await openDevice();                         // default — smallest serial
+await openDevice(0);                        // by INDEX — Nth candidate, sorted by serial
+await openDevice(1);                        // second SR04 when two are plugged in
+await openDevice(undefined, { serial: "UMPVOB2461" }); // by exact USB SERIAL
+await openDevice("/dev/ttyACM0");           // explicit port path (Node)
+
+for (const info of await listDepzDevices()) // enumerate candidates first
+  console.log(info.path, info.sensorType, info.serialNumber);
+```
+
+No DEPZ candidate → throws (never falls back to the first system port), matching
+the Python `open_device()` semantics.
+
+Entry points: `@depz/sensor-sdk` (core, transport-agnostic), `@depz/sensor-sdk/web`
+(WebSerial), `@depz/sensor-sdk/node` (serialport). See `docs/` for the per-sensor
+guides and the generated API reference.
+
+## License
+
+MIT. Bundled VL53L8 sensor-firmware blobs are © STMicroelectronics
+(BSD-3-Clause).

package/dist/dataset.d.ts

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+/**
+ * `.depzdata` datasets: decoded, multi-device, time-synced recording &
+ * playback (contracts/09_DATASET_FORMAT.md). Mirrors the Python
+ * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
+ */
+import type { DepzDevice } from "./device/device.js";
+export declare const DATASET_SCHEMA = "depz.dataset/1";
+export interface DatasetDeviceMeta {
+    serial?: string;
+    sensor_type?: string;
+    software_name?: string;
+    time_sync: {
+        offset_us: number;
+        rtt_us: number;
+    };
+    [k: string]: unknown;
+}
+export interface DatasetHeader {
+    schema: string;
+    created_utc: string;
+    devices: Record<string, DatasetDeviceMeta>;
+    note?: string;
+    [k: string]: unknown;
+}
+export interface DatasetRecord {
+    deviceId: string;
+    tHostUs: number;
+    kind: string;
+    value: Record<string, unknown>;
+}
+/** Accumulates a dataset in memory; `dump()` gives the JSONL file content. */
+export declare class DatasetWriter {
+    private lines;
+    recordsWritten: number;
+    constructor(devices: Record<string, DatasetDeviceMeta>, note?: string);
+    write(deviceId: string, tHostUs: number, kind: string, value: Record<string, unknown>): void;
+    dump(): string;
+}
+/**
+ * Hooks live devices into a DatasetWriter on one shared host timeline.
+ * Call `await recorder.add(device)` for each device (runs syncTime), then
+ * `start()`; `stop()` unhooks; `dump()` returns the file content.
+ */
+export declare class DatasetRecorder {
+    private opts;
+    private entries;
+    private writer;
+    constructor(opts?: {
+        note?: string;
+        vl53l8Layers?: boolean;
+    });
+    add(device: DepzDevice, deviceId?: string, syncSamples?: number): Promise<string>;
+    start(): void;
+    private hook;
+    stop(): void;
+    get recordsWritten(): number;
+    dump(): string;
+}
+/** Parse a `.depzdata` file; records come back merged by host time. */
+export declare class DatasetReader {
+    readonly header: DatasetHeader;
+    readonly records: DatasetRecord[];
+    constructor(content: string);
+    get devices(): Record<string, DatasetDeviceMeta>;
+    get durationUs(): number;
+}
+export type PlayerState = "idle" | "playing" | "paused" | "done";
+/**
+ * Timeline player: paced delivery with play/pause/seek/speed — the engine
+ * behind the viewer's playback mode.
+ */
+export declare class DatasetPlayer {
+    readonly reader: DatasetReader;
+    private idx;
+    private timer;
+    private stateCbs;
+    private recordCbs;
+    private _state;
+    speed: number;
+    constructor(reader: DatasetReader);
+    get state(): PlayerState;
+    /** Current position in µs from the first record. */
+    get positionUs(): number;
+    onRecord(cb: (r: DatasetRecord) => void): () => void;
+    onState(cb: (s: PlayerState) => void): () => void;
+    private setState;
+    play(): void;
+    pause(): void;
+    /** Seek to µs offset from the start; delivery resumes from there. */
+    seekUs(offsetUs: number): void;
+    private scheduleNext;
+}
+//# sourceMappingURL=dataset.d.ts.map

package/dist/dataset.d.ts.map

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package/dist/dataset.js

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+/**
+ * `.depzdata` datasets: decoded, multi-device, time-synced recording &
+ * playback (contracts/09_DATASET_FORMAT.md). Mirrors the Python
+ * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
+ */
+export const DATASET_SCHEMA = "depz.dataset/1";
+/** Accumulates a dataset in memory; `dump()` gives the JSONL file content. */
+export class DatasetWriter {
+    lines;
+    recordsWritten = 0;
+    constructor(devices, note) {
+        const header = {
+            schema: DATASET_SCHEMA,
+            created_utc: new Date().toISOString().replace(/\.\d+Z$/, "Z"),
+            devices,
+        };
+        if (note)
+            header.note = note;
+        this.lines = [JSON.stringify(header)];
+    }
+    write(deviceId, tHostUs, kind, value) {
+        this.lines.push(JSON.stringify({ d: deviceId, t: tHostUs, k: kind, v: value }));
+        this.recordsWritten += 1;
+    }
+    dump() {
+        return this.lines.join("\n") + "\n";
+    }
+}
+/**
+ * Hooks live devices into a DatasetWriter on one shared host timeline.
+ * Call `await recorder.add(device)` for each device (runs syncTime), then
+ * `start()`; `stop()` unhooks; `dump()` returns the file content.
+ */
+export class DatasetRecorder {
+    opts;
+    entries = [];
+    writer = null;
+    constructor(opts = {}) {
+        this.opts = opts;
+    }
+    async add(device, deviceId, syncSamples = 5) {
+        if (this.writer)
+            throw new Error("add() all devices before start()");
+        const id = deviceId ?? `d${this.entries.length}`;
+        const sync = await device.syncTime(syncSamples);
+        const meta = {
+            time_sync: { offset_us: Number(sync.offsetUs), rtt_us: Number(sync.rttUs) },
+        };
+        try {
+            meta.serial = await device.getSerialNumber();
+            const ident = await device.identify();
+            meta.software_name = ident.softwareName;
+            meta.sensor_type = ident.sensorType ?? "unknown";
+        }
+        catch {
+            /* identity is best-effort */
+        }
+        this.entries.push({ id, device, offsetUs: sync.offsetUs, meta });
+        return id;
+    }
+    start() {
+        if (this.writer)
+            return;
+        this.writer = new DatasetWriter(Object.fromEntries(this.entries.map((e) => [e.id, e.meta])), this.opts.note);
+        for (const entry of this.entries) {
+            entry.unsub = this.hook(entry);
+        }
+    }
+    hook(entry) {
+        const writer = this.writer;
+        const dev = entry.device;
+        const toHost = (tsUs) => Number(tsUs - entry.offsetUs);
+        if (typeof dev.onMeasurement === "function") {
+            return dev.onMeasurement((m) => {
+                writer.write(entry.id, toHost(m.timestampUs), "sr04", {
+                    echo_us: m.echoTimeUs,
+                    source: m.source,
+                });
+            });
+        }
+        if (typeof dev.onFrame === "function") {
+            const layers = this.opts.vl53l8Layers ?? false;
+            return dev.onFrame((f) => {
+                const n = f.resolution;
+                const v = {
+                    resolution: n,
+                    silicon_temp_degc: f.siliconTempDegc,
+                    distance_mm: Array.from(f.distanceMm.subarray(0, n)),
+                    target_status: Array.from(f.targetStatus.subarray(0, n)),
+                    nb_target_detected: Array.from(f.nbTargetDetected.subarray(0, n)),
+                };
+                if (layers) {
+                    v.signal_per_spad = Array.from(f.signalPerSpad.subarray(0, n));
+                    v.ambient_per_spad = Array.from(f.ambientPerSpad.subarray(0, n));
+                    v.range_sigma_mm = Array.from(f.rangeSigmaMm.subarray(0, n));
+                    v.reflectance = Array.from(f.reflectance.subarray(0, n));
+                }
+                writer.write(entry.id, toHost(f.timestampUs), "vl53l8", v);
+            });
+        }
+        return () => { };
+    }
+    stop() {
+        for (const e of this.entries) {
+            e.unsub?.();
+            e.unsub = undefined;
+        }
+    }
+    get recordsWritten() {
+        return this.writer?.recordsWritten ?? 0;
+    }
+    dump() {
+        if (!this.writer)
+            throw new Error("recorder never started");
+        return this.writer.dump();
+    }
+}
+/** Parse a `.depzdata` file; records come back merged by host time. */
+export class DatasetReader {
+    header;
+    records;
+    constructor(content) {
+        const lines = content.split("\n").filter((l) => l.trim().length > 0);
+        if (lines.length === 0)
+            throw new Error("empty dataset");
+        this.header = JSON.parse(lines[0]);
+        if (!String(this.header.schema ?? "").startsWith("depz.dataset/")) {
+            throw new Error("not a depz.dataset file");
+        }
+        const raw = lines.slice(1).map((l) => {
+            const ev = JSON.parse(l);
+            return { deviceId: ev.d, tHostUs: ev.t, kind: ev.k, value: ev.v };
+        });
+        // Per-device order is monotonic; a stable sort merges exactly.
+        this.records = raw
+            .map((r, i) => [r, i])
+            .sort((a, b) => a[0].tHostUs - b[0].tHostUs || a[1] - b[1])
+            .map(([r]) => r);
+    }
+    get devices() {
+        return this.header.devices ?? {};
+    }
+    get durationUs() {
+        if (this.records.length === 0)
+            return 0;
+        return this.records[this.records.length - 1].tHostUs - this.records[0].tHostUs;
+    }
+}
+/**
+ * Timeline player: paced delivery with play/pause/seek/speed — the engine
+ * behind the viewer's playback mode.
+ */
+export class DatasetPlayer {
+    reader;
+    idx = 0;
+    timer = null;
+    stateCbs = [];
+    recordCbs = [];
+    _state = "idle";
+    speed = 1.0;
+    constructor(reader) {
+        this.reader = reader;
+    }
+    get state() {
+        return this._state;
+    }
+    /** Current position in µs from the first record. */
+    get positionUs() {
+        const recs = this.reader.records;
+        if (recs.length === 0 || this.idx === 0)
+            return 0;
+        return recs[Math.min(this.idx, recs.length) - 1].tHostUs - recs[0].tHostUs;
+    }
+    onRecord(cb) {
+        this.recordCbs.push(cb);
+        return () => {
+            this.recordCbs = this.recordCbs.filter((c) => c !== cb);
+        };
+    }
+    onState(cb) {
+        this.stateCbs.push(cb);
+        return () => {
+            this.stateCbs = this.stateCbs.filter((c) => c !== cb);
+        };
+    }
+    setState(s) {
+        this._state = s;
+        this.stateCbs.forEach((cb) => cb(s));
+    }
+    play() {
+        if (this._state === "playing")
+            return;
+        if (this.idx >= this.reader.records.length)
+            this.idx = 0;
+        this.setState("playing");
+        this.scheduleNext();
+    }
+    pause() {
+        if (this.timer)
+            clearTimeout(this.timer);
+        this.timer = null;
+        if (this._state === "playing")
+            this.setState("paused");
+    }
+    /** Seek to µs offset from the start; delivery resumes from there. */
+    seekUs(offsetUs) {
+        const recs = this.reader.records;
+        if (recs.length === 0)
+            return;
+        const target = recs[0].tHostUs + offsetUs;
+        let lo = 0;
+        let hi = recs.length;
+        while (lo < hi) {
+            const mid = (lo + hi) >> 1;
+            if (recs[mid].tHostUs < target)
+                lo = mid + 1;
+            else
+                hi = mid;
+        }
+        this.idx = lo;
+        if (this._state === "playing") {
+            this.pause();
+            this.play();
+        }
+    }
+    scheduleNext() {
+        const recs = this.reader.records;
+        if (this.idx >= recs.length) {
+            this.setState("done");
+            return;
+        }
+        const rec = recs[this.idx];
+        const emit = () => {
+            this.idx += 1;
+            this.recordCbs.forEach((cb) => cb(rec));
+            if (this._state === "playing")
+                this.scheduleNext();
+        };
+        if (this.speed <= 0 || this.idx === 0) {
+            emit();
+            return;
+        }
+        const prev = recs[this.idx - 1];
+        const gapMs = (rec.tHostUs - prev.tHostUs) / 1000 / this.speed;
+        if (gapMs <= 1) {
+            emit();
+        }
+        else {
+            this.timer = setTimeout(emit, gapMs);
+        }
+    }
+}
+//# sourceMappingURL=dataset.js.map

package/dist/dataset.js.map

@@ -0,0 +1 @@
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package/dist/device/device.d.ts

@@ -0,0 +1,185 @@
+/**
+ * DepzDevice: request correlation, events, common commands
+ * (contracts/02_COMMON_COMMANDS.md, 07_SDK_FACADE.md).
+ *
+ * Behavioral rules per contract 07 §3: correlation by echoed request opcode
+ * (never seq), one in-flight request per opcode, 200 ms default timeout,
+ * bounded drop-oldest stream queues, callbacks run on the read-pump context.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.device.DeviceBase`. The read
+ * pump only starts in `open()`, after the (sub)class constructor finished —
+ * subclass stream state always exists before the first dispatch.
+ */
+import { type SyncPinConfig } from "../protocol/common.js";
+import { type Identity } from "../protocol/identity.js";
+import { CrcType, type PacketEvent } from "../protocol/framing.js";
+import type { SerialTransport } from "../transport/types.js";
+import { DepzLink, type LinkStats } from "./link.js";
+export declare const DEFAULT_TIMEOUT_MS = 200;
+/** Unsolicited/diagnostic events, mirrored from the Python event classes. */
+export type DeviceEvent = {
+    type: "sequenceError";
+    expectedSeq: number;
+    receivedSeq: number;
+    /** true: device saw a gap in host TX (RPT 0x84). */
+    reportedByDevice: boolean;
+} | {
+    type: "linkCrcError";
+    cmd: number;
+    seq: number;
+} | {
+    type: "trash";
+    data: Uint8Array;
+} | {
+    type: "unsolicitedStatus";
+    status: number;
+} | {
+    type: "text";
+    cmd: number;
+    text: string;
+} | {
+    type: "temperature";
+    timestampUs: bigint;
+    celsius: number;
+} | {
+    type: "disconnected";
+    reason: string;
+};
+/** Result of `syncTime()` (contract 02 §5). offset = device − host clock. */
+export interface TimeSync {
+    offsetUs: bigint;
+    rttUs: bigint;
+    syncedAtHostUs: bigint;
+}
+/** Monotonic host clock in µs — the host side of all time-sync math. */
+export declare function hostNowUs(): bigint;
+/** Returned by a matcher to decline a packet. */
+export declare const NO_MATCH: unique symbol;
+/**
+ * Claims a packet for an in-flight request: return the parsed result, or
+ * `NO_MATCH` to let other consumers see the packet.
+ */
+export type Matcher<T> = (pkt: PacketEvent) => T | typeof NO_MATCH;
+export interface RequestOptions<T> {
+    /** First shot at every non-status packet while the request is pending. */
+    matcher?: Matcher<T>;
+    /** Resolve on RPT_STATUS(cmd, OK) — for commands whose success reply is the ack. */
+    okCompletes?: boolean;
+    timeoutMs?: number;
+}
+/**
+ * Bounded drop-oldest async stream (contract 07 §3). Doubles as the async
+ * iterator returned by e.g. `Sr04.measurements()`; `droppedCount` is the
+ * monotonic count of items evicted while the consumer lagged.
+ */
+export declare class StreamQueue<T> implements AsyncIterableIterator<T> {
+    droppedCount: number;
+    private readonly maxsize;
+    private readonly onDone;
+    private buf;
+    private waiters;
+    private closed;
+    constructor(maxsize: number, onDone?: () => void);
+    /** Producer side: enqueue, evicting the oldest item when full. */
+    push(item: T): void;
+    /** End the stream; buffered items are still drained by the consumer. */
+    close(): void;
+    next(): Promise<IteratorResult<T>>;
+    return(): Promise<IteratorResult<T>>;
+    [Symbol.asyncIterator](): AsyncIterableIterator<T>;
+}
+export interface DeviceOptions {
+    timeoutMs?: number;
+    txCrcType?: CrcType;
+}
+/**
+ * Connection to one DEPZ device in application mode. Construct over any
+ * `SerialTransport`, then `await open()` before use.
+ */
+export declare class DepzDevice {
+    timeoutMs: number;
+    protected readonly link: DepzLink;
+    private readonly transport;
+    private readonly pending;
+    private eventCbs;
+    private streams;
+    private timeSyncState;
+    private closing;
+    private torndown;
+    constructor(transport: SerialTransport, opts?: DeviceOptions);
+    /** Open the transport and start the read pump. */
+    open(): Promise<void>;
+    close(): Promise<void>;
+    get stats(): LinkStats;
+    private handleLinkClosed;
+    private failAllPending;
+    private handleParserEvent;
+    private dispatch;
+    private settle;
+    /**
+     * Hook for sensor subclasses: route streaming reports here. Return true
+     * when the packet was consumed. Runs after status/matcher/common-report
+     * routing, on the read-pump context.
+     */
+    protected handleReport(pkt: PacketEvent): boolean;
+    /** Register a stream to be closed on device teardown. */
+    protected registerStream(stream: {
+        close(): void;
+    }): () => void;
+    /**
+     * Subscribe to unsolicited/diagnostic events (read-pump context; do not
+     * block). Returns an unsubscribe function.
+     */
+    onEvent(cb: (ev: DeviceEvent) => void): () => void;
+    protected emitEvent(event: DeviceEvent): void;
+    /**
+     * Send `cmd` and wait for its correlated completion (contract 02 §1).
+     *
+     * Exactly one of the completion paths must be configured:
+     * - `okCompletes` — RPT_STATUS(cmd, OK) resolves with undefined;
+     * - `matcher` — first packet for which the matcher returns non-`NO_MATCH`
+     *   resolves with the matcher's return value.
+     * Non-OK RPT_STATUS echoing `cmd` always rejects (BusyError for ERR_BUSY,
+     * StatusError otherwise). One in-flight request per opcode.
+     */
+    request<T = void>(cmd: number, payload?: Uint8Array, opts?: RequestOptions<T>): Promise<T>;
+    /** Matcher for a typed report identified by its report ID alone. */
+    static expectReport<T>(reportId: number, unpack: (payload: Uint8Array) => T): Matcher<T>;
+    /** Matcher for RPT_TEXT echoing `requestCmd`. */
+    static expectText(requestCmd: number): Matcher<string>;
+    getDeviceName(): Promise<string>;
+    getSoftwareName(): Promise<string>;
+    getSerialNumber(): Promise<string>;
+    /** Classify the running firmware (contract 02 §4). */
+    identify(): Promise<Identity>;
+    /** Last cached MCU temperature in °C (device refreshes ~2 Hz). */
+    readMcuTemperature(): Promise<number>;
+    /** NTP-style sync; keeps the lowest-RTT sample (contract 02 §5). */
+    syncTime(samples?: number): Promise<TimeSync>;
+    get timeSync(): TimeSync | null;
+    /** Device µs → host monotonic µs (requires a prior `syncTime`). */
+    toHostTimeUs(deviceTsUs: bigint): bigint;
+    getReportPayloadCrc(): Promise<CrcType>;
+    /** Set the device→host payload CRC mode (host→device is per-packet). */
+    setReportPayloadCrc(crcType: CrcType): Promise<void>;
+    getSyncPin(pin: number): Promise<SyncPinConfig>;
+    setSyncPin(config: SyncPinConfig): Promise<void>;
+    /** DEVICE_RESET: device ACKs then reboots; the link will drop. */
+    reset(): Promise<void>;
+    /**
+     * Ask the device to reboot into the resident bootloader and close this
+     * connection. Re-discovery/flash flow lives in the bootloader module
+     * (contract 06).
+     */
+    enterBootloaderMode(): Promise<void>;
+}
+/**
+ * Software-sync several devices to the common host monotonic clock.
+ *
+ * Runs `syncTime()` on each device so that every device's `toHostTimeUs()`
+ * maps its own timestamps onto ONE shared host timeline — the basis for
+ * correlating reports from multiple sensors live. Returns a Map
+ * {device → TimeSync}. Mirrors the Python reference `sync_time_all`.
+ */
+export declare function syncTimeAll(devices: Iterable<DepzDevice>, samples?: number): Promise<Map<DepzDevice, TimeSync>>;
+//# sourceMappingURL=device.d.ts.map

package/dist/device/device.d.ts.map

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