@depz/sensor-sdk 0.1.0 → 0.1.2

package/LICENSE

@@ -0,0 +1,24 @@
+MIT License
+
+Copyright (c) 2026 DEPZ
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+The bundled/derived VL53L8 advanced-DCI codecs are (c) STMicroelectronics,
+licensed under BSD-3-Clause.

package/README.md

@@ -1,11 +1,12 @@
 # @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)**:
+TypeScript SDK for the **DEPZ USB sensor line** — four sensor classes across
+three USB CDC-ACM device families 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)
+- **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
+  `Vl53l8Ch` is the `Vl53l8Cx` superset, adding Compact-Network-Histogram output
 - **BNO086** — 9-axis IMU (host runs the SH-2 stack)
 
 Pure ESM, zero runtime dependencies on the browser path (`serialport` is an

package/dist/dataset.d.ts

@@ -30,9 +30,16 @@ export interface DatasetRecord {
 }
 /** Accumulates a dataset in memory; `dump()` gives the JSONL file content. */
 export declare class DatasetWriter {
+    private readonly header;
     private lines;
     recordsWritten: number;
     constructor(devices: Record<string, DatasetDeviceMeta>, note?: string);
+    /**
+     * Register (or replace) a device's metadata after construction. Lets a
+     * recorder that adds devices mid-capture keep the header's `devices` map
+     * complete — the header is (re)serialized lazily in `dump()`.
+     */
+    setDeviceMeta(deviceId: string, meta: DatasetDeviceMeta): void;
     write(deviceId: string, tHostUs: number, kind: string, value: Record<string, unknown>): void;
     dump(): string;
 }

package/dist/dataset.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"dataset.d.ts","sourceRoot":"","sources":["../src/dataset.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,oBAAoB,CAAC;AAIrD,eAAO,MAAM,cAAc,mBAAmB,CAAC;AAE/C,MAAM,WAAW,iBAAiB;IAChC,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,SAAS,EAAE;QAAE,SAAS,EAAE,MAAM,CAAC;QAAC,MAAM,EAAE,MAAM,CAAA;KAAE,CAAC;IACjD,CAAC,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC;CACtB;AAED,MAAM,WAAW,aAAa;IAC5B,MAAM,EAAE,MAAM,CAAC;IACf,WAAW,EAAE,MAAM,CAAC;IACpB,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,iBAAiB,CAAC,CAAC;IAC3C,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,CAAC,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC;CACtB;AAED,MAAM,WAAW,aAAa;IAC5B,QAAQ,EAAE,MAAM,CAAC;IACjB,OAAO,EAAE,MAAM,CAAC;IAChB,IAAI,EAAE,MAAM,CAAC;IACb,KAAK,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;CAChC;AAED,8EAA8E;AAC9E,qBAAa,aAAa;IACxB,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAgB;IACvC,OAAO,CAAC,KAAK,CAAW;IACxB,cAAc,SAAK;gBAEP,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,iBAAiB,CAAC,EAAE,IAAI,CAAC,EAAE,MAAM;IAUrE;;;;OAIG;IACH,aAAa,CAAC,QAAQ,EAAE,MAAM,EAAE,IAAI,EAAE,iBAAiB,GAAG,IAAI;IAI9D,KAAK,CAAC,QAAQ,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,IAAI;IAK5F,IAAI,IAAI,MAAM;CAGf;AAED;;;;GAIG;AACH,qBAAa,eAAe;IAUd,OAAO,CAAC,IAAI;IATxB,OAAO,CAAC,OAAO,CAMP;IACR,OAAO,CAAC,MAAM,CAA8B;gBAExB,IAAI,GAAE;QAAE,IAAI,CAAC,EAAE,MAAM,CAAC;QAAC,YAAY,CAAC,EAAE,OAAO,CAAA;KAAO;IAElE,GAAG,CAAC,MAAM,EAAE,UAAU,EAAE,QAAQ,CAAC,EAAE,MAAM,EAAE,WAAW,SAAI,GAAG,OAAO,CAAC,MAAM,CAAC;IAmBlF,KAAK,IAAI,IAAI;IAWb,OAAO,CAAC,IAAI;IAoCZ,IAAI,IAAI,IAAI;IAOZ,IAAI,cAAc,IAAI,MAAM,CAE3B;IAED,IAAI,IAAI,MAAM;CAIf;AAED,uEAAuE;AACvE,qBAAa,aAAa;IACxB,QAAQ,CAAC,MAAM,EAAE,aAAa,CAAC;IAC/B,QAAQ,CAAC,OAAO,EAAE,aAAa,EAAE,CAAC;gBAEtB,OAAO,EAAE,MAAM;IAkB3B,IAAI,OAAO,IAAI,MAAM,CAAC,MAAM,EAAE,iBAAiB,CAAC,CAE/C;IAED,IAAI,UAAU,IAAI,MAAM,CAGvB;CACF;AAED,MAAM,MAAM,WAAW,GAAG,MAAM,GAAG,SAAS,GAAG,QAAQ,GAAG,MAAM,CAAC;AAEjE;;;GAGG;AACH,qBAAa,aAAa;IAQZ,QAAQ,CAAC,MAAM,EAAE,aAAa;IAP1C,OAAO,CAAC,GAAG,CAAK;IAChB,OAAO,CAAC,KAAK,CAA8C;IAC3D,OAAO,CAAC,QAAQ,CAAuC;IACvD,OAAO,CAAC,SAAS,CAAyC;IAC1D,OAAO,CAAC,MAAM,CAAuB;IACrC,KAAK,SAAO;gBAES,MAAM,EAAE,aAAa;IAE1C,IAAI,KAAK,IAAI,WAAW,CAEvB;IAED,oDAAoD;IACpD,IAAI,UAAU,IAAI,MAAM,CAIvB;IAED,QAAQ,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,aAAa,KAAK,IAAI,GAAG,MAAM,IAAI;IAOpD,OAAO,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,WAAW,KAAK,IAAI,GAAG,MAAM,IAAI;IAOjD,OAAO,CAAC,QAAQ;IAKhB,IAAI,IAAI,IAAI;IAOZ,KAAK,IAAI,IAAI;IAMb,qEAAqE;IACrE,MAAM,CAAC,QAAQ,EAAE,MAAM,GAAG,IAAI;IAkB9B,OAAO,CAAC,YAAY;CAwBrB"}

package/dist/dataset.js

@@ -6,24 +6,33 @@
 export const DATASET_SCHEMA = "depz.dataset/1";
 /** Accumulates a dataset in memory; `dump()` gives the JSONL file content. */
 export class DatasetWriter {
+    header;
     lines;
     recordsWritten = 0;
     constructor(devices, note) {
-        const header = {
+        this.header = {
             schema: DATASET_SCHEMA,
             created_utc: new Date().toISOString().replace(/\.\d+Z$/, "Z"),
-            devices,
+            devices: { ...devices },
         };
         if (note)
-            header.note = note;
-        this.lines = [JSON.stringify(header)];
+            this.header.note = note;
+        this.lines = [];
+    }
+    /**
+     * Register (or replace) a device's metadata after construction. Lets a
+     * recorder that adds devices mid-capture keep the header's `devices` map
+     * complete — the header is (re)serialized lazily in `dump()`.
+     */
+    setDeviceMeta(deviceId, meta) {
+        this.header.devices[deviceId] = meta;
     }
     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";
+        return [JSON.stringify(this.header), ...this.lines].join("\n") + "\n";
     }
 }
 /**

package/dist/dataset.js.map

@@ -1 +1 @@
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package/dist/discovery.js

@@ -150,8 +150,9 @@ function constructSensor(transport, sensorType, timeoutMs, port) {
             return new Sr04(transport, { timeoutMs });
         case "vl53l8":
             // The USB model hint distinguishes CH silicon (PID 0xED40 → 'vl53l8ch')
-            // from CX; the dev-default id (0x56DC) and the silicon id are
-            // indistinguishable, so those fall through to the CX base class.
+            // from CX (PID 0xED4B → 'vl53l8cx'); the dev-default id (0x56DC) carries
+            // no silicon hint, so it and any non-CH hint fall through to the CX base
+            // class.
             return usbModelHint(port?.usbVid, port?.usbPid) === "vl53l8ch"
                 ? new Vl53l8Ch(transport, { timeoutMs })
                 : new Vl53l8Cx(transport, { timeoutMs });

package/dist/discovery.js.map

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package/dist/index.d.ts

@@ -39,4 +39,6 @@ export type { SerialTransport, SerialTransportInfo } from "./transport/types.js"
 export { LoopbackTransport } from "./transport/loopback.js";
 export { WebSerialTransport, isWebSerialSupported, getGrantedPorts, watchConnect, } from "./transport/webserial.js";
 export type { WebSerialPortLike } from "./transport/webserial.js";
+export { WsBackendTransport, backendHealth, backendPermissions, listBackendDevices, } from "./transport/ws-backend.js";
+export type { BackendDevice, BackendHealth, BackendPermissions, WebSocketLike, WsBackendTransportOptions, } from "./transport/ws-backend.js";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -28,4 +28,5 @@ export { RECORDING_SCHEMA, RecordingTransport, ReplayTransport } from "./transpo
 export { DATASET_SCHEMA, DatasetPlayer, DatasetReader, DatasetRecorder, DatasetWriter, } from "./dataset.js";
 export { LoopbackTransport } from "./transport/loopback.js";
 export { WebSerialTransport, isWebSerialSupported, getGrantedPorts, watchConnect, } from "./transport/webserial.js";
+export { WsBackendTransport, backendHealth, backendPermissions, listBackendDevices, } from "./transport/ws-backend.js";
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,cAAc,mBAAmB,CAAC;AAClC,cAAc,uBAAuB,CAAC;AACtC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oBAAoB,CAAC;AACnC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AACtC,cAAc,aAAa,CAAC;AAC5B,OAAO,EACL,YAAY,EACZ,mBAAmB,EACnB,wBAAwB,EACxB,cAAc,EACd,oBAAoB,EACpB,kBAAkB,EAClB,SAAS,GACV,MAAM,gBAAgB,CAAC;AASxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAE5C,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAQ5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAEzC,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AAMpC,OAAO,EACL,eAAe,EACf,WAAW,EACX,aAAa,EACb,YAAY,EACZ,aAAa,EACb,qBAAqB,EACrB,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,uBAAuB,EACvB,cAAc,EACd,cAAc,EACd,oBAAoB,EACpB,sBAAsB,EACtB,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,YAAY,EACZ,oBAAoB,EACpB,QAAQ,EACR,aAAa,EACb,mBAAmB,EACnB,yBAAyB,EACzB,uBAAuB,EACvB,UAAU,EACV,gBAAgB,GACjB,MAAM,yBAAyB,CAAC;AAOjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AAEjC,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAE9D,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC9F,OAAO,EACL,cAAc,EACd,aAAa,EACb,aAAa,EACb,eAAe,EACf,aAAa,GACd,MAAM,cAAc,CAAC;AAQtB,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAElC,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC"}

package/dist/protocol/usb-ids.d.ts

@@ -21,8 +21,7 @@ export declare const DEV_PID = 22236;
 /**
  * Contiguous production PID block: any PID in this inclusive range under the
  * production VID is treated as a candidate DEPZ sensor even when it is not
- * individually mapped below (e.g. future models, or the recognized-but-not-
- * decodable IMU variants 60937 bno085 / 60938 bno055).
+ * individually mapped below (e.g. future models, or unmapped catalog PIDs).
  */
 export declare const DEPZ_SENSOR_PID_MIN = 60536;
 export declare const DEPZ_SENSOR_PID_MAX = 65535;
@@ -38,9 +37,10 @@ export interface DepzUsbModel {
     sensorType: SensorType | null;
 }
 /**
- * PID → model hint. Only the three `sensorType`-bearing rows are decodable by
- * this SDK; the rest are recognized as DEPZ sensors for discovery/labelling.
- * Values mirror the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
+ * PID → model hint (full official DEPZ catalog). Only the `sensorType`-bearing
+ * rows (sr04, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
+ * are recognized as DEPZ sensors for discovery/labelling only. Values mirror
+ * the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
  */
 export declare const DEPZ_USB_MODELS: Readonly<Record<number, DepzUsbModel>>;
 /**

package/dist/protocol/usb-ids.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"usb-ids.d.ts","sourceRoot":"","sources":["../../src/protocol/usb-ids.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,eAAe,CAAC;AAEhD,4DAA4D;AAC5D,eAAO,MAAM,QAAQ,OAAS,CAAC;AAE/B;;;GAGG;AACH,eAAO,MAAM,OAAO,OAAS,CAAC;AAC9B,eAAO,MAAM,OAAO,QAAS,CAAC;AAE9B;;;;GAIG;AACH,eAAO,MAAM,mBAAmB,QAAQ,CAAC;AACzC,eAAO,MAAM,mBAAmB,QAAQ,CAAC;AAEzC,2CAA2C;AAC3C,MAAM,WAAW,YAAY;IAC3B,iCAAiC;IACjC,IAAI,EAAE,MAAM,CAAC;IACb;;;;OAIG;IACH,UAAU,EAAE,UAAU,GAAG,IAAI,CAAC;CAC/B;AAED;;;;;GAKG;AACH,eAAO,MAAM,eAAe,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,YAAY,CAAC,CAiBlE,CAAC;AAEF;;;;GAIG;AACH,wBAAgB,cAAc,CAAC,GAAG,EAAE,MAAM,GAAG,IAAI,GAAG,SAAS,EAAE,GAAG,EAAE,MAAM,GAAG,IAAI,GAAG,SAAS,GAAG,OAAO,CAMtG;AAED,4EAA4E;AAC5E,wBAAgB,UAAU,CAAC,GAAG,EAAE,MAAM,GAAG,IAAI,GAAG,SAAS,GAAG,YAAY,GAAG,IAAI,CAG9E;AAED;;;;GAIG;AACH,wBAAgB,YAAY,CAC1B,GAAG,EAAE,MAAM,GAAG,IAAI,GAAG,SAAS,EAC9B,GAAG,EAAE,MAAM,GAAG,IAAI,GAAG,SAAS,GAC7B,MAAM,GAAG,IAAI,CAKf"}

package/dist/protocol/usb-ids.js

@@ -20,15 +20,15 @@ export const DEV_PID = 0x56dc; // 22236
 /**
  * Contiguous production PID block: any PID in this inclusive range under the
  * production VID is treated as a candidate DEPZ sensor even when it is not
- * individually mapped below (e.g. future models, or the recognized-but-not-
- * decodable IMU variants 60937 bno085 / 60938 bno055).
+ * individually mapped below (e.g. future models, or unmapped catalog PIDs).
  */
 export const DEPZ_SENSOR_PID_MIN = 60536; // 0xEC78 (SR04)
 export const DEPZ_SENSOR_PID_MAX = 65535; // whole reserved sensor block (catalog-types.ts)
 /**
- * PID → model hint. Only the three `sensorType`-bearing rows are decodable by
- * this SDK; the rest are recognized as DEPZ sensors for discovery/labelling.
- * Values mirror the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
+ * PID → model hint (full official DEPZ catalog). Only the `sensorType`-bearing
+ * rows (sr04, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
+ * are recognized as DEPZ sensors for discovery/labelling only. Values mirror
+ * the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
  */
 export const DEPZ_USB_MODELS = {
     0xec78: { name: "sr04", sensorType: "sr04" }, // 60536
@@ -36,6 +36,14 @@ export const DEPZ_USB_MODELS = {
     0xed41: { name: "vl53l0x", sensorType: null }, // 60737
     0xed42: { name: "vl53l1cb", sensorType: null }, // 60738
     0xed43: { name: "vl53l1cx", sensorType: null }, // 60739
+    0xed44: { name: "vl53l3cx", sensorType: null }, // 60740
+    0xed45: { name: "vl53l4cd", sensorType: null }, // 60741
+    0xed46: { name: "vl53l4cx", sensorType: null }, // 60742
+    0xed47: { name: "vl53l4ed", sensorType: null }, // 60743
+    0xed48: { name: "vl53l5cx", sensorType: null }, // 60744
+    0xed49: { name: "vl53l7cx", sensorType: null }, // 60745
+    0xed4a: { name: "vl53l7ch", sensorType: null }, // 60746
+    0xed4b: { name: "vl53l8cx", sensorType: "vl53l8" }, // 60747 — VL53L8CX production PID, verified on hw: 1bcf:ed4b
     0xee08: { name: "bno086", sensorType: "bno086" }, // 60936 — verified on hw: 1bcf:ee08
     0xee09: { name: "bno085", sensorType: null }, // 60937
     0xee0a: { name: "bno055", sensorType: null }, // 60938

package/dist/protocol/usb-ids.js.map

@@ -1 +1 @@
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+{"version":3,"file":"usb-ids.js","sourceRoot":"","sources":["../../src/protocol/usb-ids.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAIH,4DAA4D;AAC5D,MAAM,CAAC,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,OAAO;AAEvC;;;GAGG;AACH,MAAM,CAAC,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,OAAO;AACtC,MAAM,CAAC,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,QAAQ;AAEvC;;;;GAIG;AACH,MAAM,CAAC,MAAM,mBAAmB,GAAG,KAAK,CAAC,CAAC,gBAAgB;AAC1D,MAAM,CAAC,MAAM,mBAAmB,GAAG,KAAK,CAAC,CAAC,iDAAiD;AAc3F;;;;;GAKG;AACH,MAAM,CAAC,MAAM,eAAe,GAA2C;IACrE,MAAM,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,EAAE,QAAQ;IACtD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,QAAQ;IAC5D,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACvD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,6DAA6D;IACjH,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,oCAAoC;IACtF,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACtD,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;CACvD,CAAC;AAEF;;;;GAIG;AACH,MAAM,UAAU,cAAc,CAAC,GAA8B,EAAE,GAA8B;IAC3F,IAAI,GAAG,IAAI,IAAI,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,KAAK,CAAC;IAC7C,IAAI,GAAG,KAAK,OAAO,IAAI,GAAG,KAAK,OAAO;QAAE,OAAO,IAAI,CAAC;IACpD,IAAI,GAAG,KAAK,QAAQ;QAAE,OAAO,KAAK,CAAC;IACnC,IAAI,GAAG,IAAI,eAAe;QAAE,OAAO,IAAI,CAAC;IACxC,OAAO,GAAG,IAAI,mBAAmB,IAAI,GAAG,IAAI,mBAAmB,CAAC;AAClE,CAAC;AAED,4EAA4E;AAC5E,MAAM,UAAU,UAAU,CAAC,GAA8B;IACvD,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,IAAI,CAAC;IAC7B,OAAO,eAAe,CAAC,GAAG,CAAC,IAAI,IAAI,CAAC;AACtC,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,YAAY,CAC1B,GAA8B,EAC9B,GAA8B;IAE9B,IAAI,GAAG,IAAI,IAAI,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,IAAI,CAAC;IAC5C,IAAI,GAAG,KAAK,OAAO,IAAI,GAAG,KAAK,OAAO;QAAE,OAAO,KAAK,CAAC;IACrD,IAAI,GAAG,KAAK,QAAQ;QAAE,OAAO,eAAe,CAAC,GAAG,CAAC,EAAE,IAAI,IAAI,IAAI,CAAC;IAChE,OAAO,IAAI,CAAC;AACd,CAAC"}

package/dist/sensors/bno086/bno086.d.ts

@@ -101,9 +101,14 @@ export declare class Bno086 extends DepzDevice {
      */
     private commandCollect;
     /**
-     * Hard-reset the sensor via nRST (0x32) and wait for the executable
-     * channel's reset-complete. All SHTP state (seq counters, partial cargos)
-     * and cached features restart from zero.
+     * Hard-reset the sensor via nRST (0x32). All SHTP state (seq counters,
+     * partial cargos) and cached features restart from zero.
+     *
+     * The hub's RPT_STATUS OK ack for the 0x32 command is treated as the reset
+     * confirmation. The SH-2 executable-channel reset-complete (which the BNO08X
+     * SH-2 spec would emit) is only waited for best-effort: firmware
+     * `APP_BNO086_v0.95` does **not** emit it (ERRATA E9 in contracts/ERRATA.md),
+     * so its absence is *not* an error — the sensor is fully usable without it.
      */
     hardwareReset(timeoutMs?: number): Promise<void>;
     /** Pulse WAKE (PS0): wakes the sensor from sleep, no state loss. */

package/dist/sensors/bno086/bno086.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/bno086/bno086.js

@@ -248,22 +248,30 @@ export class Bno086 extends DepzDevice {
     }
     // ── lifecycle ──────────────────────────────────────────────────────────────
     /**
-     * Hard-reset the sensor via nRST (0x32) and wait for the executable
-     * channel's reset-complete. All SHTP state (seq counters, partial cargos)
-     * and cached features restart from zero.
+     * Hard-reset the sensor via nRST (0x32). All SHTP state (seq counters,
+     * partial cargos) and cached features restart from zero.
+     *
+     * The hub's RPT_STATUS OK ack for the 0x32 command is treated as the reset
+     * confirmation. The SH-2 executable-channel reset-complete (which the BNO08X
+     * SH-2 spec would emit) is only waited for best-effort: firmware
+     * `APP_BNO086_v0.95` does **not** emit it (ERRATA E9 in contracts/ERRATA.md),
+     * so its absence is *not* an error — the sensor is fully usable without it.
      */
     async hardwareReset(timeoutMs = 2000) {
         this.shtp.reset();
         this.advertisementChunks = [];
         this.features.clear();
         const done = new Promise((resolve) => this.resetResolvers.push(resolve));
-        await this.request(Bno086Cmd.SensorReset, undefined, { okCompletes: true });
+        // RPT_STATUS OK from the hub confirms the reset command was accepted.
+        await this.request(Bno086Cmd.SensorReset, undefined, { okCompletes: true, timeoutMs });
+        // Best-effort wait for the SH-2 executable reset-complete; it legitimately
+        // never arrives on APP_BNO086_v0.95 (ERRATA E9), so resolve either way.
         let timer;
-        const timedOut = new Promise((_, reject) => {
-            timer = setTimeout(() => reject(new DepzTimeoutError(Bno086Cmd.SensorReset, timeoutMs)), timeoutMs);
+        const bestEffort = new Promise((resolve) => {
+            timer = setTimeout(resolve, Math.min(timeoutMs, 500));
         });
         try {
-            await Promise.race([done, timedOut]);
+            await Promise.race([done, bestEffort]);
         }
         finally {
             clearTimeout(timer);

package/dist/sensors/bno086/bno086.js.map

@@ -1 +1 @@
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package/dist/transport/ws-backend.d.ts

@@ -0,0 +1,132 @@
+/**
+ * Local-backend transport (standalone `depz-sensor-viewer` app).
+ *
+ * The online viewer talks to devices over Web Serial. The standalone launcher
+ * instead serves the same SPA from `http://127.0.0.1:<port>` and exposes a
+ * local backend that speaks to the real serial ports over pyserial. This
+ * transport tunnels the exact same byte stream to that backend over a
+ * WebSocket, so every layer above (`DepzDevice`, the sensor classes) is
+ * byte-for-byte identical to Web Serial / Node.
+ *
+ * Server contract (fixed — this file must match it exactly):
+ *   GET  /api/health       → { standalone: true, version }   (presence ⇒ standalone)
+ *   GET  /api/devices      → { devices: [ { path, usb_vid, usb_pid, serial,
+ *                                           sensor_type, usb_model_hint } ] }
+ *   GET  /api/permissions  → { ok, os, issues, fix: { command, explanation } }
+ *   WS   /ws/serial?path=<port>&baud=<n> — a raw byte pipe:
+ *        · binary frame you send    = bytes written to the serial port
+ *        · binary frame you receive = bytes read from the serial port
+ *        · text frame               = JSON control ({"opened":true} / {"error":"…"})
+ *
+ * Browser-safe: uses only `WebSocket` / `fetch` / `URL`, no Node built-ins.
+ */
+import type { SerialTransport, SerialTransportInfo } from "./types.js";
+/** One device as reported by `GET /api/devices` (snake_case = server JSON). */
+export interface BackendDevice {
+    /** OS serial-port path the backend opens (e.g. `/dev/ttyACM0`, `COM5`). */
+    path: string;
+    usb_vid: number | null;
+    usb_pid: number | null;
+    /** USB iSerial as read by the OS ("" when unavailable). */
+    serial: string;
+    /** Backend's guess of the sensor family ("sr04" | "vl53l8" | … | ""). */
+    sensor_type: string;
+    /** Human model hint from the USB id tables ("" when unknown). */
+    usb_model_hint: string;
+}
+/** `GET /api/health` — its mere presence means the viewer is standalone. */
+export interface BackendHealth {
+    standalone: boolean;
+    version: string;
+}
+/** `GET /api/permissions` — OS-level serial-access diagnostics. */
+export interface BackendPermissions {
+    ok: boolean;
+    os: "linux" | "macos" | "windows";
+    issues: string[];
+    fix: {
+        command: string;
+        explanation: string;
+    };
+}
+/** Minimal `WebSocket` surface used here — real one or a test fake. */
+export interface WebSocketLike {
+    binaryType: string;
+    readyState: number;
+    send(data: ArrayBufferView | ArrayBuffer): void;
+    close(): void;
+    onopen: ((ev: unknown) => void) | null;
+    onclose: ((ev: unknown) => void) | null;
+    onerror: ((ev: unknown) => void) | null;
+    onmessage: ((ev: {
+        data: unknown;
+    }) => void) | null;
+}
+export interface WsBackendTransportOptions {
+    /**
+     * Origin of the standalone server (e.g. `http://127.0.0.1:8000`). Omit /
+     * empty to use the page's own origin (`location.origin`) — the usual case,
+     * since the SPA is served *by* the backend.
+     */
+    baseUrl?: string;
+    /** Serial-port path from `GET /api/devices` — the `?path=` query value. */
+    path: string;
+    /** Baud for the `?baud=` query (default 115200; `open()` may override). */
+    baudRate?: number;
+    /** USB ids / serial to advertise (drives CX-vs-CH labelling upstream). */
+    info?: SerialTransportInfo;
+    /** WebSocket factory (defaults to the global `WebSocket`); injected in tests. */
+    webSocketFactory?: (url: string) => WebSocketLike;
+}
+export declare class WsBackendTransport implements SerialTransport {
+    readonly info: SerialTransportInfo;
+    private readonly baseUrl;
+    private readonly path;
+    private readonly baudRate;
+    private readonly wsFactory;
+    private ws;
+    private queue;
+    private waiter;
+    private ended;
+    private disconnected;
+    private closing;
+    private streamError;
+    private disconnectCbs;
+    private readyResolve;
+    private readyReject;
+    constructor(opts: WsBackendTransportOptions);
+    open(opts?: {
+        baudRate?: number;
+    }): Promise<void>;
+    private onMessage;
+    write(data: Uint8Array): Promise<void>;
+    readable(): AsyncIterableIterator<Uint8Array>;
+    close(): Promise<void>;
+    onDisconnect(cb: () => void): () => void;
+    private markReady;
+    private failReady;
+    /** Stop the read stream (used on close AND on unexpected loss). */
+    private finishStream;
+    /** Unexpected loss: end the stream and fire disconnect (never on explicit close). */
+    private fail;
+}
+/** Bound `fetch` that never loses its receiver when passed as a default. */
+type FetchLike = (input: string, init?: {
+    headers?: Record<string, string>;
+}) => Promise<{
+    ok: boolean;
+    status: number;
+    json(): Promise<unknown>;
+}>;
+/**
+ * Probe `GET /api/health`. Resolves to the health object when the origin is a
+ * standalone backend, or `null` on any failure / when it is the plain online
+ * viewer (so a bare `await backendHealth()` is a safe standalone check).
+ */
+export declare function backendHealth(baseUrl?: string, fetchImpl?: FetchLike): Promise<BackendHealth | null>;
+/** `GET /api/devices` → the device list (throws on a non-2xx / network error). */
+export declare function listBackendDevices(baseUrl?: string, fetchImpl?: FetchLike): Promise<BackendDevice[]>;
+/** `GET /api/permissions` → OS serial-access diagnostics, or `null` on failure. */
+export declare function backendPermissions(baseUrl?: string, fetchImpl?: FetchLike): Promise<BackendPermissions | null>;
+export {};
+//# sourceMappingURL=ws-backend.d.ts.map

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package/dist/transport/ws-backend.js

@@ -0,0 +1,255 @@
+/**
+ * Local-backend transport (standalone `depz-sensor-viewer` app).
+ *
+ * The online viewer talks to devices over Web Serial. The standalone launcher
+ * instead serves the same SPA from `http://127.0.0.1:<port>` and exposes a
+ * local backend that speaks to the real serial ports over pyserial. This
+ * transport tunnels the exact same byte stream to that backend over a
+ * WebSocket, so every layer above (`DepzDevice`, the sensor classes) is
+ * byte-for-byte identical to Web Serial / Node.
+ *
+ * Server contract (fixed — this file must match it exactly):
+ *   GET  /api/health       → { standalone: true, version }   (presence ⇒ standalone)
+ *   GET  /api/devices      → { devices: [ { path, usb_vid, usb_pid, serial,
+ *                                           sensor_type, usb_model_hint } ] }
+ *   GET  /api/permissions  → { ok, os, issues, fix: { command, explanation } }
+ *   WS   /ws/serial?path=<port>&baud=<n> — a raw byte pipe:
+ *        · binary frame you send    = bytes written to the serial port
+ *        · binary frame you receive = bytes read from the serial port
+ *        · text frame               = JSON control ({"opened":true} / {"error":"…"})
+ *
+ * Browser-safe: uses only `WebSocket` / `fetch` / `URL`, no Node built-ins.
+ */
+/** `WebSocket.OPEN`; hard-coded so the module never touches a DOM global at import. */
+const WS_OPEN = 1;
+export class WsBackendTransport {
+    info;
+    baseUrl;
+    path;
+    baudRate;
+    wsFactory;
+    ws = null;
+    queue = [];
+    waiter = null;
+    ended = false;
+    disconnected = false;
+    closing = false;
+    streamError = null;
+    disconnectCbs = [];
+    readyResolve = null;
+    readyReject = null;
+    constructor(opts) {
+        this.baseUrl = opts.baseUrl ?? "";
+        this.path = opts.path;
+        this.baudRate = opts.baudRate ?? 115200;
+        this.wsFactory =
+            opts.webSocketFactory ?? ((url) => new WebSocket(url));
+        this.info = {
+            path: opts.info?.path ?? opts.path,
+            usbVendorId: opts.info?.usbVendorId,
+            usbProductId: opts.info?.usbProductId,
+            serialNumber: opts.info?.serialNumber,
+        };
+    }
+    async open(opts) {
+        const baud = opts?.baudRate ?? this.baudRate;
+        const url = wsSerialUrl(this.baseUrl, this.path, baud);
+        const ws = this.wsFactory(url);
+        ws.binaryType = "arraybuffer";
+        this.ws = ws;
+        const ready = new Promise((resolve, reject) => {
+            this.readyResolve = resolve;
+            this.readyReject = reject;
+        });
+        ws.onopen = () => {
+            // Socket is up; the port itself is "ready" only once the backend sends
+            // {"opened":true} or the first data byte (see onMessage).
+        };
+        ws.onmessage = (ev) => this.onMessage(ev);
+        ws.onerror = () => {
+            this.failReady(new Error(`cannot reach the standalone backend at ${url}`));
+            this.fail(new Error("standalone backend socket error"));
+        };
+        ws.onclose = () => {
+            this.failReady(new Error("the standalone backend closed the serial socket"));
+            this.fail(this.streamError ?? new Error("the standalone backend closed the serial socket"));
+        };
+        await ready;
+    }
+    onMessage(ev) {
+        const data = ev.data;
+        if (typeof data === "string") {
+            let msg;
+            try {
+                msg = JSON.parse(data);
+            }
+            catch {
+                return; // non-JSON text frame — ignore
+            }
+            if (msg && typeof msg === "object") {
+                const rec = msg;
+                if (typeof rec.error === "string") {
+                    const err = new Error(`standalone backend: ${rec.error}`);
+                    this.streamError = err;
+                    this.failReady(err);
+                    this.fail(err);
+                    return;
+                }
+                if (rec.opened === true)
+                    this.markReady();
+            }
+            return;
+        }
+        // Binary frame = bytes read from the serial port.
+        const bytes = toBytes(data);
+        if (bytes.length === 0)
+            return;
+        this.markReady(); // first inbound bytes imply the port is open
+        this.queue.push(bytes);
+        this.waiter?.();
+    }
+    async write(data) {
+        const ws = this.ws;
+        if (!ws || ws.readyState !== WS_OPEN) {
+            throw new Error("standalone backend serial socket is not open");
+        }
+        // Copy: the caller may reuse the buffer before the socket flushes it.
+        ws.send(data.slice());
+    }
+    async *readable() {
+        for (;;) {
+            while (this.queue.length === 0) {
+                if (this.ended)
+                    return;
+                await new Promise((resolve) => (this.waiter = resolve));
+                this.waiter = null;
+            }
+            yield this.queue.shift();
+        }
+    }
+    async close() {
+        this.closing = true;
+        this.finishStream();
+        try {
+            this.ws?.close();
+        }
+        catch {
+            /* already gone */
+        }
+        this.ws = null;
+    }
+    onDisconnect(cb) {
+        this.disconnectCbs.push(cb);
+        return () => {
+            this.disconnectCbs = this.disconnectCbs.filter((c) => c !== cb);
+        };
+    }
+    // ── internals ──────────────────────────────────────────────────────────────
+    markReady() {
+        const r = this.readyResolve;
+        this.readyResolve = null;
+        this.readyReject = null;
+        r?.();
+    }
+    failReady(err) {
+        const r = this.readyReject;
+        this.readyResolve = null;
+        this.readyReject = null;
+        r?.(err);
+    }
+    /** Stop the read stream (used on close AND on unexpected loss). */
+    finishStream() {
+        if (this.ended)
+            return;
+        this.ended = true;
+        this.waiter?.();
+    }
+    /** Unexpected loss: end the stream and fire disconnect (never on explicit close). */
+    fail(err) {
+        this.streamError ??= err;
+        this.finishStream();
+        if (this.closing || this.disconnected)
+            return;
+        this.disconnected = true;
+        const cbs = this.disconnectCbs;
+        this.disconnectCbs = [];
+        cbs.forEach((cb) => cb());
+    }
+}
+const defaultFetch = (input, init) => globalThis.fetch(input, init);
+/**
+ * Probe `GET /api/health`. Resolves to the health object when the origin is a
+ * standalone backend, or `null` on any failure / when it is the plain online
+ * viewer (so a bare `await backendHealth()` is a safe standalone check).
+ */
+export async function backendHealth(baseUrl = "", fetchImpl = defaultFetch) {
+    try {
+        const res = await fetchImpl(apiUrl(baseUrl, "/api/health"), {
+            headers: { accept: "application/json" },
+        });
+        if (!res.ok)
+            return null;
+        const j = (await res.json());
+        if (j && j.standalone === true)
+            return { standalone: true, version: String(j.version ?? "") };
+        return null;
+    }
+    catch {
+        return null;
+    }
+}
+/** `GET /api/devices` → the device list (throws on a non-2xx / network error). */
+export async function listBackendDevices(baseUrl = "", fetchImpl = defaultFetch) {
+    const res = await fetchImpl(apiUrl(baseUrl, "/api/devices"), {
+        headers: { accept: "application/json" },
+    });
+    if (!res.ok)
+        throw new Error(`GET /api/devices → HTTP ${res.status}`);
+    const j = (await res.json());
+    return Array.isArray(j?.devices) ? j.devices : [];
+}
+/** `GET /api/permissions` → OS serial-access diagnostics, or `null` on failure. */
+export async function backendPermissions(baseUrl = "", fetchImpl = defaultFetch) {
+    try {
+        const res = await fetchImpl(apiUrl(baseUrl, "/api/permissions"), {
+            headers: { accept: "application/json" },
+        });
+        if (!res.ok)
+            return null;
+        return (await res.json());
+    }
+    catch {
+        return null;
+    }
+}
+// ── URL builders ──────────────────────────────────────────────────────────────
+function resolveOrigin(baseUrl) {
+    if (baseUrl)
+        return baseUrl;
+    const loc = globalThis.location;
+    if (loc?.origin)
+        return loc.origin;
+    throw new Error("WsBackendTransport: an explicit baseUrl is required outside a browser");
+}
+function apiUrl(baseUrl, path) {
+    return new URL(path, resolveOrigin(baseUrl)).toString();
+}
+function wsSerialUrl(baseUrl, path, baud) {
+    const u = new URL("/ws/serial", resolveOrigin(baseUrl));
+    u.protocol = u.protocol === "https:" ? "wss:" : "ws:";
+    u.searchParams.set("path", path);
+    u.searchParams.set("baud", String(baud));
+    return u.toString();
+}
+function toBytes(data) {
+    if (data instanceof Uint8Array)
+        return data;
+    if (data instanceof ArrayBuffer)
+        return new Uint8Array(data);
+    if (ArrayBuffer.isView(data)) {
+        const v = data;
+        return new Uint8Array(v.buffer, v.byteOffset, v.byteLength);
+    }
+    return new Uint8Array(0);
+}
+//# sourceMappingURL=ws-backend.js.map

package/dist/transport/ws-backend.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@depz/sensor-sdk",
-  "version": "0.1.0",
-  "description": "TypeScript SDK for the DEPZ USB sensor line (SR04, VL53L8, BNO086) — WebSerial + Node",
+  "version": "0.1.2",
+  "description": "TypeScript SDK for the DEPZ USB sensor line (SR04, VL53L8CX/CH, BNO086) — WebSerial + Node",
   "type": "module",
   "license": "MIT",
   "sideEffects": false,
@@ -55,7 +55,9 @@
     "prepublishOnly": "npm run build",
     "test": "vitest run",
     "typecheck": "tsc --noEmit",
-    "docs": "typedoc --out docs/.api-md && node scripts/merge-api-md.mjs docs/.api-md docs/api.md",
+    "docs": "npm run docs:root && npm run docs:sensors",
+    "docs:root": "typedoc --out docs/.api-md && node scripts/merge-api-md.mjs docs/.api-md docs/api.md",
+    "docs:sensors": "node scripts/gen-sensor-api-md.mjs",
     "docs:json": "typedoc --json docs/api.json --out docs/.api-json && node -e \"require('node:fs').rmSync('docs/.api-json',{recursive:true,force:true})\""
   },
   "peerDependencies": {