@depz/sensor-sdk 0.1.0

package/dist/sensors/vl53l8/vl53l8.js

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+/**
+ * VL53L8CX/CH ToF sensor: host-side ULD over the firmware register bridge.
+ *
+ * The MCU is a thin SPI bridge (contracts/04): the full ST ULD driver runs
+ * here on the host (`uld.ts`). Frame streaming is INT-driven push from the
+ * device, reassembled from ≤1528-byte chunks.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.vl53l8.Vl53l8`.
+ */
+import { DepzDevice, StreamQueue } from "../../device/device.js";
+import { DepzError, DepzTimeoutError } from "../../errors.js";
+import { CHUNK_SIZE, FrameReassembler, Vl53l8Cmd, Vl53l8Rpt, packReadReg, packStartStream, packWriteReg, unpackFrameChunk, unpackRegData, } from "../../protocol/vl53l8.js";
+import { loadAssets } from "./assets/index.js";
+import { MI_CFG_DEV_IDX } from "./cnh.js";
+import { RESOLUTION_4X4, RESOLUTION_8X8, VL53L8CX, Vl53l8cxError, readDeviceRevisionId, } from "./uld.js";
+/** Below this the sensor never streams (contract 04). */
+export const MIN_RANGING_FREQUENCY_HZ = 2;
+/** Zone array reshaped to (4,4) or (8,8) — mirror of Vl53l8Frame.grid(). */
+export function zoneGrid(arr, resolution) {
+    const side = resolution === RESOLUTION_4X4 ? 4 : 8;
+    const rows = [];
+    for (let r = 0; r < side; r++) {
+        const row = [];
+        for (let c = 0; c < side; c++)
+            row.push(arr[r * side + c] ?? 0);
+        rows.push(row);
+    }
+    return rows;
+}
+/**
+ * VL53L8CX ToF device: `init()` downloads the ~84 KB sensor firmware (takes a
+ * few seconds over CDC), then configure and `startRanging()`.
+ *
+ * This is the base class for both silicon variants. The VL53L8CH superset
+ * (compact-network-histogram output) lives in `Vl53l8Ch`, which inherits every
+ * method here. All configuration methods require `init()` first and must not
+ * be called while ranging (the ULD talks to the current register bank; the
+ * stream owns it — contract 04).
+ */
+export class Vl53l8Cx extends DepzDevice {
+    /** Sensor-firmware blob variant this class loads. */
+    variantId = "cx";
+    uldDriver = null;
+    reassembler = new FrameReassembler();
+    frameCbs = [];
+    frameQueues = [];
+    rangingFlag = false;
+    cnhConfig = null;
+    writeProgressCb = null;
+    resolution = RESOLUTION_4X4; // ULD default after init
+    sleepImpl;
+    /** ULD `platform` object mapped onto the firmware register bridge. */
+    platform = {
+        rdMulti: async (addr, size) => {
+            const out = new Uint8Array(size);
+            let off = 0;
+            while (size > 0) {
+                const n = Math.min(size, CHUNK_SIZE);
+                const rep = await this.request(Vl53l8Cmd.ReadReg, packReadReg(addr, n), {
+                    matcher: DepzDevice.expectReport(Vl53l8Rpt.RegData, unpackRegData),
+                    timeoutMs: 2000,
+                });
+                if (rep.data.length !== n) {
+                    throw new DepzError(`READ_REG 0x${addr.toString(16).toUpperCase().padStart(4, "0")}: ` +
+                        `expected ${n}, got ${rep.data.length}`);
+                }
+                out.set(rep.data, off);
+                off += n;
+                addr += n;
+                size -= n;
+            }
+            return out;
+        },
+        wrMulti: async (addr, data) => {
+            let done = 0;
+            while (done < data.length) {
+                const chunk = data.subarray(done, done + CHUNK_SIZE);
+                await this.request(Vl53l8Cmd.WriteReg, packWriteReg(addr, chunk), {
+                    okCompletes: true,
+                    timeoutMs: 2000,
+                });
+                addr += chunk.length;
+                done += chunk.length;
+                if (this.writeProgressCb !== null && data.length > CHUNK_SIZE) {
+                    this.writeProgressCb(done, data.length);
+                }
+            }
+        },
+        sleepMs: (ms) => this.sleepImpl(ms),
+    };
+    constructor(transport, opts) {
+        super(transport, opts);
+        this.sleepImpl = opts?.sleepImpl ?? ((ms) => new Promise((r) => setTimeout(r, ms)));
+    }
+    // ── lifecycle ──────────────────────────────────────────────────────────────
+    /** The underlying ULD driver (escape hatch for advanced DCI access). */
+    get uld() {
+        if (this.uldDriver === null)
+            throw new DepzError("call init() first");
+        return this.uldDriver;
+    }
+    /** 'cx' | 'ch' (valid after init()). */
+    get variant() {
+        return this.uld.variant;
+    }
+    async isAlive() {
+        try {
+            await readDeviceRevisionId(this.platform);
+            return true;
+        }
+        catch (err) {
+            if (err instanceof Vl53l8cxError || err instanceof DepzError)
+                return false;
+            throw err;
+        }
+    }
+    /**
+     * Initialize the sensor: firmware blob download + default config.
+     *
+     * The blob variant is fixed by the class (`Vl53l8Cx` → 'cx', `Vl53l8Ch` →
+     * 'ch'); `variant` is accepted only for backward compatibility and must
+     * match the class variant when given. Assets are loaded lazily (dynamic
+     * import) so the blobs stay out of bundles that never init the ToF.
+     */
+    async init(variant, opts) {
+        if (variant !== undefined && variant !== this.variantId) {
+            throw new DepzError(`${this.constructor.name} loads the '${this.variantId}' firmware blob; ` +
+                "use Vl53l8Ch for 'ch'");
+        }
+        const assets = await loadAssets(this.variantId);
+        this.writeProgressCb = opts?.writeProgress ?? null;
+        try {
+            const driver = new VL53L8CX(this.platform, assets, this.variantId);
+            await driver.init(opts?.progress);
+            this.uldDriver = driver;
+        }
+        finally {
+            this.writeProgressCb = null;
+        }
+    }
+    // ── configuration (init() first; not while ranging) ─────────────────────────
+    async getResolution() {
+        this.resolution = await this.uld.getResolution();
+        return this.resolution;
+    }
+    async setResolution(zones) {
+        if (zones !== RESOLUTION_4X4 && zones !== RESOLUTION_8X8) {
+            throw new DepzError("resolution is 16 (4x4) or 64 (8x8) zones");
+        }
+        this.requireNotRanging();
+        await this.uld.setResolution(zones);
+        this.resolution = zones;
+    }
+    getRangingFrequencyHz() {
+        return this.uld.getRangingFrequencyHz();
+    }
+    async setRangingFrequencyHz(hz) {
+        if (hz < MIN_RANGING_FREQUENCY_HZ) {
+            throw new DepzError(`ranging frequency must be >= ${MIN_RANGING_FREQUENCY_HZ} Hz: below that ` +
+                "the sensor never enters its ranging loop and streams nothing (contract 04)");
+        }
+        this.requireNotRanging();
+        await this.uld.setRangingFrequencyHz(hz);
+    }
+    getRangingMode() {
+        return this.uld.getRangingMode();
+    }
+    async setRangingMode(mode) {
+        this.requireNotRanging();
+        await this.uld.setRangingMode(mode);
+    }
+    getIntegrationTimeMs() {
+        return this.uld.getIntegrationTimeMs();
+    }
+    async setIntegrationTimeMs(ms) {
+        this.requireNotRanging();
+        await this.uld.setIntegrationTimeMs(ms);
+    }
+    getSharpenerPercent() {
+        return this.uld.getSharpenerPercent();
+    }
+    async setSharpenerPercent(pct) {
+        this.requireNotRanging();
+        await this.uld.setSharpenerPercent(pct);
+    }
+    getTargetOrder() {
+        return this.uld.getTargetOrder();
+    }
+    async setTargetOrder(order) {
+        this.requireNotRanging();
+        await this.uld.setTargetOrder(order);
+    }
+    // ── advanced features (UM3109; init() first, not while ranging) ─────────────
+    /** POWER_MODE_SLEEP/WAKEUP/DEEP_SLEEP (uld constants). */
+    getPowerMode() {
+        return this.uld.getPowerMode();
+    }
+    /**
+     * Enter sleep / wake / deep-sleep. Not while ranging. Waking from
+     * DEEP_SLEEP re-downloads the firmware blob (init()).
+     */
+    async setPowerMode(mode) {
+        this.requireNotRanging();
+        await this.uld.setPowerMode(mode);
+    }
+    getXtalkMargin() {
+        return this.uld.getXtalkMargin();
+    }
+    async setXtalkMargin(marginKcps) {
+        this.requireNotRanging();
+        await this.uld.setXtalkMargin(marginKcps);
+    }
+    /**
+     * Run on-device crosstalk calibration against a flat target at
+     * `distanceMm` with the given `reflectancePercent` (1..99) averaging
+     * `nbSamples` (1..16). The result is captured into the xtalk buffer; read
+     * it back with getCaldataXtalk(). Blocks several seconds.
+     */
+    async calibrateXtalk(reflectancePercent, nbSamples, distanceMm) {
+        this.requireNotRanging();
+        await this.uld.calibrateXtalk(reflectancePercent, nbSamples, distanceMm);
+    }
+    /** Read back the 776-byte xtalk calibration blob (save/restore). */
+    async getCaldataXtalk() {
+        this.requireNotRanging();
+        return this.uld.getCaldataXtalk();
+    }
+    /** Restore a previously saved 776-byte xtalk calibration blob. */
+    async setCaldataXtalk(blob) {
+        this.requireNotRanging();
+        await this.uld.setCaldataXtalk(blob);
+    }
+    getDetectionThresholdsEnable() {
+        return this.uld.getDetectionThresholdsEnable();
+    }
+    async setDetectionThresholdsEnable(enabled) {
+        this.requireNotRanging();
+        await this.uld.setDetectionThresholdsEnable(enabled);
+    }
+    getDetectionThresholds() {
+        return this.uld.getDetectionThresholds();
+    }
+    /**
+     * Program the 64 detection thresholds (interrupt-on-threshold). Each entry
+     * carries lowThresh, highThresh, measurement, type, zoneNum, operation (see
+     * uld THRESH_* constants).
+     */
+    async setDetectionThresholds(thresholds) {
+        this.requireNotRanging();
+        await this.uld.setDetectionThresholds(thresholds);
+    }
+    async setDetectionThresholdsAutoStop(autoStop) {
+        this.requireNotRanging();
+        await this.uld.setDetectionThresholdsAutoStop(autoStop);
+    }
+    /**
+     * Enable the motion indicator over [distanceMinMm, distanceMaxMm] and
+     * surface motion output in each frame's `.motion`. Returns the underlying
+     * uld MotionConfig for advanced tuning.
+     */
+    async configureMotionIndicator(distanceMinMm = 400, distanceMaxMm = 1500) {
+        this.requireNotRanging();
+        const resolution = await this.getResolution();
+        const cfg = await this.uld.motionIndicatorInit(resolution);
+        await this.uld.motionIndicatorSetDistanceMotion(cfg, distanceMinMm, distanceMaxMm);
+        return cfg;
+    }
+    // ── ranging ──────────────────────────────────────────────────────────────────
+    /** Configure the output list, start the sensor and the MCU stream. */
+    async startRanging() {
+        this.requireNotRanging();
+        const cnhSize = this.cnhConfig !== null ? this.cnhConfig.requiredMemory() : null;
+        await this.getResolution(); // refresh the cache used for frame shaping
+        await this.uld.startRanging(cnhSize);
+        const frameSize = this.uld.dataReadSize;
+        this.reassembler = new FrameReassembler();
+        await this.request(Vl53l8Cmd.StartStream, packStartStream(frameSize), {
+            okCompletes: true,
+        });
+        this.rangingFlag = true;
+    }
+    async stopRanging() {
+        if (!this.rangingFlag)
+            return;
+        await this.request(Vl53l8Cmd.StopStream, undefined, { okCompletes: true });
+        this.rangingFlag = false;
+        await this.uld.stopRanging();
+    }
+    get ranging() {
+        return this.rangingFlag;
+    }
+    /** Subscribe to parsed frames (read-pump context; don't block). */
+    onFrame(cb) {
+        this.frameCbs.push(cb);
+        return () => {
+            this.frameCbs = this.frameCbs.filter((c) => c !== cb);
+        };
+    }
+    /**
+     * Async iterator over parsed frames — bounded, drop-oldest (contract 07
+     * §3). Subscribes eagerly at call time — call before or after
+     * startRanging(); it ends when the device closes or the consumer breaks
+     * out of iteration.
+     */
+    frames(maxsize = 8) {
+        const queue = new StreamQueue(maxsize, () => {
+            this.frameQueues = this.frameQueues.filter((q) => q !== queue);
+            deregister();
+        });
+        this.frameQueues.push(queue);
+        const deregister = this.registerStream(queue);
+        return queue;
+    }
+    /** Convenience: wait for the next frame. */
+    async getFrame(timeoutMs = 2000) {
+        const queue = new StreamQueue(1);
+        this.frameQueues.push(queue);
+        // Register for teardown so a disconnect closes the queue promptly (the
+        // wait resolves `done` at once) instead of stalling until the timeout.
+        const deregister = this.registerStream(queue);
+        let timer;
+        try {
+            const result = await Promise.race([
+                queue.next(),
+                new Promise((_, reject) => {
+                    timer = setTimeout(() => reject(new DepzTimeoutError(Vl53l8Rpt.Vl53Frame, timeoutMs)), timeoutMs);
+                }),
+            ]);
+            if (result.done === true)
+                throw new DepzError("device closed");
+            return result.value;
+        }
+        finally {
+            if (timer !== undefined)
+                clearTimeout(timer);
+            this.frameQueues = this.frameQueues.filter((q) => q !== queue);
+            deregister();
+        }
+    }
+    // ── internal ─────────────────────────────────────────────────────────────────
+    requireNotRanging() {
+        if (this.rangingFlag) {
+            throw new DepzError("stopRanging() first — the stream owns the register bank");
+        }
+    }
+    handleReport(pkt) {
+        if (pkt.cmd !== Vl53l8Rpt.Vl53Frame || pkt.payload.length < 12) {
+            return false;
+        }
+        const done = this.reassembler.feed(unpackFrameChunk(pkt.payload));
+        if (done === null)
+            return true;
+        if (this.uldDriver === null)
+            return true;
+        let parsed;
+        try {
+            parsed = this.uldDriver.parseFrame(done.frame);
+        }
+        catch {
+            this.reassembler.discarded += 1;
+            return true;
+        }
+        const frame = this.toFrame(done.timestampUs, parsed);
+        for (const cb of [...this.frameCbs])
+            cb(frame);
+        for (const q of [...this.frameQueues])
+            q.push(frame);
+        return true;
+    }
+    toFrame(timestampUs, parsed) {
+        return {
+            timestampUs,
+            resolution: this.resolution,
+            distanceMm: Int32Array.from(parsed.distanceMm),
+            targetStatus: Uint8Array.from(parsed.targetStatus),
+            nbTargetDetected: Uint8Array.from(parsed.nbTargetDetected),
+            signalPerSpad: Float64Array.from(parsed.signalPerSpad),
+            ambientPerSpad: Float64Array.from(parsed.ambientPerSpad),
+            nbSpadsEnabled: Int32Array.from(parsed.nbSpadsEnabled),
+            rangeSigmaMm: Float64Array.from(parsed.rangeSigmaMm),
+            reflectance: Uint8Array.from(parsed.reflectance),
+            siliconTempDegc: parsed.siliconTempDegc,
+            cnhRaw: parsed.cnhRaw,
+            motion: parsed.motion,
+        };
+    }
+}
+/**
+ * VL53L8CH device: the VL53L8CX superset. Inherits every CX method and adds
+ * Compact-Network-Histogram (CNH) output. `init()` downloads the CH firmware
+ * blob (VL53LMZ ULD 2.0.16). CNH is the reason to run CH firmware: each frame
+ * can additionally carry a per-aggregate distance histogram.
+ */
+export class Vl53l8Ch extends Vl53l8Cx {
+    variantId = "ch";
+    /**
+     * Arm the CNH histogram block for the next startRanging(). CH only — this
+     * method does not exist on Vl53l8Cx.
+     */
+    async configureCnh(config) {
+        this.requireNotRanging();
+        await this.uld.dciWriteData(MI_CFG_DEV_IDX, config.pack());
+        this.cnhConfig = config;
+    }
+}
+/**
+ * Backward-compatible alias: the old flat `Vl53l8` name maps to the CX base
+ * class (the historic default). New code should pick Vl53l8Cx / Vl53l8Ch.
+ */
+export const Vl53l8 = Vl53l8Cx;
+//# sourceMappingURL=vl53l8.js.map

package/dist/sensors/vl53l8/vl53l8.js.map

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package/dist/transport/loopback.d.ts

@@ -0,0 +1,18 @@
+/** In-memory transport pair for tests. */
+import type { SerialTransport, SerialTransportInfo } from "./types.js";
+export declare class LoopbackTransport implements SerialTransport {
+    readonly info: SerialTransportInfo;
+    peer: LoopbackTransport | null;
+    private queue;
+    private waiter;
+    private closed;
+    private disconnectCbs;
+    static pair(): [LoopbackTransport, LoopbackTransport];
+    open(): Promise<void>;
+    write(data: Uint8Array): Promise<void>;
+    private deliver;
+    readable(): AsyncIterableIterator<Uint8Array>;
+    close(): Promise<void>;
+    onDisconnect(cb: () => void): () => void;
+}
+//# sourceMappingURL=loopback.d.ts.map

package/dist/transport/loopback.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"loopback.d.ts","sourceRoot":"","sources":["../../src/transport/loopback.ts"],"names":[],"mappings":"AAAA,0CAA0C;AAE1C,OAAO,KAAK,EAAE,eAAe,EAAE,mBAAmB,EAAE,MAAM,YAAY,CAAC;AAEvE,qBAAa,iBAAkB,YAAW,eAAe;IACvD,QAAQ,CAAC,IAAI,EAAE,mBAAmB,CAAwB;IAC1D,IAAI,EAAE,iBAAiB,GAAG,IAAI,CAAQ;IAEtC,OAAO,CAAC,KAAK,CAAoB;IACjC,OAAO,CAAC,MAAM,CAA6B;IAC3C,OAAO,CAAC,MAAM,CAAS;IACvB,OAAO,CAAC,aAAa,CAAyB;IAE9C,MAAM,CAAC,IAAI,IAAI,CAAC,iBAAiB,EAAE,iBAAiB,CAAC;IAQ/C,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAErB,KAAK,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAK5C,OAAO,CAAC,OAAO;IAKR,QAAQ,IAAI,qBAAqB,CAAC,UAAU,CAAC;IAW9C,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAU5B,YAAY,CAAC,EAAE,EAAE,MAAM,IAAI,GAAG,MAAM,IAAI;CAMzC"}

package/dist/transport/loopback.js

@@ -0,0 +1,53 @@
+/** In-memory transport pair for tests. */
+export class LoopbackTransport {
+    info = { path: "loopback" };
+    peer = null;
+    queue = [];
+    waiter = null;
+    closed = false;
+    disconnectCbs = [];
+    static pair() {
+        const a = new LoopbackTransport();
+        const b = new LoopbackTransport();
+        a.peer = b;
+        b.peer = a;
+        return [a, b];
+    }
+    async open() { }
+    async write(data) {
+        if (this.closed)
+            throw new Error("loopback transport closed");
+        this.peer?.deliver(data.slice());
+    }
+    deliver(data) {
+        this.queue.push(data);
+        this.waiter?.();
+    }
+    async *readable() {
+        for (;;) {
+            while (this.queue.length === 0) {
+                if (this.closed)
+                    return;
+                await new Promise((resolve) => (this.waiter = resolve));
+                this.waiter = null;
+            }
+            yield this.queue.shift();
+        }
+    }
+    async close() {
+        for (const side of [this, this.peer]) {
+            if (side && !side.closed) {
+                side.closed = true;
+                side.waiter?.();
+                side.disconnectCbs.forEach((cb) => cb());
+            }
+        }
+    }
+    onDisconnect(cb) {
+        this.disconnectCbs.push(cb);
+        return () => {
+            this.disconnectCbs = this.disconnectCbs.filter((c) => c !== cb);
+        };
+    }
+}
+//# sourceMappingURL=loopback.js.map

package/dist/transport/loopback.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"loopback.js","sourceRoot":"","sources":["../../src/transport/loopback.ts"],"names":[],"mappings":"AAAA,0CAA0C;AAI1C,MAAM,OAAO,iBAAiB;IACnB,IAAI,GAAwB,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC;IAC1D,IAAI,GAA6B,IAAI,CAAC;IAE9B,KAAK,GAAiB,EAAE,CAAC;IACzB,MAAM,GAAwB,IAAI,CAAC;IACnC,MAAM,GAAG,KAAK,CAAC;IACf,aAAa,GAAsB,EAAE,CAAC;IAE9C,MAAM,CAAC,IAAI;QACT,MAAM,CAAC,GAAG,IAAI,iBAAiB,EAAE,CAAC;QAClC,MAAM,CAAC,GAAG,IAAI,iBAAiB,EAAE,CAAC;QAClC,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC;QACX,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC;QACX,OAAO,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAChB,CAAC;IAED,KAAK,CAAC,IAAI,KAAmB,CAAC;IAE9B,KAAK,CAAC,KAAK,CAAC,IAAgB;QAC1B,IAAI,IAAI,CAAC,MAAM;YAAE,MAAM,IAAI,KAAK,CAAC,2BAA2B,CAAC,CAAC;QAC9D,IAAI,CAAC,IAAI,EAAE,OAAO,CAAC,IAAI,CAAC,KAAK,EAAE,CAAC,CAAC;IACnC,CAAC;IAEO,OAAO,CAAC,IAAgB;QAC9B,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QACtB,IAAI,CAAC,MAAM,EAAE,EAAE,CAAC;IAClB,CAAC;IAED,KAAK,CAAC,CAAC,QAAQ;QACb,SAAS,CAAC;YACR,OAAO,IAAI,CAAC,KAAK,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;gBAC/B,IAAI,IAAI,CAAC,MAAM;oBAAE,OAAO;gBACxB,MAAM,IAAI,OAAO,CAAO,CAAC,OAAO,EAAE,EAAE,CAAC,CAAC,IAAI,CAAC,MAAM,GAAG,OAAO,CAAC,CAAC,CAAC;gBAC9D,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;YACrB,CAAC;YACD,MAAM,IAAI,CAAC,KAAK,CAAC,KAAK,EAAG,CAAC;QAC5B,CAAC;IACH,CAAC;IAED,KAAK,CAAC,KAAK;QACT,KAAK,MAAM,IAAI,IAAI,CAAC,IAAI,EAAE,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC;YACrC,IAAI,IAAI,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;gBACzB,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;gBACnB,IAAI,CAAC,MAAM,EAAE,EAAE,CAAC;gBAChB,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC;YAC3C,CAAC;QACH,CAAC;IACH,CAAC;IAED,YAAY,CAAC,EAAc;QACzB,IAAI,CAAC,aAAa,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;QAC5B,OAAO,GAAG,EAAE;YACV,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,aAAa,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,KAAK,EAAE,CAAC,CAAC;QAClE,CAAC,CAAC;IACJ,CAAC;CACF"}

package/dist/transport/node.d.ts

@@ -0,0 +1,51 @@
+/**
+ * Node.js transport over the optional `serialport` peer dependency.
+ * Import via `@depz/sensor-sdk/node` only — never from the root export, so
+ * browser bundles stay serialport-free.
+ */
+import { type DeviceInfo, type ListOptions, type OpenDeviceOptions, type OpenTarget } from "../discovery.js";
+import type { DepzDevice } from "../device/device.js";
+import type { SerialTransport, SerialTransportInfo } from "./types.js";
+/** Enumerate system serial ports (Node only). */
+export declare function listSerialPorts(): Promise<Array<{
+    path: string;
+    serialNumber?: string;
+    vendorId?: string;
+    productId?: string;
+}>>;
+export declare class NodeSerialTransport implements SerialTransport {
+    private path;
+    readonly info: SerialTransportInfo;
+    private port;
+    private queue;
+    private waiter;
+    private ended;
+    private disconnectCbs;
+    constructor(path: string, serialNumber?: string);
+    open(opts?: {
+        baudRate?: number;
+    }): Promise<void>;
+    private end;
+    write(data: Uint8Array): Promise<void>;
+    readable(): AsyncIterableIterator<Uint8Array>;
+    close(): Promise<void>;
+    onDisconnect(cb: () => void): () => void;
+}
+/**
+ * Enumerate DEPZ devices on the system's serial ports (Node only).
+ *
+ * With `matchUsb` (default) only ports carrying a known DEPZ (vid,pid) are
+ * probed — fast, and it never pokes unrelated ports. Set `matchUsb: false`
+ * for a legacy probe-everything scan.
+ */
+export declare function listDepzDevices(opts?: ListOptions): Promise<DeviceInfo[]>;
+/**
+ * Open the right sensor class for `target` over `serialport` (Node only).
+ *
+ * `target` is a port path (string), a candidate index (number, sorted by USB
+ * iSerial), a `DeviceInfo` from `listDepzDevices()`, or omitted for the
+ * lowest-serial candidate. Throws `NoDepzDeviceError` when nothing matches —
+ * it never grabs an arbitrary system port. See {@link openDeviceFrom}.
+ */
+export declare function openDevice(target?: OpenTarget, opts?: OpenDeviceOptions): Promise<DepzDevice>;
+//# sourceMappingURL=node.d.ts.map

package/dist/transport/node.d.ts.map

@@ -0,0 +1 @@
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