@depz/sensor-sdk 0.2.0 → 0.2.2

package/dist/device/device.d.ts

@@ -112,6 +112,12 @@ export declare class DepzDevice {
     close(): Promise<void>;
     get stats(): LinkStats;
     private handleLinkClosed;
+    /**
+     * Hook for sensor subclasses: reject any subclass-managed in-flight requests
+     * and clear per-connection state when the link closes. Runs once, after the
+     * base `pending` map is failed. Default: no-op.
+     */
+    protected onTeardown(error: Error): void;
     private failAllPending;
     private handleParserEvent;
     private dispatch;

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

@@ -1 +1 @@
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+{"version":3,"file":"device.d.ts","sourceRoot":"","sources":["../../src/device/device.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAUH,OAAO,EAcL,KAAK,aAAa,EACnB,MAAM,uBAAuB,CAAC;AAC/B,OAAO,EAAqB,KAAK,QAAQ,EAAE,MAAM,yBAAyB,CAAC;AAC3E,OAAO,EAAE,OAAO,EAAE,KAAK,WAAW,EAAoB,MAAM,wBAAwB,CAAC;AACrF,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC7D,OAAO,EAAE,QAAQ,EAAE,KAAK,SAAS,EAAE,MAAM,WAAW,CAAC;AAErD,eAAO,MAAM,kBAAkB,MAAM,CAAC;AAItC,6EAA6E;AAC7E,MAAM,MAAM,WAAW,GACnB;IACE,IAAI,EAAE,eAAe,CAAC;IACtB,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,EAAE,MAAM,CAAC;IACpB,oDAAoD;IACpD,gBAAgB,EAAE,OAAO,CAAC;CAC3B,GACD;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;CAAE,GAClD;IAAE,IAAI,EAAE,OAAO,CAAC;IAAC,IAAI,EAAE,UAAU,CAAA;CAAE,GACnC;IAAE,IAAI,EAAE,mBAAmB,CAAC;IAAC,MAAM,EAAE,MAAM,CAAA;CAAE,GAC7C;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,GAC3C;IAAE,IAAI,EAAE,aAAa,CAAC;IAAC,WAAW,EAAE,MAAM,CAAC;IAAC,OAAO,EAAE,MAAM,CAAA;CAAE,GAC7D;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,MAAM,EAAE,MAAM,CAAA;CAAE,CAAC;AAE7C,6EAA6E;AAC7E,MAAM,WAAW,QAAQ;IACvB,QAAQ,EAAE,MAAM,CAAC;IACjB,KAAK,EAAE,MAAM,CAAC;IACd,cAAc,EAAE,MAAM,CAAC;CACxB;AAED,wEAAwE;AACxE,wBAAgB,SAAS,IAAI,MAAM,CAElC;AAID,iDAAiD;AACjD,eAAO,MAAM,QAAQ,EAAE,OAAO,MAAgC,CAAC;AAE/D;;;GAGG;AACH,MAAM,MAAM,OAAO,CAAC,CAAC,IAAI,CAAC,GAAG,EAAE,WAAW,KAAK,CAAC,GAAG,OAAO,QAAQ,CAAC;AAEnE,MAAM,WAAW,cAAc,CAAC,CAAC;IAC/B,0EAA0E;IAC1E,OAAO,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,CAAC;IACrB,oFAAoF;IACpF,WAAW,CAAC,EAAE,OAAO,CAAC;IACtB,SAAS,CAAC,EAAE,MAAM,CAAC;CACpB;AAaD;;;;GAIG;AACH,qBAAa,WAAW,CAAC,CAAC,CAAE,YAAW,qBAAqB,CAAC,CAAC,CAAC;IAC7D,YAAY,SAAK;IAEjB,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAS;IACjC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAA2B;IAClD,OAAO,CAAC,GAAG,CAAW;IACtB,OAAO,CAAC,OAAO,CAA6C;IAC5D,OAAO,CAAC,MAAM,CAAS;gBAEX,OAAO,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,MAAM,IAAI;IAKhD,kEAAkE;IAClE,IAAI,CAAC,IAAI,EAAE,CAAC,GAAG,IAAI;IAcnB,wEAAwE;IACxE,KAAK,IAAI,IAAI;IAQb,IAAI,IAAI,OAAO,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC;IAOlC,MAAM,IAAI,OAAO,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC;IAMpC,CAAC,MAAM,CAAC,aAAa,CAAC,IAAI,qBAAqB,CAAC,CAAC,CAAC;CAGnD;AAID,MAAM,WAAW,aAAa;IAC5B,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,SAAS,CAAC,EAAE,OAAO,CAAC;CACrB;AAED;;;GAGG;AACH,qBAAa,UAAU;IACrB,SAAS,EAAE,MAAM,CAAC;IAElB,SAAS,CAAC,QAAQ,CAAC,IAAI,EAAE,QAAQ,CAAC;IAClC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAkB;IAC5C,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAqC;IAC7D,OAAO,CAAC,QAAQ,CAAwC;IACxD,OAAO,CAAC,OAAO,CAAgC;IAC/C,OAAO,CAAC,aAAa,CAAyB;IAC9C,OAAO,CAAC,OAAO,CAAS;IACxB,OAAO,CAAC,QAAQ,CAAS;gBAEb,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;IAU5D,kDAAkD;IAC5C,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAKrB,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAK5B,IAAI,KAAK,IAAI,SAAS,CAErB;IAED,OAAO,CAAC,gBAAgB;IAexB;;;;OAIG;IACH,SAAS,CAAC,UAAU,CAAC,KAAK,EAAE,KAAK,GAAG,IAAI;IAIxC,OAAO,CAAC,cAAc;IAWtB,OAAO,CAAC,iBAAiB;IAUzB,OAAO,CAAC,QAAQ;IA0EhB,OAAO,CAAC,MAAM;IAUd;;;;OAIG;IACH,SAAS,CAAC,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;IAKjD,yDAAyD;IACzD,SAAS,CAAC,cAAc,CAAC,MAAM,EAAE;QAAE,KAAK,IAAI,IAAI,CAAA;KAAE,GAAG,MAAM,IAAI;IAS/D;;;OAGG;IACH,OAAO,CAAC,EAAE,EAAE,CAAC,EAAE,EAAE,WAAW,KAAK,IAAI,GAAG,MAAM,IAAI;IAOlD,SAAS,CAAC,SAAS,CAAC,KAAK,EAAE,WAAW,GAAG,IAAI;IAM7C;;;;;;;;;OASG;IACG,OAAO,CAAC,CAAC,GAAG,IAAI,EACpB,GAAG,EAAE,MAAM,EACX,OAAO,GAAE,UAA8B,EACvC,IAAI,GAAE,cAAc,CAAC,CAAC,CAAM,GAC3B,OAAO,CAAC,CAAC,CAAC;IAsCb,oEAAoE;IACpE,MAAM,CAAC,YAAY,CAAC,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,EAAE,CAAC,OAAO,EAAE,UAAU,KAAK,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC;IAIxF,iDAAiD;IACjD,MAAM,CAAC,UAAU,CAAC,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAWtD,aAAa,IAAI,OAAO,CAAC,MAAM,CAAC;IAMhC,eAAe,IAAI,OAAO,CAAC,MAAM,CAAC;IAMlC,eAAe,IAAI,OAAO,CAAC,MAAM,CAAC;IAMlC,sDAAsD;IAChD,QAAQ,IAAI,OAAO,CAAC,QAAQ,CAAC;IAInC,kEAAkE;IAC5D,kBAAkB,IAAI,OAAO,CAAC,MAAM,CAAC;IAO3C,oEAAoE;IAC9D,QAAQ,CAAC,OAAO,SAAI,GAAG,OAAO,CAAC,QAAQ,CAAC;IAiB9C,IAAI,QAAQ,IAAI,QAAQ,GAAG,IAAI,CAE9B;IAED,mEAAmE;IACnE,YAAY,CAAC,UAAU,EAAE,MAAM,GAAG,MAAM;IAKlC,mBAAmB,IAAI,OAAO,CAAC,OAAO,CAAC;IAM7C,wEAAwE;IAClE,mBAAmB,CAAC,OAAO,EAAE,OAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAI1D,UAAU,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,aAAa,CAAC;IAMzC,UAAU,CAAC,MAAM,EAAE,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC;IAItD,kEAAkE;IAC5D,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAI5B;;;;OAIG;IACG,mBAAmB,IAAI,OAAO,CAAC,IAAI,CAAC;CAI3C;AAED;;;;;;;GAOG;AACH,wBAAsB,WAAW,CAC/B,OAAO,EAAE,QAAQ,CAAC,UAAU,CAAC,EAC7B,OAAO,SAAI,GACV,OAAO,CAAC,GAAG,CAAC,UAAU,EAAE,QAAQ,CAAC,CAAC,CAMpC"}

package/dist/device/device.js

@@ -119,16 +119,27 @@ export class DepzDevice {
         if (this.torndown)
             return;
         this.torndown = true;
-        if (this.closing) {
-            this.failAllPending(new LinkClosedError("device closed"));
-        }
-        else {
-            this.failAllPending(new DeviceLostError("transport closed"));
+        const error = this.closing
+            ? new LinkClosedError("device closed")
+            : new DeviceLostError("transport closed");
+        this.failAllPending(error);
+        if (!this.closing)
             this.emitEvent({ type: "disconnected", reason: "transport closed" });
-        }
+        // Let subclasses reject their own in-flight waiters (e.g. BNO086's SH-2
+        // control layer) so a disconnect doesn't leave them hanging until their own
+        // timeout, and clear any per-connection resolver state.
+        this.onTeardown(error);
         for (const s of [...this.streams])
             s.close();
     }
+    /**
+     * Hook for sensor subclasses: reject any subclass-managed in-flight requests
+     * and clear per-connection state when the link closes. Runs once, after the
+     * base `pending` map is failed. Default: no-op.
+     */
+    onTeardown(error) {
+        void error;
+    }
     failAllPending(error) {
         const all = [...this.pending.values()];
         this.pending.clear();
@@ -173,6 +184,18 @@ export class DepzDevice {
             return;
         }
         // Give pending matchers first shot at any non-status packet.
+        //
+        // Correlation is by opcode/report-id only: the device echoes the request
+        // opcode in its reply but NOT the host's TX sequence number (see link.ts
+        // txSeq — nothing carries it back), so a sequence-based matcher is
+        // impossible without firmware support. One consequence: a reply that arrives
+        // *after* its request timed out is indistinguishable from the genuine reply
+        // to a later same-opcode request and could settle it with stale data. The
+        // only retry-in-place path (the viewer's whole-init retry) mitigates this by
+        // pausing before re-issuing — during that quiet gap there is no pending
+        // entry, so a late reply falls through to handleReport/`text` below and is
+        // discarded harmlessly. A timeout should therefore be treated as "the link
+        // may be desynced"; prefer reopening over transparent same-opcode retry.
         for (const p of [...this.pending.values()]) {
             if (p.matcher === null)
                 continue;

package/dist/device/device.js.map

@@ -1 +1 @@
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package/dist/sensors/bno086/bno086.d.ts

@@ -63,11 +63,13 @@ export declare class Bno086 extends DepzDevice {
     private reportCbs;
     private reportQueues;
     private controlWaiters;
+    private controlFails;
     private cmdSeq;
     private resetResolvers;
     private advertisementChunks;
     private features;
     constructor(transport: SerialTransport, opts?: Bno086Options);
+    protected onTeardown(error: Error): void;
     protected handleReport(pkt: PacketEvent): boolean;
     private dispatchCargo;
     private emitReport;

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

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

@@ -56,6 +56,10 @@ export class Bno086 extends DepzDevice {
     reportCbs = [];
     reportQueues = [];
     controlWaiters = new Map();
+    // Parallel registry of the `fail` handle for each in-flight control exchange,
+    // so a link close can reject them all promptly (they are otherwise only
+    // rejected by their own 1-2 s timeout — see onTeardown).
+    controlFails = new Set();
     cmdSeq = 0;
     resetResolvers = [];
     advertisementChunks = [];
@@ -67,6 +71,17 @@ export class Bno086 extends DepzDevice {
         if (opts?.busyBackoffMs !== undefined)
             this.busyBackoffMs = opts.busyBackoffMs;
     }
+    onTeardown(error) {
+        // Reject every in-flight SH-2 control exchange now (each `fail` clears its
+        // own timer + registry entry via cleanup) instead of leaving it to hang the
+        // full control/FRS timeout, and drop reset resolvers so they don't
+        // accumulate across the connection's life.
+        for (const fail of [...this.controlFails])
+            fail(error);
+        this.controlFails.clear();
+        this.controlWaiters.clear();
+        this.resetResolvers.length = 0;
+    }
     // ── RX path ────────────────────────────────────────────────────────────────
     handleReport(pkt) {
         if (pkt.cmd !== Bno086Rpt.Data || pkt.payload.length < 9)
@@ -161,6 +176,7 @@ export class Bno086 extends DepzDevice {
             let settled = false;
             const cleanup = () => {
                 clearTimeout(timer);
+                this.controlFails.delete(fail);
                 const list = this.controlWaiters.get(rid);
                 if (list !== undefined) {
                     this.controlWaiters.set(rid, list.filter((w) => w !== waiter));
@@ -185,6 +201,7 @@ export class Bno086 extends DepzDevice {
             const list = this.controlWaiters.get(rid) ?? [];
             list.push(waiter);
             this.controlWaiters.set(rid, list);
+            this.controlFails.add(fail);
             send().catch((err) => fail(err instanceof Error ? err : new DepzError(String(err))));
         });
     }

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

@@ -1 +1 @@
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package/dist/sensors/reg-bridge.d.ts

@@ -0,0 +1,35 @@
+/**
+ * Chunked register-bridge transfers, shared by every VL53-family driver.
+ *
+ * The ST ULD platform reads/writes registers over the MCU's register bridge in
+ * bounded chunks (2048 B for VL53L8's fast firmware upload, 253 B for VL53L4CD).
+ * Every driver in the family needs the identical chunk loop; keeping one copy
+ * here means a fix (e.g. a timeout tweak) lands for all of them at once instead
+ * of drifting per driver. The per-driver bits — which opcode/report to use, the
+ * chunk size, an optional device-timestamp sink, write-progress reporting — are
+ * passed in as callbacks.
+ */
+export interface ChunkedReadOptions {
+    /** Max bytes per register read. */
+    chunkSize: number;
+    /** Read exactly `n` bytes at `addr` over the bridge (one request). */
+    readChunk: (addr: number, n: number) => Promise<{
+        data: Uint8Array;
+        timestampUs?: bigint;
+    }>;
+    /** Sink for each chunk's device timestamp (VL53L4CD poll-mode measurements). */
+    onTimestamp?: (timestampUs: bigint) => void;
+}
+/** Read `size` bytes from `addr`, chunked; throws `DepzError` on a short reply. */
+export declare function chunkedRead(addr: number, size: number, opts: ChunkedReadOptions): Promise<Uint8Array>;
+export interface ChunkedWriteOptions {
+    /** Max bytes per register write. */
+    chunkSize: number;
+    /** Write one chunk at `addr` over the bridge (one request). */
+    writeChunk: (addr: number, chunk: Uint8Array) => Promise<void>;
+    /** Called after each chunk with cumulative bytes written / total for this call. */
+    onProgress?: (done: number, total: number) => void;
+}
+/** Write `data` to `addr`, chunked. */
+export declare function chunkedWrite(addr: number, data: Uint8Array, opts: ChunkedWriteOptions): Promise<void>;
+//# sourceMappingURL=reg-bridge.d.ts.map

package/dist/sensors/reg-bridge.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"reg-bridge.d.ts","sourceRoot":"","sources":["../../src/sensors/reg-bridge.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAIH,MAAM,WAAW,kBAAkB;IACjC,mCAAmC;IACnC,SAAS,EAAE,MAAM,CAAC;IAClB,sEAAsE;IACtE,SAAS,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK,OAAO,CAAC;QAAE,IAAI,EAAE,UAAU,CAAC;QAAC,WAAW,CAAC,EAAE,MAAM,CAAA;KAAE,CAAC,CAAC;IAC5F,gFAAgF;IAChF,WAAW,CAAC,EAAE,CAAC,WAAW,EAAE,MAAM,KAAK,IAAI,CAAC;CAC7C;AAED,mFAAmF;AACnF,wBAAsB,WAAW,CAC/B,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,kBAAkB,GACvB,OAAO,CAAC,UAAU,CAAC,CAmBrB;AAED,MAAM,WAAW,mBAAmB;IAClC,oCAAoC;IACpC,SAAS,EAAE,MAAM,CAAC;IAClB,+DAA+D;IAC/D,UAAU,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,UAAU,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;IAC/D,mFAAmF;IACnF,UAAU,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;CACpD;AAED,uCAAuC;AACvC,wBAAsB,YAAY,CAChC,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,UAAU,EAChB,IAAI,EAAE,mBAAmB,GACxB,OAAO,CAAC,IAAI,CAAC,CASf"}

package/dist/sensors/reg-bridge.js

@@ -0,0 +1,44 @@
+/**
+ * Chunked register-bridge transfers, shared by every VL53-family driver.
+ *
+ * The ST ULD platform reads/writes registers over the MCU's register bridge in
+ * bounded chunks (2048 B for VL53L8's fast firmware upload, 253 B for VL53L4CD).
+ * Every driver in the family needs the identical chunk loop; keeping one copy
+ * here means a fix (e.g. a timeout tweak) lands for all of them at once instead
+ * of drifting per driver. The per-driver bits — which opcode/report to use, the
+ * chunk size, an optional device-timestamp sink, write-progress reporting — are
+ * passed in as callbacks.
+ */
+import { DepzError } from "../errors.js";
+/** Read `size` bytes from `addr`, chunked; throws `DepzError` on a short reply. */
+export async function chunkedRead(addr, size, opts) {
+    const out = new Uint8Array(size);
+    let off = 0;
+    while (size > 0) {
+        const n = Math.min(size, opts.chunkSize);
+        const rep = await opts.readChunk(addr, n);
+        if (rep.data.length !== n) {
+            throw new DepzError(`READ_REG 0x${addr.toString(16).toUpperCase().padStart(4, "0")}: ` +
+                `expected ${n}, got ${rep.data.length}`);
+        }
+        if (rep.timestampUs !== undefined)
+            opts.onTimestamp?.(rep.timestampUs);
+        out.set(rep.data, off);
+        off += n;
+        addr += n;
+        size -= n;
+    }
+    return out;
+}
+/** Write `data` to `addr`, chunked. */
+export async function chunkedWrite(addr, data, opts) {
+    let done = 0;
+    while (done < data.length) {
+        const chunk = data.subarray(done, done + opts.chunkSize);
+        await opts.writeChunk(addr, chunk);
+        addr += chunk.length;
+        done += chunk.length;
+        opts.onProgress?.(done, data.length);
+    }
+}
+//# sourceMappingURL=reg-bridge.js.map

package/dist/sensors/reg-bridge.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"reg-bridge.js","sourceRoot":"","sources":["../../src/sensors/reg-bridge.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAEH,OAAO,EAAE,SAAS,EAAE,MAAM,cAAc,CAAC;AAWzC,mFAAmF;AACnF,MAAM,CAAC,KAAK,UAAU,WAAW,CAC/B,IAAY,EACZ,IAAY,EACZ,IAAwB;IAExB,MAAM,GAAG,GAAG,IAAI,UAAU,CAAC,IAAI,CAAC,CAAC;IACjC,IAAI,GAAG,GAAG,CAAC,CAAC;IACZ,OAAO,IAAI,GAAG,CAAC,EAAE,CAAC;QAChB,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,SAAS,CAAC,CAAC;QACzC,MAAM,GAAG,GAAG,MAAM,IAAI,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;QAC1C,IAAI,GAAG,CAAC,IAAI,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC1B,MAAM,IAAI,SAAS,CACjB,cAAc,IAAI,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC,WAAW,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,GAAG,CAAC,IAAI;gBAChE,YAAY,CAAC,SAAS,GAAG,CAAC,IAAI,CAAC,MAAM,EAAE,CAC1C,CAAC;QACJ,CAAC;QACD,IAAI,GAAG,CAAC,WAAW,KAAK,SAAS;YAAE,IAAI,CAAC,WAAW,EAAE,CAAC,GAAG,CAAC,WAAW,CAAC,CAAC;QACvE,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;QACvB,GAAG,IAAI,CAAC,CAAC;QACT,IAAI,IAAI,CAAC,CAAC;QACV,IAAI,IAAI,CAAC,CAAC;IACZ,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAWD,uCAAuC;AACvC,MAAM,CAAC,KAAK,UAAU,YAAY,CAChC,IAAY,EACZ,IAAgB,EAChB,IAAyB;IAEzB,IAAI,IAAI,GAAG,CAAC,CAAC;IACb,OAAO,IAAI,GAAG,IAAI,CAAC,MAAM,EAAE,CAAC;QAC1B,MAAM,KAAK,GAAG,IAAI,CAAC,QAAQ,CAAC,IAAI,EAAE,IAAI,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC;QACzD,MAAM,IAAI,CAAC,UAAU,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;QACnC,IAAI,IAAI,KAAK,CAAC,MAAM,CAAC;QACrB,IAAI,IAAI,KAAK,CAAC,MAAM,CAAC;QACrB,IAAI,CAAC,UAAU,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC,MAAM,CAAC,CAAC;IACvC,CAAC;AACH,CAAC"}

package/dist/sensors/vl53l4/vl53l4.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"vl53l4.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l4/vl53l4.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,OAAO,EAAE,UAAU,EAAE,WAAW,EAAE,KAAK,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAErF,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAC7D,OAAO,EAaL,KAAK,UAAU,EAEhB,MAAM,0BAA0B,CAAC;AAClC,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAIL,QAAQ,EAIR,KAAK,WAAW,EAGjB,MAAM,UAAU,CAAC;AAElB,2EAA2E;AAC3E,MAAM,WAAW,iBAAiB;IAChC,yDAAyD;IACzD,WAAW,EAAE,MAAM,CAAC;IACpB,sCAAsC;IACtC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE,MAAM,CAAC;IACnB,OAAO,EAAE,MAAM,CAAC;IAChB,cAAc,EAAE,MAAM,CAAC;IACvB,eAAe,EAAE,MAAM,CAAC;IACxB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,YAAY,EAAE,MAAM,CAAC;IACrB,0CAA0C;IAC1C,WAAW,EAAE,MAAM,CAAC;IACpB,yBAAyB;IACzB,KAAK,EAAE,OAAO,CAAC;IACf,mCAAmC;IACnC,UAAU,EAAE,MAAM,CAAC;CACpB;AAmBD,MAAM,WAAW,aAAc,SAAQ,aAAa;IAClD,8DAA8D;IAC9D,SAAS,CAAC,EAAE,CAAC,EAAE,EAAE,MAAM,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;CAC3C;AAED;;;;;;;;GAQG;AACH,qBAAa,QAAS,SAAQ,UAAU;IACtC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAW;IACrC,OAAO,CAAC,UAAU,CAA6C;IAC/D,OAAO,CAAC,aAAa,CAAwC;IAC7D,OAAO,CAAC,WAAW,CAAS;IAC5B,OAAO,CAAC,eAAe,CAAS;IAChC,OAAO,CAAC,qBAAqB,CAAK;IAClC,0EAA0E;IAC1E,OAAO,CAAC,kBAAkB,CAAM;IAChC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgC;IAE1D,sEAAsE;IACtE,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAwCvB;gBAEU,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;IAQ5D,wEAAwE;IACxE,IAAI,GAAG,IAAI,QAAQ,CAElB;IAED;;;OAGG;IACH,IAAI,WAAW,IAAI,OAAO,CAEzB;IAED,wEAAwE;IAClE,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IASjC;;;;OAIG;IACG,IAAI,CAAC,MAAM,GAAE,MAAwB,GAAG,OAAO,CAAC,IAAI,CAAC;IAQ3D;;;;OAIG;IACG,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAO1C;;;OAGG;IACG,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAMlC;;;;OAIG;IACH,UAAU,IAAI,OAAO,CAAC,UAAU,CAAC;IAMjC;;;;OAIG;IACG,cAAc,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAOhD;;;OAGG;IACH,cAAc,IAAI,OAAO,CAAC,WAAW,CAAC;IAItC;;;;OAIG;IACG,cAAc,CAAC,cAAc,EAAE,MAAM,EAAE,kBAAkB,SAAI,GAAG,OAAO,CAAC,IAAI,CAAC;IAKnF,gDAAgD;IAChD,WAAW,IAAI,OAAO,CAAC,MAAM,CAAC;IAI9B,kEAAkE;IAC5D,WAAW,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKlD,gEAAgE;IAChE,YAAY,IAAI,OAAO,CAAC,MAAM,CAAC;IAI/B,iEAAiE;IAC3D,YAAY,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKpD;;;OAGG;IACH,sBAAsB,IAAI,OAAO,CAAC;QAChC,aAAa,EAAE,MAAM,CAAC;QACtB,cAAc,EAAE,MAAM,CAAC;QACvB,MAAM,EAAE,MAAM,CAAC;KAChB,CAAC;IAIF;;;OAGG;IACG,sBAAsB,CAC1B,aAAa,EAAE,MAAM,EACrB,cAAc,EAAE,MAAM,EACtB,MAAM,EAAE,MAAM,GACb,OAAO,CAAC,IAAI,CAAC;IAKhB,sBAAsB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIzC;;;OAGG;IACG,sBAAsB,CAAC,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAK/D,mBAAmB,IAAI,OAAO,CAAC,MAAM,CAAC;IAItC;;;OAGG;IACG,mBAAmB,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKzD;;;OAGG;IACG,sBAAsB,IAAI,OAAO,CAAC,IAAI,CAAC;IAK7C;;;OAGG;IACG,eAAe,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAK5E;;;OAGG;IACG,cAAc,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAO3E;;;OAGG;IACG,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAW7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAalC,IAAI,OAAO,IAAI,OAAO,CAErB;IAED;;;OAGG;IACG,WAAW,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IAc/D;;;OAGG;IACH,aAAa,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,iBAAiB,KAAK,IAAI,GAAG,MAAM,IAAI;IAO7D;;;;OAIG;IACH,YAAY,CAAC,OAAO,SAAK,GAAG,WAAW,CAAC,iBAAiB,CAAC;IAU1D,2DAA2D;IACrD,cAAc,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IA0BlE;;;OAGG;IACH,IAAI,iBAAiB,IAAI,MAAM,CAE9B;IAED,kEAAkE;IAClE,IAAI,mBAAmB,IAAI,MAAM,EAAE,CAElC;IAID,SAAS,CAAC,iBAAiB,IAAI,IAAI;cAMhB,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;CAmB3D"}
+{"version":3,"file":"vl53l4.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l4/vl53l4.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,OAAO,EAAE,UAAU,EAAE,WAAW,EAAE,KAAK,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAGrF,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAC7D,OAAO,EAaL,KAAK,UAAU,EAEhB,MAAM,0BAA0B,CAAC;AAClC,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAIL,QAAQ,EAIR,KAAK,WAAW,EAGjB,MAAM,UAAU,CAAC;AAElB,2EAA2E;AAC3E,MAAM,WAAW,iBAAiB;IAChC,yDAAyD;IACzD,WAAW,EAAE,MAAM,CAAC;IACpB,sCAAsC;IACtC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE,MAAM,CAAC;IACnB,OAAO,EAAE,MAAM,CAAC;IAChB,cAAc,EAAE,MAAM,CAAC;IACvB,eAAe,EAAE,MAAM,CAAC;IACxB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,YAAY,EAAE,MAAM,CAAC;IACrB,0CAA0C;IAC1C,WAAW,EAAE,MAAM,CAAC;IACpB,yBAAyB;IACzB,KAAK,EAAE,OAAO,CAAC;IACf,mCAAmC;IACnC,UAAU,EAAE,MAAM,CAAC;CACpB;AAmBD,MAAM,WAAW,aAAc,SAAQ,aAAa;IAClD,8DAA8D;IAC9D,SAAS,CAAC,EAAE,CAAC,EAAE,EAAE,MAAM,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;CAC3C;AAED;;;;;;;;GAQG;AACH,qBAAa,QAAS,SAAQ,UAAU;IACtC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAW;IACrC,OAAO,CAAC,UAAU,CAA6C;IAC/D,OAAO,CAAC,aAAa,CAAwC;IAC7D,OAAO,CAAC,WAAW,CAAS;IAC5B,OAAO,CAAC,eAAe,CAAS;IAChC,OAAO,CAAC,qBAAqB,CAAK;IAClC,0EAA0E;IAC1E,OAAO,CAAC,kBAAkB,CAAM;IAChC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgC;IAE1D,sEAAsE;IACtE,OAAO,CAAC,QAAQ,CAAC,QAAQ,CA4BvB;gBAEU,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;IAQ5D,wEAAwE;IACxE,IAAI,GAAG,IAAI,QAAQ,CAElB;IAED;;;OAGG;IACH,IAAI,WAAW,IAAI,OAAO,CAEzB;IAED,wEAAwE;IAClE,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IASjC;;;;OAIG;IACG,IAAI,CAAC,MAAM,GAAE,MAAwB,GAAG,OAAO,CAAC,IAAI,CAAC;IAQ3D;;;;OAIG;IACG,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAO1C;;;OAGG;IACG,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAMlC;;;;OAIG;IACH,UAAU,IAAI,OAAO,CAAC,UAAU,CAAC;IAMjC;;;;OAIG;IACG,cAAc,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAOhD;;;OAGG;IACH,cAAc,IAAI,OAAO,CAAC,WAAW,CAAC;IAItC;;;;OAIG;IACG,cAAc,CAAC,cAAc,EAAE,MAAM,EAAE,kBAAkB,SAAI,GAAG,OAAO,CAAC,IAAI,CAAC;IAKnF,gDAAgD;IAChD,WAAW,IAAI,OAAO,CAAC,MAAM,CAAC;IAI9B,kEAAkE;IAC5D,WAAW,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKlD,gEAAgE;IAChE,YAAY,IAAI,OAAO,CAAC,MAAM,CAAC;IAI/B,iEAAiE;IAC3D,YAAY,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKpD;;;OAGG;IACH,sBAAsB,IAAI,OAAO,CAAC;QAChC,aAAa,EAAE,MAAM,CAAC;QACtB,cAAc,EAAE,MAAM,CAAC;QACvB,MAAM,EAAE,MAAM,CAAC;KAChB,CAAC;IAIF;;;OAGG;IACG,sBAAsB,CAC1B,aAAa,EAAE,MAAM,EACrB,cAAc,EAAE,MAAM,EACtB,MAAM,EAAE,MAAM,GACb,OAAO,CAAC,IAAI,CAAC;IAKhB,sBAAsB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIzC;;;OAGG;IACG,sBAAsB,CAAC,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAK/D,mBAAmB,IAAI,OAAO,CAAC,MAAM,CAAC;IAItC;;;OAGG;IACG,mBAAmB,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKzD;;;OAGG;IACG,sBAAsB,IAAI,OAAO,CAAC,IAAI,CAAC;IAK7C;;;OAGG;IACG,eAAe,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAK5E;;;OAGG;IACG,cAAc,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAO3E;;;OAGG;IACG,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAW7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAalC,IAAI,OAAO,IAAI,OAAO,CAErB;IAED;;;OAGG;IACG,WAAW,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IAc/D;;;OAGG;IACH,aAAa,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,iBAAiB,KAAK,IAAI,GAAG,MAAM,IAAI;IAO7D;;;;OAIG;IACH,YAAY,CAAC,OAAO,SAAK,GAAG,WAAW,CAAC,iBAAiB,CAAC;IAU1D,2DAA2D;IACrD,cAAc,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IA0BlE;;;OAGG;IACH,IAAI,iBAAiB,IAAI,MAAM,CAE9B;IAED,kEAAkE;IAClE,IAAI,mBAAmB,IAAI,MAAM,EAAE,CAElC;IAID,SAAS,CAAC,iBAAiB,IAAI,IAAI;cAMhB,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;CAmB3D"}

package/dist/sensors/vl53l4/vl53l4.js

@@ -10,6 +10,7 @@
  */
 import { DepzDevice, StreamQueue } from "../../device/device.js";
 import { DepzError, DepzTimeoutError } from "../../errors.js";
+import { chunkedRead, chunkedWrite } from "../reg-bridge.js";
 import { Vl53l4Cmd, Vl53l4Rpt, XFER_MAX, XSHUT_RESET, packReadReg, packSetI2cSpeed, packStartStream, packWriteReg, packXshut, unpackInfo, unpackRegData, unpackStream, } from "../../protocol/vl53l4.js";
 import { I2C_KHZ_DEFAULT, RESULT_BLOCK_ADDR, RESULT_BLOCK_LEN, VL53L4CD, Vl53l4cdError, parseResultBlock, rangeStatusText, } from "./uld.js";
 function measurementFromResults(timestampUs, r) {
@@ -49,39 +50,26 @@ export class Vl53l4cd extends DepzDevice {
     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, XFER_MAX);
-                const rep = await this.request(Vl53l4Cmd.ReadReg, packReadReg(addr, n), {
+        rdMulti: (addr, size) => chunkedRead(addr, size, {
+            chunkSize: XFER_MAX,
+            readChunk: async (a, n) => {
+                const rep = await this.request(Vl53l4Cmd.ReadReg, packReadReg(a, n), {
                     matcher: DepzDevice.expectReport(Vl53l4Rpt.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}`);
-                }
-                this.lastRegTimestampUs = rep.timestampUs;
-                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 + XFER_MAX);
-                await this.request(Vl53l4Cmd.WriteReg, packWriteReg(addr, chunk), {
-                    okCompletes: true,
-                    timeoutMs: 2000,
-                });
-                addr += chunk.length;
-                done += chunk.length;
-            }
-        },
+                return { data: rep.data, timestampUs: rep.timestampUs };
+            },
+            onTimestamp: (ts) => {
+                this.lastRegTimestampUs = ts;
+            },
+        }),
+        wrMulti: (addr, data) => chunkedWrite(addr, data, {
+            chunkSize: XFER_MAX,
+            writeChunk: (a, chunk) => this.request(Vl53l4Cmd.WriteReg, packWriteReg(a, chunk), {
+                okCompletes: true,
+                timeoutMs: 2000,
+            }),
+        }),
         setI2cSpeed: async (khz) => {
             await this.request(Vl53l4Cmd.SetI2cSpeed, packSetI2cSpeed(khz), { okCompletes: true });
         },

package/dist/sensors/vl53l4/vl53l4.js.map

@@ -1 +1 @@
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package/dist/sensors/vl53l8/vl53l8.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/vl53l8/vl53l8.js

@@ -9,6 +9,7 @@
  */
 import { DepzDevice, StreamQueue } from "../../device/device.js";
 import { DepzError, DepzTimeoutError } from "../../errors.js";
+import { chunkedRead, chunkedWrite } from "../reg-bridge.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";
@@ -62,44 +63,33 @@ export class Vl53l8cx extends DepzDevice {
     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), {
+        rdMulti: (addr, size) => chunkedRead(addr, size, {
+            chunkSize: CHUNK_SIZE,
+            readChunk: async (a, n) => {
+                const rep = await this.request(Vl53l8Cmd.ReadReg, packReadReg(a, 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;
-        },
+                return { data: rep.data };
+            },
+        }),
         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), {
+            await chunkedWrite(addr, data, {
+                chunkSize: CHUNK_SIZE,
+                writeChunk: (a, chunk) => this.request(Vl53l8Cmd.WriteReg, packWriteReg(a, chunk), {
                     okCompletes: true,
                     timeoutMs: 2000,
-                });
-                addr += chunk.length;
-                done += chunk.length;
-                if (this.writeProgressCb !== null && data.length > CHUNK_SIZE) {
-                    // Report cumulatively across the multi-bank firmware download so the
-                    // bar only advances; fall back to per-write when no campaign is set.
-                    const total = this.fwWriteTotal > 0 ? this.fwWriteTotal : data.length;
-                    const base = this.fwWriteTotal > 0 ? this.fwWriteBase : 0;
-                    this.writeProgressCb(base + done, total);
-                }
-            }
+                }),
+                onProgress: (done, total) => {
+                    if (this.writeProgressCb !== null && total > CHUNK_SIZE) {
+                        // Report cumulatively across the multi-bank firmware download so the
+                        // bar only advances; fall back to per-write when no campaign is set.
+                        const campaignTotal = this.fwWriteTotal > 0 ? this.fwWriteTotal : total;
+                        const base = this.fwWriteTotal > 0 ? this.fwWriteBase : 0;
+                        this.writeProgressCb(base + done, campaignTotal);
+                    }
+                },
+            });
             if (this.fwWriteTotal > 0 && data.length > CHUNK_SIZE) {
                 this.fwWriteBase += data.length;
             }
@@ -305,9 +295,16 @@ export class Vl53l8cx extends DepzDevice {
     async stopRanging() {
         if (!this.rangingFlag)
             return;
-        await this.request(Vl53l8Cmd.StopStream, undefined, { okCompletes: true });
-        this.rangingFlag = false;
-        await this.uld.stopRanging();
+        // Clear host state and stop the sensor even if the MCU STOP_STREAM ack fails
+        // (link hiccup): otherwise the device is wedged "ranging" and no
+        // reconfiguration is possible (mirrors Vl53l4cd.stopRanging).
+        try {
+            await this.request(Vl53l8Cmd.StopStream, undefined, { okCompletes: true });
+        }
+        finally {
+            this.rangingFlag = false;
+            await this.uld.stopRanging();
+        }
     }
     get ranging() {
         return this.rangingFlag;

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

@@ -1 +1 @@
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package/dist/transport/webserial.d.ts

@@ -9,6 +9,7 @@ import type { SerialTransport, SerialTransportInfo } from "./types.js";
 export interface WebSerialPortLike {
     open(options: {
         baudRate: number;
+        bufferSize?: number;
     }): Promise<void>;
     close(): Promise<void>;
     getInfo(): {
@@ -36,12 +37,15 @@ export declare class WebSerialTransport implements SerialTransport {
     private writer;
     private disconnectCbs;
     private disconnectHandler;
+    private readReleased;
     constructor(port: WebSerialPortLike);
     open(opts?: {
         baudRate?: number;
     }): Promise<void>;
     write(data: Uint8Array): Promise<void>;
     readable(): AsyncIterableIterator<Uint8Array>;
+    /** Release the reader lock at most once (see `readReleased`). */
+    private releaseReader;
     close(): Promise<void>;
     onDisconnect(cb: () => void): () => void;
     private fireDisconnect;

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

@@ -1 +1 @@
-{"version":3,"file":"webserial.d.ts","sourceRoot":"","sources":["../../src/transport/webserial.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAEH,OAAO,EAML,KAAK,UAAU,EAEf,KAAK,WAAW,EAChB,KAAK,iBAAiB,EACtB,KAAK,UAAU,EAChB,MAAM,iBAAiB,CAAC;AACzB,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAC;AACtD,OAAO,KAAK,EAAE,eAAe,EAAE,mBAAmB,EAAE,MAAM,YAAY,CAAC;AAGvE,MAAM,WAAW,iBAAiB;IAChC,IAAI,CAAC,OAAO,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAA;KAAE,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;IACnD,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC,CAAC;IACvB,OAAO,IAAI;QAAE,WAAW,CAAC,EAAE,MAAM,CAAC;QAAC,YAAY,CAAC,EAAE,MAAM,CAAA;KAAE,CAAC;IAC3D,QAAQ,EAAE,cAAc,CAAC,UAAU,CAAC,GAAG,IAAI,CAAC;IAC5C,QAAQ,EAAE,cAAc,CAAC,UAAU,CAAC,GAAG,IAAI,CAAC;IAC5C,gBAAgB,CAAC,CAAC,IAAI,EAAE,YAAY,EAAE,EAAE,EAAE,MAAM,IAAI,GAAG,IAAI,CAAC;IAC5D,mBAAmB,CAAC,CAAC,IAAI,EAAE,YAAY,EAAE,EAAE,EAAE,MAAM,IAAI,GAAG,IAAI,CAAC;CAChE;AAaD,oEAAoE;AACpE,wBAAgB,oBAAoB,IAAI,OAAO,CAE9C;AAED,yEAAyE;AACzE,wBAAsB,eAAe,IAAI,OAAO,CAAC,iBAAiB,EAAE,CAAC,CAGpE;AAED;;;GAGG;AACH,wBAAgB,YAAY,CAAC,EAAE,EAAE,CAAC,IAAI,EAAE,iBAAiB,KAAK,IAAI,GAAG,MAAM,IAAI,CAS9E;AAED,qBAAa,kBAAmB,YAAW,eAAe;IAO5C,OAAO,CAAC,IAAI;IANxB,QAAQ,CAAC,IAAI,EAAE,mBAAmB,CAAC;IACnC,OAAO,CAAC,MAAM,CAAwD;IACtE,OAAO,CAAC,MAAM,CAAwD;IACtE,OAAO,CAAC,aAAa,CAAyB;IAC9C,OAAO,CAAC,iBAAiB,CAA6B;gBAElC,IAAI,EAAE,iBAAiB;IAKrC,IAAI,CAAC,IAAI,CAAC,EAAE;QAAE,QAAQ,CAAC,EAAE,MAAM,CAAA;KAAE,GAAG,OAAO,CAAC,IAAI,CAAC;IAQjD,KAAK,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAMrC,QAAQ,IAAI,qBAAqB,CAAC,UAAU,CAAC;IAmB9C,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAqB5B,YAAY,CAAC,EAAE,EAAE,MAAM,IAAI,GAAG,MAAM,IAAI;IAOxC,OAAO,CAAC,cAAc;CAKvB;AAkCD;;;;;;GAMG;AACH,wBAAsB,eAAe,CAAC,IAAI,GAAE,WAAgB,GAAG,OAAO,CAAC,UAAU,EAAE,CAAC,CAQnF;AAED;;;;;;;;;;GAUG;AACH,wBAAsB,UAAU,CAC9B,MAAM,CAAC,EAAE,UAAU,GAAG,iBAAiB,EACvC,IAAI,GAAE,iBAAsB,GAC3B,OAAO,CAAC,UAAU,CAAC,CAiBrB"}
+{"version":3,"file":"webserial.d.ts","sourceRoot":"","sources":["../../src/transport/webserial.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAEH,OAAO,EAML,KAAK,UAAU,EAEf,KAAK,WAAW,EAChB,KAAK,iBAAiB,EACtB,KAAK,UAAU,EAChB,MAAM,iBAAiB,CAAC;AACzB,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAC;AACtD,OAAO,KAAK,EAAE,eAAe,EAAE,mBAAmB,EAAE,MAAM,YAAY,CAAC;AAGvE,MAAM,WAAW,iBAAiB;IAChC,IAAI,CAAC,OAAO,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,UAAU,CAAC,EAAE,MAAM,CAAA;KAAE,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;IACxE,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC,CAAC;IACvB,OAAO,IAAI;QAAE,WAAW,CAAC,EAAE,MAAM,CAAC;QAAC,YAAY,CAAC,EAAE,MAAM,CAAA;KAAE,CAAC;IAC3D,QAAQ,EAAE,cAAc,CAAC,UAAU,CAAC,GAAG,IAAI,CAAC;IAC5C,QAAQ,EAAE,cAAc,CAAC,UAAU,CAAC,GAAG,IAAI,CAAC;IAC5C,gBAAgB,CAAC,CAAC,IAAI,EAAE,YAAY,EAAE,EAAE,EAAE,MAAM,IAAI,GAAG,IAAI,CAAC;IAC5D,mBAAmB,CAAC,CAAC,IAAI,EAAE,YAAY,EAAE,EAAE,EAAE,MAAM,IAAI,GAAG,IAAI,CAAC;CAChE;AAaD,oEAAoE;AACpE,wBAAgB,oBAAoB,IAAI,OAAO,CAE9C;AAED,yEAAyE;AACzE,wBAAsB,eAAe,IAAI,OAAO,CAAC,iBAAiB,EAAE,CAAC,CAGpE;AAED;;;GAGG;AACH,wBAAgB,YAAY,CAAC,EAAE,EAAE,CAAC,IAAI,EAAE,iBAAiB,KAAK,IAAI,GAAG,MAAM,IAAI,CAS9E;AAED,qBAAa,kBAAmB,YAAW,eAAe;IAW5C,OAAO,CAAC,IAAI;IAVxB,QAAQ,CAAC,IAAI,EAAE,mBAAmB,CAAC;IACnC,OAAO,CAAC,MAAM,CAAwD;IACtE,OAAO,CAAC,MAAM,CAAwD;IACtE,OAAO,CAAC,aAAa,CAAyB;IAC9C,OAAO,CAAC,iBAAiB,CAA6B;IAItD,OAAO,CAAC,YAAY,CAAS;gBAET,IAAI,EAAE,iBAAiB;IAKrC,IAAI,CAAC,IAAI,CAAC,EAAE;QAAE,QAAQ,CAAC,EAAE,MAAM,CAAA;KAAE,GAAG,OAAO,CAAC,IAAI,CAAC;IAmBjD,KAAK,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAMrC,QAAQ,IAAI,qBAAqB,CAAC,UAAU,CAAC;IAoBpD,iEAAiE;IACjE,OAAO,CAAC,aAAa;IAYf,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAgC5B,YAAY,CAAC,EAAE,EAAE,MAAM,IAAI,GAAG,MAAM,IAAI;IAOxC,OAAO,CAAC,cAAc;CAKvB;AAkCD;;;;;;GAMG;AACH,wBAAsB,eAAe,CAAC,IAAI,GAAE,WAAgB,GAAG,OAAO,CAAC,UAAU,EAAE,CAAC,CAQnF;AAED;;;;;;;;;;GAUG;AACH,wBAAsB,UAAU,CAC9B,MAAM,CAAC,EAAE,UAAU,GAAG,iBAAiB,EACvC,IAAI,GAAE,iBAAsB,GAC3B,OAAO,CAAC,UAAU,CAAC,CAqBrB"}

package/dist/transport/webserial.js

@@ -40,13 +40,28 @@ export class WebSerialTransport {
     writer = null;
     disconnectCbs = [];
     disconnectHandler = null;
+    // Guards the reader lock against a double release: both the read generator's
+    // `finally` and `close()` may try to release it, and calling releaseLock twice
+    // throws.
+    readReleased = false;
     constructor(port) {
         this.port = port;
         const info = port.getInfo();
         this.info = { usbVendorId: info.usbVendorId, usbProductId: info.usbProductId };
     }
     async open(opts) {
-        await this.port.open({ baudRate: opts?.baudRate ?? 115200 });
+        // Chrome's default read+write Mojo pipe is 255 bytes; our firmware chunks
+        // are 2048, so without a larger bufferSize each chunk drains in ~8 pipe
+        // round-trips — the throughput gap vs pyserial and the bank-3 stall that
+        // pushed init timeouts. 64 KB comfortably fits a whole chunk (+ reads).
+        await this.port.open({ baudRate: opts?.baudRate ?? 115200, bufferSize: 65536 });
+        // Let the freshly-opened CDC-ACM interface settle before the first write.
+        // Chrome resolves port.open() the instant the OS handle is ready, but the
+        // device's USB IN/OUT endpoints need a beat after enumeration; writing
+        // immediately is what made the first command (e.g. VL53L8 WriteReg 0x33)
+        // time out. The pyserial/backend path gets this settle for free via its
+        // "opened" handshake; WebSerial does not, so add it explicitly.
+        await new Promise((r) => setTimeout(r, 150));
         if (this.disconnectHandler === null && this.port.addEventListener) {
             this.disconnectHandler = () => this.fireDisconnect();
             this.port.addEventListener("disconnect", this.disconnectHandler);
@@ -61,10 +76,12 @@ export class WebSerialTransport {
     async *readable() {
         if (!this.port.readable)
             throw new Error("port not readable (closed?)");
-        this.reader = this.port.readable.getReader();
+        const reader = this.port.readable.getReader();
+        this.reader = reader;
+        this.readReleased = false;
         try {
             for (;;) {
-                const { value, done } = await this.reader.read();
+                const { value, done } = await reader.read();
                 if (done)
                     return;
                 if (value && value.length > 0)
@@ -77,16 +94,36 @@ export class WebSerialTransport {
             return;
         }
         finally {
-            this.reader.releaseLock();
-            this.reader = null;
+            this.releaseReader(reader);
         }
     }
-    async close() {
-        try {
-            await this.reader?.cancel();
+    /** Release the reader lock at most once (see `readReleased`). */
+    releaseReader(reader) {
+        if (!this.readReleased) {
+            this.readReleased = true;
+            try {
+                reader.releaseLock();
+            }
+            catch {
+                /* already released */
+            }
         }
-        catch {
-            /* already gone */
+        if (this.reader === reader)
+            this.reader = null;
+    }
+    async close() {
+        const reader = this.reader;
+        if (reader) {
+            try {
+                await reader.cancel();
+            }
+            catch {
+                /* already gone */
+            }
+            // Release the lock here — before port.close() — rather than relying on the
+            // read generator's `finally`, which runs on a task close() doesn't await;
+            // otherwise port.close() can race a still-locked stream and throw.
+            this.releaseReader(reader);
         }
         if (this.writer) {
             try {
@@ -101,7 +138,12 @@ export class WebSerialTransport {
             this.port.removeEventListener?.("disconnect", this.disconnectHandler);
             this.disconnectHandler = null;
         }
-        await this.port.close();
+        try {
+            await this.port.close();
+        }
+        catch {
+            /* already closing / closed */
+        }
     }
     onDisconnect(cb) {
         this.disconnectCbs.push(cb);
@@ -174,7 +216,11 @@ export async function openDevice(target, opts = {}) {
     if (isWebSerialPort(target)) {
         const port = target;
         const usb = port.getInfo();
-        const info = { path: "webserial:direct", usbVid: usb.usbVendorId, usbPid: usb.usbProductId };
+        const info = {
+            path: "webserial:direct",
+            usbVid: usb.usbVendorId,
+            usbPid: usb.usbProductId,
+        };
         const factory = () => new WebSerialTransport(port);
         return openDeviceFrom([info], factory, "webserial:direct", opts);
     }

package/dist/transport/webserial.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@depz/sensor-sdk",
-  "version": "0.2.0",
+  "version": "0.2.2",
   "description": "TypeScript SDK for the DEPZ USB sensor line (SR04, VL53L4CD, VL53L8CX/CH, BNO086) — WebSerial + Node",
   "type": "module",
   "license": "MIT",