@depz/sensor-sdk 0.4.1 → 0.4.2

package/dist/dataset.d.ts

@@ -4,7 +4,16 @@
  * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
  */
 import { type DepzDevice } from "./device/device.js";
+import type { Report as Bno086Report } from "./sensors/bno086/reports.js";
 export declare const DATASET_SCHEMA = "depz.dataset/2";
+/**
+ * One BNO086 report as its contract 09 `bno086` record value: snake_case, only
+ * the fields the report carries — quaternion / vector components, accuracy,
+ * uncalibrated bias, gyro-integrated angular velocity, detector and classifier
+ * outputs, and the integer counts of the raw ADC streams. Shared by the SDK
+ * recorder and the viewer's, so both write the same record.
+ */
+export declare function bno086RecordValue(r: Bno086Report): Record<string, unknown>;
 export interface DatasetDeviceMeta {
     serial?: string;
     sensor_type?: 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,EAAa,KAAK,UAAU,EAAE,MAAM,oBAAoB,CAAC;AAGhE,OAAO,KAAK,EAAE,MAAM,IAAI,YAAY,EAAE,MAAM,6BAA6B,CAAC;AAO1E,eAAO,MAAM,cAAc,mBAAmB,CAAC;AA0B/C;;;;;;GAMG;AACH,wBAAgB,iBAAiB,CAAC,CAAC,EAAE,YAAY,GAAG,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CA6B1E;AAED,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;IAqGZ,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

@@ -12,6 +12,70 @@ import { Vl53l4cd } from "./sensors/vl53l4/vl53l4.js";
 import { Vl53l8cx } from "./sensors/vl53l8/vl53l8.js";
 import { Vl53lx } from "./sensors/vl53lx/vl53lx.js";
 export const DATASET_SCHEMA = "depz.dataset/2";
+/** Report field → record key, for the scalar fields contract 09 `bno086` keeps. */
+const BNO086_RECORD_KEYS = [
+    ["i", "i"],
+    ["j", "j"],
+    ["k", "k"],
+    ["real", "real"],
+    ["x", "x"],
+    ["y", "y"],
+    ["z", "z"],
+    ["accuracyRad", "accuracy_rad"],
+    ["accuracy", "accuracy"],
+    ["steps", "steps"],
+    ["latencyUs", "latency_us"],
+    ["flags", "flags"],
+    ["doubleTap", "double_tap"],
+    ["motion", "motion"],
+    ["classification", "classification"],
+    ["mostLikelyState", "most_likely_state"],
+    ["value", "value"],
+];
+/** The raw ADC streams (0x14..0x16): only these keep their integer counts. */
+const BNO086_RAW_IDS = new Set([0x14, 0x15, 0x16]);
+/**
+ * One BNO086 report as its contract 09 `bno086` record value: snake_case, only
+ * the fields the report carries — quaternion / vector components, accuracy,
+ * uncalibrated bias, gyro-integrated angular velocity, detector and classifier
+ * outputs, and the integer counts of the raw ADC streams. Shared by the SDK
+ * recorder and the viewer's, so both write the same record.
+ */
+export function bno086RecordValue(r) {
+    const f = r;
+    const v = { type: r.type, sensor_id: r.sensorId };
+    for (const [key, out] of BNO086_RECORD_KEYS) {
+        const val = f[key];
+        if (typeof val === "number" || typeof val === "boolean")
+            v[out] = val;
+    }
+    for (const [key, out] of [
+        ["bias", "bias"],
+        ["angularVelocity", "angular_velocity"],
+        ["confidences", "confidences"],
+    ]) {
+        const val = f[key];
+        if (Array.isArray(val))
+            v[out] = [...val];
+    }
+    if (r.type === "GenericEvent")
+        v.value_raw = r.valueRaw;
+    if (BNO086_RAW_IDS.has(r.sensorId)) {
+        for (const [key, out] of [
+            ["xRaw", "x_raw"],
+            ["yRaw", "y_raw"],
+            ["zRaw", "z_raw"],
+            ["temperatureRaw", "temperature_raw"],
+            ["sensorTimestampUs", "sensor_timestamp_us"],
+        ]) {
+            if (typeof f[key] === "number")
+                v[out] = f[key];
+        }
+    }
+    if (typeof r.timestampUs === "bigint")
+        v.timestamp_us = Number(r.timestampUs);
+    return v;
+}
 /** Accumulates a dataset in memory; `dump()` gives the JSONL file content. */
 export class DatasetWriter {
     header;
@@ -159,15 +223,7 @@ export class DatasetRecorder {
             // must stay monotonic per device); the device time rides along as
             // `timestamp_us`.
             return dev.onReport((r) => {
-                const f = r;
-                const v = { type: r.type, sensor_id: r.sensorId };
-                const keys = { i: "i", j: "j", k: "k", real: "real", x: "x", y: "y", z: "z", accuracy_rad: "accuracyRad" };
-                for (const [out, key] of Object.entries(keys)) {
-                    if (typeof f[key] === "number")
-                        v[out] = f[key];
-                }
-                v.timestamp_us = Number(r.timestampUs);
-                writer.write(entry.id, Number(hostNowUs()), "bno086", v);
+                writer.write(entry.id, Number(hostNowUs()), "bno086", bno086RecordValue(r));
             });
         }
         // VL53L8CX/CH and the VL53L5CX/L7CX/L7CH subclasses.

package/dist/dataset.js.map

@@ -1 +1 @@
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package/dist/index.d.ts

@@ -43,7 +43,7 @@ export { VL53L0X } from "./sensors/vl53lx/uld/l0x.js";
 export { VL53L1 } from "./sensors/vl53lx/uld/l1.js";
 export { VL53L3 } from "./sensors/vl53lx/uld/l3.js";
 export { VL53L4 } from "./sensors/vl53lx/uld/l4.js";
-export { driverFor as vl53lxDriverFor, driverKinds as vl53lxDriverKinds, productFromBoardName as vl53lxProductFromBoardName, } from "./sensors/vl53lx/uld/registry.js";
+export { driverFor as vl53lxDriverFor, driverKinds as vl53lxDriverKinds, productFromBoardName as vl53lxProductFromBoardName, product as vl53lxProduct, } from "./sensors/vl53lx/uld/registry.js";
 export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, I2C_VARIANTS, MODULE_TYPE_MZ, MODULE_TYPE_MZEVO, MODULE_TYPE_MZPLUS, MODULE_TYPE_NAMES, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
 export type { DetectionThreshold, MotionResult, Vl53l8Platform, Vl53l8Results, } from "./sensors/vl53l8/uld.js";
 export { CNH_BIN_WIDTH_MM, CNH_MAX_DATA_BYTES, CnhConfig, CnhConfigError, MI_CFG_DEV_IDX, decode as decodeCnh, maxBins as cnhMaxBins, } from "./sensors/vl53l8/cnh.js";
@@ -57,7 +57,7 @@ export * from "./sensors/bno086/bno086.js";
 export * from "./sensors/bno055/regs.js";
 export * from "./sensors/bno055/bno055.js";
 export { RECORDING_SCHEMA, RecordingTransport, ReplayTransport } from "./transport/replay.js";
-export { DATASET_SCHEMA, DatasetPlayer, DatasetReader, DatasetRecorder, DatasetWriter, } from "./dataset.js";
+export { DATASET_SCHEMA, DatasetPlayer, DatasetReader, DatasetRecorder, DatasetWriter, bno086RecordValue, } from "./dataset.js";
 export type { DatasetDeviceMeta, DatasetHeader, DatasetRecord, PlayerState, } from "./dataset.js";
 export type { SerialTransport, SerialTransportInfo } from "./transport/types.js";
 export { LoopbackTransport } from "./transport/loopback.js";

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","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,OAAO,EACL,eAAe,IAAI,sBAAsB,EACzC,aAAa,IAAI,oBAAoB,EACrC,eAAe,IAAI,sBAAsB,EACzC,SAAS,EACT,SAAS,EACT,QAAQ,IAAI,eAAe,EAC3B,SAAS,IAAI,gBAAgB,EAC7B,QAAQ,IAAI,eAAe,EAC3B,WAAW,IAAI,kBAAkB,EACjC,WAAW,IAAI,iBAAiB,EAChC,eAAe,IAAI,qBAAqB,EACxC,eAAe,IAAI,qBAAqB,EACxC,YAAY,IAAI,kBAAkB,EAClC,SAAS,IAAI,eAAe,EAC5B,UAAU,IAAI,gBAAgB,EAC9B,aAAa,IAAI,mBAAmB,EACpC,YAAY,IAAI,kBAAkB,GACnC,MAAM,sBAAsB,CAAC;AAC9B,YAAY,EAAE,UAAU,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,sBAAsB,CAAC;AACxF,cAAc,sBAAsB,CAAC;AACrC,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;AACxB,YAAY,EACV,UAAU,EACV,YAAY,EACZ,WAAW,EACX,iBAAiB,EACjB,UAAU,EACV,gBAAgB,GACjB,MAAM,gBAAgB,CAAC;AACxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAC5C,YAAY,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAClD,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAC5B,YAAY,EACV,WAAW,EACX,aAAa,EACb,OAAO,EACP,cAAc,EACd,QAAQ,GACT,MAAM,oBAAoB,CAAC;AAC5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACzC,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,WAAW,EACX,iBAAiB,EACjB,aAAa,GACd,MAAM,4BAA4B,CAAC;AACpC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,OAAO,EACL,+BAA+B,EAC/B,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AACpC,YAAY,EAAE,WAAW,EAAE,MAAM,4BAA4B,CAAC;AAC9D,OAAO,EACL,kBAAkB,EAClB,uBAAuB,EACvB,mBAAmB,EACnB,eAAe,EACf,OAAO,EACP,QAAQ,EACR,QAAQ,EACR,QAAQ,EACR,QAAQ,EACR,MAAM,EACN,aAAa,EACb,aAAa,EACb,kBAAkB,GACnB,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,kBAAkB,EAClB,sBAAsB,EACtB,iBAAiB,EACjB,aAAa,EACb,iBAAiB,GAClB,MAAM,4BAA4B,CAAC;AACpC,OAAO,EACL,cAAc,IAAI,oBAAoB,EACtC,YAAY,IAAI,kBAAkB,GACnC,MAAM,8BAA8B,CAAC;AACtC,YAAY,EACV,WAAW,IAAI,uBAAuB,EACtC,MAAM,IAAI,YAAY,GACvB,MAAM,8BAA8B,CAAC;AACtC,OAAO,EACL,aAAa,IAAI,mBAAmB,EACpC,SAAS,IAAI,WAAW,GACzB,MAAM,8BAA8B,CAAC;AACtC,YAAY,EAAE,YAAY,IAAI,kBAAkB,EAAE,MAAM,8BAA8B,CAAC;AACvF,OAAO,EACL,cAAc,IAAI,qBAAqB,EACvC,aAAa,IAAI,oBAAoB,EACrC,YAAY,IAAI,mBAAmB,EACnC,cAAc,IAAI,qBAAqB,EACvC,oBAAoB,IAAI,2BAA2B,EACnD,mBAAmB,IAAI,0BAA0B,EACjD,cAAc,IAAI,qBAAqB,EACvC,aAAa,IAAI,oBAAoB,EACrC,cAAc,IAAI,oBAAoB,EACtC,kBAAkB,IAAI,wBAAwB,EAC9C,YAAY,IAAI,kBAAkB,GACnC,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,SAAS,IAAI,eAAe,EAC5B,YAAY,IAAI,kBAAkB,EAClC,MAAM,IAAI,YAAY,GACvB,MAAM,4BAA4B,CAAC;AACpC,OAAO,EAAE,OAAO,EAAE,MAAM,6BAA6B,CAAC;AACtD,OAAO,EAAE,MAAM,EAAE,MAAM,4BAA4B,CAAC;AACpD,OAAO,EAAE,MAAM,EAAE,MAAM,4BAA4B,CAAC;AACpD,OAAO,EAAE,MAAM,EAAE,MAAM,4BAA4B,CAAC;AACpD,OAAO,EACL,SAAS,IAAI,eAAe,EAC5B,WAAW,IAAI,iBAAiB,EAChC,oBAAoB,IAAI,0BAA0B,EAClD,OAAO,IAAI,aAAa,GACzB,MAAM,kCAAkC,CAAC;AAC1C,OAAO,EACL,eAAe,EACf,WAAW,EACX,aAAa,EACb,YAAY,EACZ,cAAc,EACd,iBAAiB,EACjB,kBAAkB,EAClB,iBAAiB,EACjB,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;AACjC,YAAY,EACV,kBAAkB,EAClB,YAAY,EACZ,cAAc,EACd,aAAa,GACd,MAAM,yBAAyB,CAAC;AACjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AACjC,YAAY,EAAE,YAAY,EAAE,UAAU,EAAE,MAAM,yBAAyB,CAAC;AACxE,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAC9D,YAAY,EAAE,YAAY,EAAE,aAAa,EAAE,MAAM,kCAAkC,CAAC;AACpF,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,0BAA0B,CAAC;AACzC,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,EACb,iBAAiB,GAClB,MAAM,cAAc,CAAC;AACtB,YAAY,EACV,iBAAiB,EACjB,aAAa,EACb,aAAa,EACb,WAAW,GACZ,MAAM,cAAc,CAAC;AACtB,YAAY,EAAE,eAAe,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AACjF,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAClC,YAAY,EAAE,iBAAiB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC;AACnC,YAAY,EACV,aAAa,EACb,aAAa,EACb,kBAAkB,EAClB,aAAa,EACb,yBAAyB,GAC1B,MAAM,2BAA2B,CAAC"}

package/dist/index.js

@@ -32,7 +32,7 @@ export { VL53L0X } from "./sensors/vl53lx/uld/l0x.js";
 export { VL53L1 } from "./sensors/vl53lx/uld/l1.js";
 export { VL53L3 } from "./sensors/vl53lx/uld/l3.js";
 export { VL53L4 } from "./sensors/vl53lx/uld/l4.js";
-export { driverFor as vl53lxDriverFor, driverKinds as vl53lxDriverKinds, productFromBoardName as vl53lxProductFromBoardName, } from "./sensors/vl53lx/uld/registry.js";
+export { driverFor as vl53lxDriverFor, driverKinds as vl53lxDriverKinds, productFromBoardName as vl53lxProductFromBoardName, product as vl53lxProduct, } from "./sensors/vl53lx/uld/registry.js";
 export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, I2C_VARIANTS, MODULE_TYPE_MZ, MODULE_TYPE_MZEVO, MODULE_TYPE_MZPLUS, MODULE_TYPE_NAMES, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
 export { CNH_BIN_WIDTH_MM, CNH_MAX_DATA_BYTES, CnhConfig, CnhConfigError, MI_CFG_DEV_IDX, decode as decodeCnh, maxBins as cnhMaxBins, } from "./sensors/vl53l8/cnh.js";
 export { loadAssets } from "./sensors/vl53l8/assets/index.js";
@@ -43,7 +43,7 @@ export * from "./sensors/bno086/bno086.js";
 export * from "./sensors/bno055/regs.js";
 export * from "./sensors/bno055/bno055.js";
 export { RECORDING_SCHEMA, RecordingTransport, ReplayTransport } from "./transport/replay.js";
-export { DATASET_SCHEMA, DatasetPlayer, DatasetReader, DatasetRecorder, DatasetWriter, } from "./dataset.js";
+export { DATASET_SCHEMA, DatasetPlayer, DatasetReader, DatasetRecorder, DatasetWriter, bno086RecordValue, } 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";

package/dist/index.js.map

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

@@ -118,8 +118,16 @@ export declare class Bno086 extends DepzDevice {
     wake(): Promise<void>;
     /** Raw SHTP channel-0 advertisement bytes seen since open/reset. */
     get advertisement(): Uint8Array;
-    /** Product ID Request/Response round trip (first responding subsystem). */
+    /** The SH-2 application's Product ID — the first of `productIds()`. */
     productId(timeoutMs?: number): Promise<ProductId>;
+    /**
+     * Product ID Request → every component's response, in the sensor's order
+     * (the SH-2 application first). Collects until no response came for
+     * `settleMs`, so the late ones can't answer the next request (they arrive in
+     * a second cargo; taking only the first once returned the bootloader's
+     * version on a back-to-back call).
+     */
+    productIds(timeoutMs?: number, settleMs?: number): Promise<ProductId[]>;
     /**
      * Enable `sensor` at the requested rate via Set Feature (0xFD).
      *

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

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

@@ -13,7 +13,7 @@ import { DepzDevice, StreamQueue } from "../../device/device.js";
 import { BusyError, DepzError, DepzTimeoutError } from "../../errors.js";
 import { BUSY_BACKOFF_MS, Bno086Cmd, Bno086Rpt, unpackBno086Data, } from "../../protocol/bno086.js";
 import { SensorId, parseGyroRvCargo, parseInputCargo } from "./reports.js";
-import { ControlReport, ErrorSource, FrsReadSession, FrsWriteSession, ME_CAL_GET, METADATA_RECORDS, Sh2Command, Sh2Error, TareAxis, TareBasis, buildCommandRequest, buildGetFeatureRequest, buildProductIdRequest, buildSetFeature, countsClearParams, countsGetParams, errorRecordFromResponse, errorsParams, meCalibrationParams, periodicDcdParams, persistTareParams, sensorMetadataFromWords, setReorientationParams, tareNowParams, unpackCommandResponse, unpackFeatureResponse, unpackFrsReadResponse, unpackFrsWriteResponse, unpackProductId, } from "./sh2.js";
+import { ControlReport, ErrorSource, FrsReadSession, FrsWriteSession, ME_CAL_GET, METADATA_RECORDS, Sh2Command, Sh2Error, TareAxis, TareBasis, buildCommandRequest, buildGetFeatureRequest, buildProductIdRequest, buildSetFeature, splitControlCargo, countsClearParams, countsGetParams, errorRecordFromResponse, errorsParams, meCalibrationParams, periodicDcdParams, persistTareParams, sensorMetadataFromWords, setReorientationParams, tareNowParams, unpackCommandResponse, unpackFeatureResponse, unpackFrsReadResponse, unpackFrsWriteResponse, unpackProductId, } from "./sh2.js";
 import { ShtpChannel, ShtpLayer } from "./shtp.js";
 // Rate verification bounds (contract 05 §7): the hub grants a grid rate; a
 // result outside [0.9, 2.1]× the requested rate is worth a warning, never an
@@ -110,15 +110,16 @@ export class Bno086 extends DepzDevice {
                 }
                 return;
             case ShtpChannel.Control: {
-                if (cargo.payload.length === 0)
-                    return;
-                const rid = cargo.payload[0];
-                if (rid === ControlReport.GetFeatureResponse && cargo.payload.length >= 17) {
-                    const resp = unpackFeatureResponse(cargo.payload);
-                    this.features.set(resp.sensorId, resp);
-                }
-                for (const waiter of [...(this.controlWaiters.get(rid) ?? [])]) {
-                    waiter(cargo.payload.slice());
+                // One cargo may hold several responses back to back.
+                for (const report of splitControlCargo(cargo.payload)) {
+                    const rid = report[0];
+                    if (rid === ControlReport.GetFeatureResponse && report.length >= 17) {
+                        const resp = unpackFeatureResponse(report);
+                        this.features.set(resp.sensorId, resp);
+                    }
+                    for (const waiter of [...(this.controlWaiters.get(rid) ?? [])]) {
+                        waiter(report.slice());
+                    }
                 }
                 return;
             }
@@ -318,9 +319,31 @@ export class Bno086 extends DepzDevice {
         return out;
     }
     // ── SH-2: identification & features ──────────────────────────────────────
-    /** Product ID Request/Response round trip (first responding subsystem). */
-    productId(timeoutMs = CONTROL_TIMEOUT_MS) {
-        return this.controlRequest(buildProductIdRequest(), ControlReport.ProductIdResponse, unpackProductId, undefined, timeoutMs);
+    /** The SH-2 application's Product ID — the first of `productIds()`. */
+    async productId(timeoutMs = CONTROL_TIMEOUT_MS) {
+        return (await this.productIds(timeoutMs))[0];
+    }
+    /**
+     * Product ID Request → every component's response, in the sensor's order
+     * (the SH-2 application first). Collects until no response came for
+     * `settleMs`, so the late ones can't answer the next request (they arrive in
+     * a second cargo; taking only the first once returned the bootloader's
+     * version on a back-to-back call).
+     */
+    productIds(timeoutMs = CONTROL_TIMEOUT_MS, settleMs = 150) {
+        const out = [];
+        let settle;
+        return this.controlExchange(ControlReport.ProductIdResponse, timeoutMs + settleMs, (raw, finish, fail) => {
+            try {
+                out.push(unpackProductId(raw));
+            }
+            catch (err) {
+                fail(err instanceof Error ? err : new DepzError(String(err)));
+                return;
+            }
+            clearTimeout(settle);
+            settle = setTimeout(() => finish(out), settleMs);
+        }, () => this.sendShtp(ShtpChannel.Control, buildProductIdRequest())).finally(() => clearTimeout(settle));
     }
     /**
      * Enable `sensor` at the requested rate via Set Feature (0xFD).

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

@@ -1 +1 @@
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package/dist/sensors/bno086/sh2.d.ts

@@ -26,6 +26,18 @@ export declare enum ControlReport {
     SetFeatureCommand = 253,
     GetFeatureRequest = 254
 }
+/**
+ * Fixed lengths of the sensor→host control reports (contract 05 §6). One
+ * control cargo may carry several back to back — the Product ID Response comes
+ * once per software component (a BNO085 sends four, split over two cargos).
+ */
+export declare const CONTROL_RESPONSE_LENGTHS: ReadonlyMap<number, number>;
+/**
+ * Split a control-channel cargo into its reports. An unknown report ID (or a
+ * short tail) ends the walk: the rest is returned as one piece, since its
+ * length is unknowable.
+ */
+export declare function splitControlCargo(payload: Uint8Array): Uint8Array[];
 /** `command` field of Command Request/Response (0xF2/0xF1). */
 export declare enum Sh2Command {
     Errors = 1,
@@ -120,7 +132,9 @@ export declare function unpackFeatureResponse(payload: Uint8Array): FeatureRespo
 export declare function buildProductIdRequest(): Uint8Array;
 /**
  * Product ID Response (0xF8), 16 bytes. The sensor sends one response per
- * subsystem (typically 2); resetCause per SH-2 §6.4.5.2.
+ * software component (a BNO085 sends four: the SH-2 application first, then
+ * the bootloader and two support components); resetCause per SH-2 §6.4.5.2,
+ * set on the first only.
  */
 export interface ProductId {
     resetCause: number;

package/dist/sensors/bno086/sh2.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/bno086/sh2.js

@@ -27,6 +27,37 @@ export var ControlReport;
     ControlReport[ControlReport["SetFeatureCommand"] = 253] = "SetFeatureCommand";
     ControlReport[ControlReport["GetFeatureRequest"] = 254] = "GetFeatureRequest";
 })(ControlReport || (ControlReport = {}));
+/**
+ * Fixed lengths of the sensor→host control reports (contract 05 §6). One
+ * control cargo may carry several back to back — the Product ID Response comes
+ * once per software component (a BNO085 sends four, split over two cargos).
+ */
+export const CONTROL_RESPONSE_LENGTHS = new Map([
+    [ControlReport.CommandResponse, 16],
+    [ControlReport.FrsReadResponse, 16],
+    [ControlReport.FrsWriteResponse, 4],
+    [ControlReport.ProductIdResponse, 16],
+    [ControlReport.GetFeatureResponse, 17],
+]);
+/**
+ * Split a control-channel cargo into its reports. An unknown report ID (or a
+ * short tail) ends the walk: the rest is returned as one piece, since its
+ * length is unknowable.
+ */
+export function splitControlCargo(payload) {
+    const out = [];
+    let pos = 0;
+    while (pos < payload.length) {
+        const n = CONTROL_RESPONSE_LENGTHS.get(payload[pos]);
+        if (n === undefined || pos + n > payload.length) {
+            out.push(payload.slice(pos));
+            break;
+        }
+        out.push(payload.slice(pos, pos + n));
+        pos += n;
+    }
+    return out;
+}
 /** `command` field of Command Request/Response (0xF2/0xF1). */
 export var Sh2Command;
 (function (Sh2Command) {

package/dist/sensors/bno086/sh2.js.map

@@ -1 +1 @@
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package/dist/sensors/vl53l4/uld.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"uld.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l4/uld.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAEH,eAAO,MAAM,WAAW,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAgB,CAAC;AAGnF,eAAO,MAAM,UAAU,IAAS,CAAC;AACjC,eAAO,MAAM,yBAAyB,IAAS,CAAC;AAChD,+BAA+B;AAC/B,eAAO,MAAM,aAAa,IAAS,CAAC;AACpC,eAAO,MAAM,qCAAqC,IAAS,CAAC;AAC5D,eAAO,MAAM,uBAAuB,KAAS,CAAC;AAC9C,eAAO,MAAM,2BAA2B,KAAS,CAAC;AAClD,eAAO,MAAM,2BAA2B,KAAS,CAAC;AAClD,eAAO,MAAM,eAAe,KAAS,CAAC;AACtC,eAAO,MAAM,eAAe,KAAS,CAAC;AACtC,eAAO,MAAM,eAAe,KAAS,CAAC;AACtC,eAAO,MAAM,iBAAiB,KAAS,CAAC;AACxC,eAAO,MAAM,mBAAmB,KAAS,CAAC;AAC1C,eAAO,MAAM,iBAAiB,KAAS,CAAC;AACxC,eAAO,MAAM,cAAc,KAAS,CAAC;AACrC,eAAO,MAAM,cAAc,KAAS,CAAC;AACrC,eAAO,MAAM,0BAA0B,MAAS,CAAC;AACjD,eAAO,MAAM,6BAA6B,MAAS,CAAC;AACpD,eAAO,MAAM,mBAAmB,MAAS,CAAC;AAC1C,eAAO,MAAM,WAAW,MAAS,CAAC;AAClC,eAAO,MAAM,UAAU,MAAS,CAAC;AACjC,eAAO,MAAM,uBAAuB,MAAS,CAAC;AAC9C,eAAO,MAAM,YAAY,MAAS,CAAC;AACnC,eAAO,MAAM,oBAAoB,MAAS,CAAC;AAC3C,eAAO,MAAM,eAAe,MAAS,CAAC;AACtC,eAAO,MAAM,mBAAmB,MAAS,CAAC;AAC1C,eAAO,MAAM,oBAAoB,MAAS,CAAC;AAC3C,eAAO,MAAM,aAAa,MAAS,CAAC;AACpC,eAAO,MAAM,gBAAgB,MAAS,CAAC;AACvC,eAAO,MAAM,yBAAyB,MAAS,CAAC;AAChD,eAAO,MAAM,uBAAuB,MAAS,CAAC;AAC9C,eAAO,MAAM,wBAAwB,MAAS,CAAC;AAE/C,eAAO,MAAM,iBAAiB,QAAS,CAAC;AAGxC,eAAO,MAAM,YAAY,IAAI,CAAC;AAC9B,eAAO,MAAM,YAAY,IAAI,CAAC;AAC9B,eAAO,MAAM,UAAU,IAAI,CAAC;AAC5B,eAAO,MAAM,SAAS,IAAI,CAAC;AAE3B,eAAO,MAAM,WAAW,KAAS,CAAC;AAClC,eAAO,MAAM,UAAU,MAAS,CAAC;AAEjC;;;;;;;GAOG;AAEH,eAAO,MAAM,qBAAqB,EAAE,UAalC,CAAC;AAEH,eAAO,MAAM,eAAe,KAAO,CAAC;AAIpC,eAAO,MAAM,iBAAiB,MAAuB,CAAC;AACtD,eAAO,MAAM,gBAAgB,KAAK,CAAC;AAKnC,eAAO,MAAM,YAAY,MAAM,CAAC;AAChC,eAAO,MAAM,eAAe,OAAO,CAAC;AAEpC,8EAA8E;AAE9E,eAAO,MAAM,UAAU,EAAE,SAAS,MAAM,EAIvC,CAAC;AAEF,0CAA0C;AAC1C,eAAO,MAAM,kBAAkB,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAe/D,CAAC;AAEF,qBAAa,aAAc,SAAQ,KAAK;gBAC1B,OAAO,CAAC,EAAE,MAAM;CAI7B;AAED,mDAAmD;AACnD,MAAM,WAAW,cAAc;IAC7B,OAAO,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,UAAU,CAAC,CAAC;IACzD,OAAO,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;IACvD,WAAW,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;IACxC,OAAO,CAAC,EAAE,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;CACpC;AAED,kEAAkE;AAClE,MAAM,WAAW,aAAa;IAC5B,sCAAsC;IACtC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE,MAAM,CAAC;IACnB,eAAe,EAAE,MAAM,CAAC;IACxB,kBAAkB,EAAE,MAAM,CAAC;IAC3B,cAAc,EAAE,MAAM,CAAC;IACvB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,YAAY,EAAE,MAAM,CAAC;IACrB,OAAO,EAAE,MAAM,CAAC;IAChB;;;;OAIG;IACH,WAAW,EAAE,MAAM,CAAC;CACrB;AAED,sDAAsD;AACtD,wBAAgB,eAAe,CAAC,WAAW,EAAE,MAAM,GAAG,MAAM,CAE3D;AAWD;;;;GAIG;AACH,wBAAgB,gBAAgB,CAAC,GAAG,EAAE,UAAU,GAAG,aAAa,CAyB/D;AAED;;;GAGG;AACH,wBAAgB,WAAW,IAAI,UAAU,CAIxC;AAED,qCAAqC;AACrC,MAAM,WAAW,oBAAoB;IACnC,YAAY,EAAE,MAAM,CAAC;IACrB,YAAY,EAAE,MAAM,CAAC;IACrB,qCAAqC;IACrC,mBAAmB,EAAE,MAAM,CAAC;CAC7B;AAED;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAClC,cAAc,EAAE,MAAM,EACtB,kBAAkB,EAAE,MAAM,EAC1B,YAAY,EAAE,MAAM,EACpB,QAAQ,SAAI,GACX,oBAAoB,CAqCtB;AAED,oCAAoC;AACpC,MAAM,WAAW,WAAW;IAC1B,cAAc,EAAE,MAAM,CAAC;IACvB,kBAAkB,EAAE,MAAM,CAAC;CAC5B;AAED;;;;;;GAMG;AACH,wBAAgB,iBAAiB,CAC/B,mBAAmB,EAAE,MAAM,EAC3B,QAAQ,EAAE,MAAM,EAChB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,GACnB,WAAW,CAkBb;AAID,6EAA6E;AAC7E,wBAAgB,SAAS,CAAC,QAAQ,EAAE,MAAM,GAAG,MAAM,CAElD;AAED,4DAA4D;AAC5D,wBAAgB,YAAY,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAGpD;AAED,iDAAiD;AACjD,wBAAgB,QAAQ,CAAC,SAAS,EAAE,MAAM,GAAG,MAAM,CAElD;AAED,qDAAqD;AACrD,wBAAgB,WAAW,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAEnD;AAED,wBAAgB,kBAAkB,CAAC,UAAU,EAAE,MAAM,GAAG,MAAM,CAE7D;AAED,wBAAgB,qBAAqB,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAE7D;AAED,wBAAgB,iBAAiB,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAKzD;AAED,wBAAgB,oBAAoB,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAE5D;AAaD,mEAAmE;AACnE,qBAAa,QAAQ;IACP,QAAQ,CAAC,CAAC,EAAE,cAAc;gBAAjB,CAAC,EAAE,cAAc;IAIhC,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAIrC,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAKrC,OAAO,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAKtC,MAAM,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAIlD,MAAM,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAIlD,OAAO,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IASzD,WAAW,IAAI,OAAO,CAAC,MAAM,CAAC;IAIxB,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IAM3B,QAAQ,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAQ/C;;;;;;;OAOG;IACG,UAAU,CAAC,MAAM,GAAE,MAAwB,GAAG,OAAO,CAAC,IAAI,CAAC;IAwB3D,cAAc,IAAI,OAAO,CAAC,IAAI,CAAC;IAI/B,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAM7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAI5B,iBAAiB,IAAI,OAAO,CAAC,OAAO,CAAC;IAKrC,aAAa,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAQpD;;;OAGG;IACG,SAAS,IAAI,OAAO,CAAC,aAAa,CAAC;IAMnC,cAAc,CAAC,cAAc,EAAE,MAAM,EAAE,kBAAkB,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAajF,cAAc,IAAI,OAAO,CAAC,WAAW,CAAC;IAWtC,SAAS,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAM1C,SAAS,IAAI,OAAO,CAAC,MAAM,CAAC;IAM5B,QAAQ,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAM1C,QAAQ,IAAI,OAAO,CAAC,MAAM,CAAC;IAM3B,sBAAsB,CAC1B,aAAa,EAAE,MAAM,EACrB,cAAc,EAAE,MAAM,EACtB,MAAM,EAAE,MAAM,GACb,OAAO,CAAC,IAAI,CAAC;IAMV,sBAAsB,IA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package/dist/sensors/vl53l4/uld.js

@@ -253,7 +253,7 @@ export function xtalkRaw(xtalkKcps) {
 }
 /** getXtalk: XTALK_PLANE_OFFSET_KCPS word → kcps. */
 export function decodeXtalk(rawWord) {
-    return roundHalfEven(rawWord / 512.0);
+    return roundHalfAway(rawWord / 512.0);
 }
 export function signalThresholdRaw(signalKcps) {
     return signalKcps >> 3;
@@ -271,12 +271,16 @@ export function decodeSigmaThreshold(rawWord) {
     return rawWord >> 2;
 }
 /**
- * Python's banker's rounding (`round()`): exact .5 goes to the nearest even
- * integer. Keeps the codecs bit-identical to the reference.
+ * C's `round()`: an exact .5 goes away from zero, as ST's ULD rounds xtalk
+ * (`Math.round()` sends -2.5 to -2, Python's `round()` sends 0.5 to 0).
  */
-function roundHalfEven(x) {
-    const r = Math.round(x);
-    return Math.abs(x % 1) === 0.5 && r % 2 !== 0 ? r - 1 : r;
+function roundHalfAway(x) {
+    const t = Math.trunc(x);
+    if (x - t >= 0.5)
+        return t + 1;
+    if (x - t <= -0.5)
+        return t - 1;
+    return t;
 }
 /** Port of VL53L4CD_api.c + VL53L4CD_calibration.c (ULD 2.2.3). */
 export class VL53L4CD {
@@ -498,7 +502,7 @@ export class VL53L4CD {
             throw new Vl53l4cdError(`xtalk calibration failed: ${tmpXtalk.toFixed(1)} kcps > 127`);
         }
         await this.wrWord(XTALK_PLANE_OFFSET_KCPS, Math.trunc(tmpXtalk * 512.0) & 0xffff);
-        return roundHalfEven(tmpXtalk);
+        return roundHalfAway(tmpXtalk);
     }
 }
 //# sourceMappingURL=uld.js.map

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

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/arith.d.ts

@@ -18,6 +18,11 @@ export declare function shr(a: number, n: number): number;
 export declare function shl(a: number, n: number): number;
 /** Python `round(x)`: half to even. */
 export declare function pyRound(x: number): number;
+/**
+ * C's `round()`: an exact .5 goes away from zero. ST's ULD rounds xtalk this
+ * way; Python's `round()` and JS's `Math.round()` don't (0.5 → 0, -2.5 → -2).
+ */
+export declare function roundHalfAway(x: number): number;
 /** Big-endian unsigned integer of `b[start:end]`. */
 export declare function beUint(b: Uint8Array, start: number, end: number): number;
 //# sourceMappingURL=arith.d.ts.map

package/dist/sensors/vl53lx/uld/arith.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"arith.d.ts","sourceRoot":"","sources":["../../../../src/sensors/vl53lx/uld/arith.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAIH,iFAAiF;AACjF,wBAAgB,GAAG,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED,wCAAwC;AACxC,wBAAgB,QAAQ,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAErD;AAED,8DAA8D;AAC9D,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,4CAA4C;AAC5C,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,uCAAuC;AACvC,wBAAgB,OAAO,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED,qDAAqD;AACrD,wBAAgB,MAAM,CAAC,CAAC,EAAE,UAAU,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAIxE"}
+{"version":3,"file":"arith.d.ts","sourceRoot":"","sources":["../../../../src/sensors/vl53lx/uld/arith.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAIH,iFAAiF;AACjF,wBAAgB,GAAG,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED,wCAAwC;AACxC,wBAAgB,QAAQ,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAErD;AAED,8DAA8D;AAC9D,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,4CAA4C;AAC5C,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,uCAAuC;AACvC,wBAAgB,OAAO,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED;;;GAGG;AACH,wBAAgB,aAAa,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAK/C;AAED,qDAAqD;AACrD,wBAAgB,MAAM,CAAC,CAAC,EAAE,UAAU,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAIxE"}

package/dist/sensors/vl53lx/uld/arith.js

@@ -32,6 +32,18 @@ export function pyRound(x) {
         return 2 * Math.round(x / 2);
     return Math.round(x);
 }
+/**
+ * C's `round()`: an exact .5 goes away from zero. ST's ULD rounds xtalk this
+ * way; Python's `round()` and JS's `Math.round()` don't (0.5 → 0, -2.5 → -2).
+ */
+export function roundHalfAway(x) {
+    const t = Math.trunc(x);
+    if (x - t >= 0.5)
+        return t + 1;
+    if (x - t <= -0.5)
+        return t - 1;
+    return t;
+}
 /** Big-endian unsigned integer of `b[start:end]`. */
 export function beUint(b, start, end) {
     let v = 0;

package/dist/sensors/vl53lx/uld/arith.js.map

@@ -1 +1 @@
-{"version":3,"file":"arith.js","sourceRoot":"","sources":["../../../../src/sensors/vl53lx/uld/arith.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,MAAM,KAAK,GAAG,UAAU,CAAC;AAEzB,iFAAiF;AACjF,MAAM,UAAU,GAAG,CAAC,KAAa;IAC/B,MAAM,CAAC,GAAG,KAAK,GAAG,KAAK,CAAC;IACxB,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAC/B,CAAC;AAED,wCAAwC;AACxC,MAAM,UAAU,QAAQ,CAAC,CAAS,EAAE,CAAS;IAC3C,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;AAC3B,CAAC;AAED,8DAA8D;AAC9D,MAAM,UAAU,GAAG,CAAC,CAAS,EAAE,CAAS;IACtC,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;AAChC,CAAC;AAED,4CAA4C;AAC5C,MAAM,UAAU,GAAG,CAAC,CAAS,EAAE,CAAS;IACtC,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;AACpB,CAAC;AAED,uCAAuC;AACvC,MAAM,UAAU,OAAO,CAAC,CAAS;IAC/B,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,KAAK,GAAG;QAAE,OAAO,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IAC1D,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC;AACvB,CAAC;AAED,qDAAqD;AACrD,MAAM,UAAU,MAAM,CAAC,CAAa,EAAE,KAAa,EAAE,GAAW;IAC9D,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,KAAK,IAAI,CAAC,GAAG,KAAK,EAAE,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE;QAAE,CAAC,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,CAAC,CAAC,CAAE,CAAC;IACtD,OAAO,CAAC,CAAC;AACX,CAAC"}
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package/dist/sensors/vl53lx/uld/l1.js

@@ -9,7 +9,7 @@
  * in kcps (the register's own unit), unlike ST's L1X wrapper.
  */
 import { Vl53Error } from "./link.js";
-import { floorDiv, pyRound } from "./arith.js";
+import { floorDiv, roundHalfAway } from "./arith.js";
 import { CONFIG_ADDR, CONFIG_END, INNER_OFFSET_MM, INTERMEASUREMENT_MS, OUTER_OFFSET_MM, PHASECAL_CONFIG__TIMEOUT_MACROP, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, RANGE_CONFIG__VALID_PHASE_HIGH, RANGE_CONFIG__VCSEL_PERIOD_A, RANGE_CONFIG__VCSEL_PERIOD_B, RANGE_OFFSET_MM, RESULT__OSC_CALIBRATE_VAL, SD_CONFIG__INITIAL_PHASE_SD0, SD_CONFIG__WOI_SD0, SYSTEM__INTERRUPT_CONFIG_GPIO, SYSTEM__MODE_START, THRESH_HIGH, THRESH_LOW, VL53L1Die, XTALK_PLANE_OFFSET_KCPS, } from "./vl53l1-die.js";
 export const L1_ULD_VERSION = [3, 5, 5];
 /** VL51L1X_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
@@ -250,7 +250,7 @@ export class VL53L1 extends VL53L1Die {
         let calXtalk = Math.trunc((512 * (avgSignal * (1 - avgDistance / targetDistMm))) / avgSpadNb);
         calXtalk = Math.min(Math.max(calXtalk, 0), 0xffff);
         await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, calXtalk);
-        return pyRound(calXtalk / 512.0);
+        return roundHalfAway(calXtalk / 512.0);
     }
 }
 function sum(xs) {

package/dist/sensors/vl53lx/uld/l1.js.map

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package/dist/sensors/vl53lx/uld/l4.js

@@ -5,7 +5,7 @@
  * init and its two calibrations; the die body lives in `vl53l1-die.ts`.
  */
 import { Vl53Error } from "./link.js";
-import { floorDiv, pyRound } from "./arith.js";
+import { floorDiv, roundHalfAway } from "./arith.js";
 import { CONFIG_ADDR, CONFIG_END, INNER_OFFSET_MM, OUTER_OFFSET_MM, RANGE_OFFSET_MM, VL53L1Die, XTALK_PLANE_OFFSET_KCPS, } from "./vl53l1-die.js";
 export const L4_ULD_VERSION = [2, 2, 3, 0];
 /** VL53L4CD_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
@@ -83,7 +83,7 @@ export class VL53L4 extends VL53L1Die {
             throw new Vl53Error(`xtalk calibration failed: ${tmpXtalk.toFixed(1)} kcps > 127`);
         }
         await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, Math.trunc(tmpXtalk * 512.0) & 0xffff);
-        return pyRound(tmpXtalk);
+        return roundHalfAway(tmpXtalk);
     }
 }
 function sum(xs) {

package/dist/sensors/vl53lx/uld/l4.js.map

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/vl53l1-die.js

@@ -14,7 +14,7 @@
  */
 import { I2C_KHZ_BOOT, ProtocolError, Vl53Error } from "./link.js";
 import { measurement, SensorDriver } from "./base.js";
-import { beUint, floorDiv, pyRound, u32 } from "./arith.js";
+import { beUint, floorDiv, roundHalfAway, u32 } from "./arith.js";
 export const SOFT_RESET = 0x0000;
 export const I2C_SLAVE__DEVICE_ADDRESS = 0x0001;
 export const OSC_FREQUENCY = 0x0006;
@@ -402,7 +402,7 @@ export class VL53L1Die extends SensorDriver {
         await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, (xtalkKcps << 9) & 0xffff);
     }
     async getXtalk() {
-        return pyRound((await this.p.rdWord(XTALK_PLANE_OFFSET_KCPS)) / 512.0);
+        return roundHalfAway((await this.p.rdWord(XTALK_PLANE_OFFSET_KCPS)) / 512.0);
     }
     // ── ROI (VL53L1X_SetROI / VL53L3CX_ULP_SetROI, the same registers) ──
     /** An X by Y window of SPADs, 4..16 each way. */

package/dist/sensors/vl53lx/uld/vl53l1-die.js.map

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

@@ -1,6 +1,6 @@
 {
   "name": "@depz/sensor-sdk",
-  "version": "0.4.1",
+  "version": "0.4.2",
   "description": "TypeScript SDK for the DEPZ USB sensor line (SR04, VL53L0X/L1CX/L1CB/L3CX/L4CD/L4CX, VL53L5CX/L7CX/L7CH/L8CX/L8CH, BNO086, BNO055) — WebSerial + Node",
   "type": "module",
   "license": "MIT",