@depz/sensor-sdk 0.4.1 → 0.5.0

package/README.md

@@ -5,17 +5,17 @@ across the USB CDC-ACM firmware families that speak one shared framed protocol,
 usable from **the browser (WebSerial)** and **Node (serialport)**:
 
 - **HC-SR04** — ultrasonic distance
-- **VL53L4CD** — single-zone Time-of-Flight (host runs ST ULD 2.2.3)
 - **VL53L0X / VL53L1CX / VL53L1CB / VL53L3CX / VL53L4CX** — the single-zone
   Time-of-Flight family on one I2C register bridge (host runs ST's ULD, ULP or
   histogram Bare Driver, up to four targets per frame)
-- **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
-  `Vl53l8ch` is the `Vl53l8cx` superset, adding Compact-Network-Histogram output
+- **VL53L4CD** — single-zone Time-of-Flight (host runs ST ULD 2.2.3)
 - **VL53L5CX / VL53L7CX / VL53L7CH** — the same 8×8 ULD family on an I2C board;
   `Vl53l7ch` adds streamed Compact-Network-Histogram output
-- **BNO086** — 9-axis IMU (host runs the SH-2 stack)
+- **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
+  `Vl53l8ch` is the `Vl53l8cx` superset, adding Compact-Network-Histogram output
 - **BNO055** — 9-axis IMU with on-chip fusion (host configures it over a
   register bridge)
+- **BNO085 / BNO086** — 9-axis IMU (host runs the SH-2 stack)
 
 Pure ESM, zero runtime dependencies on the browser path (`serialport` is an
 optional peer used only by the `./node` entry). Mirrors the Python

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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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,cAAc,mBAAmB,CAAC;AAClC,cAAc,uBAAuB,CAAC;AACtC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oBAAoB,CAAC;AACnC,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;AAE9B,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;AASxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAE5C,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAQ5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAEzC,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AAMpC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,OAAO,EACL,+BAA+B,EAC/B,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AAEpC,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;AAQpC,OAAO,EACL,cAAc,IAAI,oBAAoB,EACtC,YAAY,IAAI,kBAAkB,GACnC,MAAM,8BAA8B,CAAC;AAKtC,OAAO,EACL,aAAa,IAAI,mBAAmB,EACpC,SAAS,IAAI,WAAW,GACzB,MAAM,8BAA8B,CAAC;AAEtC,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;AAMpC,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;AAOjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AAEjC,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAE9D,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,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;AAQtB,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAElC,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC"}

package/dist/sensors/bno055/bno055.d.ts

@@ -80,6 +80,8 @@ export declare class Bno055 extends DepzDevice {
     private sampleCbs;
     private sampleQueues;
     private streamParseErrorCount;
+    /** The operating mode to put back when a suspended chip wakes up. */
+    private modeBeforeSuspend;
     private configured;
     constructor(transport: SerialTransport, opts?: Bno055Options);
     /** RPT_BNO_INFO: chip ids, sensor firmware revision and bridge counters. */
@@ -107,6 +109,12 @@ export declare class Bno055 extends DepzDevice {
      */
     setOperationMode(mode: Bno055OprMode): Promise<void>;
     getPowerMode(): Promise<Bno055PwrMode>;
+    /**
+     * Written in CONFIG mode; the operating mode is restored after. A suspended
+     * chip ignores OPR_MODE writes and stays in CONFIG (measured 19.10.2026), so
+     * the operating mode is kept here and put back on wake-up — NDOF if the chip
+     * was already asleep when we connected (contract 13 §4.6).
+     */
     setPowerMode(mode: Bno055PwrMode): Promise<void>;
     getUnits(): Promise<Bno055Units>;
     setUnits(units: Bno055Units): Promise<void>;

package/dist/sensors/bno055/bno055.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/bno055/bno055.js

@@ -13,7 +13,7 @@
 import { DepzDevice, StreamQueue } from "../../device/device.js";
 import { DepzError, DepzTimeoutError } from "../../errors.js";
 import { BNO055_RESET_TIMEOUT_MS, BNO055_TRIGGER_TIMER, BNO055_XFER_MAX, Bno055Cmd, Bno055Rpt, bno055IdsOk, packBno055ReadReg, packBno055StartStream, packBno055WriteReg, unpackBno055Info, unpackBno055RegData, unpackBno055Stream, } from "../../protocol/bno055.js";
-import { BNO055_BOOT_SETTLE_TIMEOUT_MS, BNO055_STUCK_SELF_TEST_POLLS, BNO055_CALIB_PROFILE_LEN, BNO055_DEFAULT_UNITS, BNO055_FULL_BLOCK, BNO055_FUSION_ACCEL_LSB, BNO055_FUSION_START_TIMEOUT_MS, BNO055_MAG_LSB, BNO055_MODE_SWITCH_FROM_CONFIG_MS, BNO055_MODE_SWITCH_TO_CONFIG_MS, BNO055_QUAT_BLOCK, BNO055_QUAT_LSB, BNO055_REG1_ACC_CONFIG, BNO055_REG1_GYR_CONFIG_0, BNO055_REG1_INT_EN, BNO055_REG1_INT_MSK, BNO055_REG1_INT_SETTINGS_FIRST, BNO055_REG1_INT_SETTINGS_LAST, BNO055_REG1_MAG_CONFIG, BNO055_REG1_UNIQUE_ID, BNO055_REG_AXIS_MAP_CONFIG, BNO055_REG_CALIB_PROFILE, BNO055_REG_CALIB_STAT, BNO055_REG_INT_STA, BNO055_REG_OPR_MODE, BNO055_REG_PAGE_ID, BNO055_REG_PWR_MODE, BNO055_REG_QUA_DATA, BNO055_REG_SIC_MATRIX, BNO055_REG_ST_RESULT, BNO055_REG_SYS_CLK_STATUS, BNO055_REG_SYS_STATUS, BNO055_REG_SYS_TRIGGER, BNO055_REG_TEMP_SOURCE, BNO055_REG_UNIT_SEL, BNO055_SELF_TEST_MS, BNO055_SIC_IDENTITY, BNO055_SYS_STATUS_BOOTING, BNO055_SYS_TRIGGER_CLK_SEL, BNO055_SYS_TRIGGER_RST_INT, BNO055_SYS_TRIGGER_SELF_TEST, BNO055_UNIQUE_ID_LEN, Bno055OprMode, bno055IsFusion, bno055Lsb, bno055Placement, decodeBno055Block, makeBno055SystemStatus, packBno055AccelConfig, packBno055AxisRemap, packBno055CalibrationProfile, packBno055GyroConfig, packBno055MagConfig, packBno055SicMatrix, packBno055Units, unpackBno055AccelConfig, unpackBno055AxisRemap, unpackBno055CalibStatus, unpackBno055CalibrationProfile, unpackBno055GyroConfig, unpackBno055MagConfig, unpackBno055SicMatrix, unpackBno055Units, } from "./regs.js";
+import { BNO055_BOOT_SETTLE_TIMEOUT_MS, BNO055_STUCK_SELF_TEST_POLLS, BNO055_CALIB_PROFILE_LEN, BNO055_DEFAULT_UNITS, BNO055_FULL_BLOCK, BNO055_FUSION_ACCEL_LSB, BNO055_FUSION_START_TIMEOUT_MS, BNO055_MAG_LSB, BNO055_MODE_SWITCH_FROM_CONFIG_MS, BNO055_MODE_SWITCH_TO_CONFIG_MS, BNO055_QUAT_BLOCK, BNO055_QUAT_LSB, BNO055_REG1_ACC_CONFIG, BNO055_REG1_GYR_CONFIG_0, BNO055_REG1_INT_EN, BNO055_REG1_INT_MSK, BNO055_REG1_INT_SETTINGS_FIRST, BNO055_REG1_INT_SETTINGS_LAST, BNO055_REG1_MAG_CONFIG, BNO055_REG1_UNIQUE_ID, BNO055_REG_AXIS_MAP_CONFIG, BNO055_REG_CALIB_PROFILE, BNO055_REG_CALIB_STAT, BNO055_REG_INT_STA, BNO055_REG_OPR_MODE, BNO055_REG_PAGE_ID, BNO055_REG_PWR_MODE, BNO055_REG_QUA_DATA, BNO055_REG_SIC_MATRIX, BNO055_REG_ST_RESULT, BNO055_REG_SYS_CLK_STATUS, BNO055_REG_SYS_STATUS, BNO055_REG_SYS_TRIGGER, BNO055_REG_TEMP_SOURCE, BNO055_REG_UNIT_SEL, BNO055_SELF_TEST_MS, BNO055_SIC_IDENTITY, BNO055_SYS_STATUS_BOOTING, BNO055_SYS_TRIGGER_CLK_SEL, BNO055_SYS_TRIGGER_RST_INT, BNO055_SYS_TRIGGER_SELF_TEST, BNO055_UNIQUE_ID_LEN, Bno055OprMode, Bno055PwrMode, bno055IsFusion, bno055Lsb, bno055Placement, decodeBno055Block, makeBno055SystemStatus, packBno055AccelConfig, packBno055AxisRemap, packBno055CalibrationProfile, packBno055GyroConfig, packBno055MagConfig, packBno055SicMatrix, packBno055Units, unpackBno055AccelConfig, unpackBno055AxisRemap, unpackBno055CalibStatus, unpackBno055CalibrationProfile, unpackBno055GyroConfig, unpackBno055MagConfig, unpackBno055SicMatrix, unpackBno055Units, } from "./regs.js";
 /** Decode one register window into a scaled sample. */
 export function decodeBno055Sample(timestampUs, addr, data, units) {
     const r = decodeBno055Block(addr, data);
@@ -57,6 +57,8 @@ export class Bno055 extends DepzDevice {
     sampleCbs = [];
     sampleQueues = [];
     streamParseErrorCount = 0;
+    /** The operating mode to put back when a suspended chip wakes up. */
+    modeBeforeSuspend = null;
     configured = null;
     constructor(transport, opts) {
         super(transport, opts);
@@ -137,8 +139,37 @@ export class Bno055 extends DepzDevice {
     async getPowerMode() {
         return ((await this.readRegister(BNO055_REG_PWR_MODE)) & 0x03);
     }
+    /**
+     * Written in CONFIG mode; the operating mode is restored after. A suspended
+     * chip ignores OPR_MODE writes and stays in CONFIG (measured 19.10.2026), so
+     * the operating mode is kept here and put back on wake-up — NDOF if the chip
+     * was already asleep when we connected (contract 13 §4.6).
+     */
     setPowerMode(mode) {
-        return this.locked(() => this.inConfig(() => this.wr(BNO055_REG_PWR_MODE, Uint8Array.of(mode))));
+        return this.locked(async () => {
+            const opr = ((await this.rd(BNO055_REG_OPR_MODE, 1)).data[0] & 0x0f);
+            const pwr = (await this.rd(BNO055_REG_PWR_MODE, 1)).data[0] & 0x03;
+            let resume;
+            if (opr !== Bno055OprMode.Config) {
+                resume = opr;
+                await this.switchMode(Bno055OprMode.Config);
+            }
+            else if (pwr === Bno055PwrMode.Suspend) {
+                resume = this.modeBeforeSuspend ?? Bno055OprMode.Ndof;
+            }
+            else {
+                resume = null; // CONFIG on purpose: stay there
+            }
+            await this.wr(BNO055_REG_PWR_MODE, Uint8Array.of(mode));
+            if (mode === Bno055PwrMode.Suspend) {
+                this.modeBeforeSuspend = resume;
+            }
+            else {
+                this.modeBeforeSuspend = null;
+                if (resume !== null)
+                    await this.switchMode(resume);
+            }
+        });
     }
     async getUnits() {
         const u = unpackBno055Units(await this.readRegister(BNO055_REG_UNIT_SEL));

package/dist/sensors/bno055/bno055.js.map

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

@@ -114,12 +114,46 @@ export declare class Bno086 extends DepzDevice {
      * *not* an error — the sensor is fully usable without it.
      */
     hardwareReset(timeoutMs?: number): Promise<void>;
-    /** Pulse WAKE (PS0): wakes the sensor from sleep, no state loss. */
+    /**
+     * Pulse WAKE (PS0): wakes the sensor from sleep, no state loss.
+     *
+     * This is the board's hardware pin pulse (board command 0x33), not an SH-2
+     * command; the SH-2 "On" command that ends {@link sleep} is {@link powerOn}.
+     */
     wake(): Promise<void>;
+    /**
+     * Put the hub to sleep: SH-2 "Sleep" (0x03 on SHTP channel 1).
+     *
+     * Every report stops, except those enabled with
+     * `flags: FeatureFlag.Wakeup | FeatureFlag.AlwaysOn`, which keep their rate;
+     * the configuration (enabled sensors, rates) is kept. The hub sends no
+     * response. {@link powerOn} ends it.
+     *
+     * On a DEPZ BNO086 (SH-2 3.12.6, 2026-10-16): all reports stopped within one
+     * sample; a Wakeup|AlwaysOn report kept streaming at full rate on channel 4.
+     */
+    sleep(): Promise<void>;
+    /**
+     * End {@link sleep}: SH-2 "On" (0x02 on SHTP channel 1).
+     *
+     * Every report that was enabled comes back at its rate — no need to
+     * re-enable. The hub sends no response. Not to be confused with
+     * {@link wake}, which pulses the WAKE pin (board command 0x33) instead of
+     * sending an SH-2 command.
+     */
+    powerOn(): 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

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