@dg-kit/protocol 0.1.0

package/README.md

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+# @dg-kit/protocol
+
+Transport-agnostic BLE protocol adapters for DG-Lab Coyote 2.0 (V2) and Coyote 3.0 (V3).
+
+## What it does
+
+This package implements the **byte-level protocol and tick state machine** for both Coyote generations:
+
+- 100 ms write loop (B0 packets on V3, strength + dual-wave writes on V2)
+- Wave playback state machine (loop / one-shot, 25 ms frame grid)
+- Strength absolute / relative / clamp logic
+- Burst-with-auto-restore
+- Emergency stop with stale-notification suppression
+- Sequence + ack handling on V3
+
+## What it doesn't do
+
+It doesn't open a BLE connection itself. Pass it characteristic handles via the `BluetoothRemoteGATTCharacteristicLike` interface and it'll drive the device. This way the same protocol code runs in:
+
+- **Browsers** via `@dg-kit/transport-webbluetooth`
+- **Node.js** via `@dg-mcp/device-noble` (DG-MCP) or any other BLE backend
+
+## Public API
+
+```ts
+import {
+  CoyoteProtocolAdapter, // facade: auto-routes V2/V3 by device.name prefix
+  CoyoteV2ProtocolAdapter,
+  CoyoteV3ProtocolAdapter,
+  V2_DEVICE_NAME_PREFIX,
+  V3_DEVICE_NAME_PREFIX,
+  COYOTE_REQUEST_DEVICE_OPTIONS,
+} from '@dg-kit/protocol';
+```
+
+Most consumers want `CoyoteProtocolAdapter` — it picks V2 or V3 based on the connecting device's name prefix.

package/dist/base.d.ts

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+import { type Channel, type DeviceCommand, type DeviceCommandResult, type DeviceState, type WaveFrame } from '@dg-kit/core';
+import type { BluetoothDeviceLike, BluetoothRemoteGATTCharacteristicLike, BluetoothRemoteGATTServerLike } from './types.js';
+export type StateListener = (state: DeviceState) => void;
+export interface WebBluetoothAvailability {
+    supported: boolean;
+    reason?: string;
+}
+export interface WebBluetoothConnectionContext {
+    device: BluetoothDeviceLike;
+    server: BluetoothRemoteGATTServerLike;
+}
+export interface WebBluetoothProtocolAdapter {
+    onConnected(context: WebBluetoothConnectionContext): Promise<void>;
+    onDisconnected(): Promise<void>;
+    getState(): DeviceState;
+    execute(command: DeviceCommand): Promise<DeviceCommandResult>;
+    emergencyStop(): Promise<void>;
+    subscribe(listener: StateListener): () => void;
+}
+export interface ChannelWaveState {
+    waveformId?: string;
+    frames: WaveFrame[] | null;
+    index: number;
+    loop: boolean;
+    active: boolean;
+}
+export type Quad = [number, number, number, number];
+export type WaveStep = {
+    freq: number;
+    int: number;
+};
+export declare const INACTIVE_FREQ: Quad;
+export declare const INACTIVE_INT: Quad;
+export declare const SILENT_WAVE_STEP: WaveStep;
+export declare abstract class BaseCoyoteProtocolAdapter implements WebBluetoothProtocolAdapter {
+    private readonly listeners;
+    protected readonly waveState: Record<Channel, ChannelWaveState>;
+    protected readonly burstRestores: Map<Channel, NodeJS.Timeout>;
+    protected state: DeviceState;
+    protected batteryChar: BluetoothRemoteGATTCharacteristicLike | null;
+    private tickWorker;
+    private tickInterval;
+    private tickInFlight;
+    protected tickPaused: boolean;
+    protected suppressStaleStopStrengthNotifications: boolean;
+    subscribe(listener: StateListener): () => void;
+    onDisconnected(): Promise<void>;
+    protected resetConnectionState(options: {
+        emit: boolean;
+    }): Promise<void>;
+    getState(): DeviceState;
+    execute(command: DeviceCommand): Promise<DeviceCommandResult>;
+    emergencyStop(): Promise<void>;
+    protected setConnectedDevice(device: BluetoothDeviceLike): void;
+    protected startProtocolLoop(): void;
+    protected resetWaveState(): void;
+    protected setWave(channel: Channel, waveformId: string, frames: WaveFrame[], loop: boolean): void;
+    protected clearWave(channel: Channel): void;
+    protected runBurst(channel: Channel, strength: number, durationMs: number): void;
+    protected cancelBurstRestore(channel: Channel): void;
+    protected onTick(): Promise<void>;
+    protected waitForTickIdle(): Promise<void>;
+    protected advanceWaveStep(channel: Channel): WaveStep | null;
+    protected advanceWavePacket(channel: Channel): {
+        freq: Quad;
+        int: Quad;
+    };
+    protected clamp(value: number, min: number, max: number): number;
+    protected toInt(value: unknown, fallback?: number): number;
+    protected readBattery(): Promise<void>;
+    protected shouldIgnoreStaleStopStrengthNotification(strengthA: number, strengthB: number): boolean;
+    protected writeCharacteristicValue(characteristic: BluetoothRemoteGATTCharacteristicLike, value: ArrayBufferView | ArrayBuffer, options?: {
+        preferResponse?: boolean;
+    }): Promise<void>;
+    protected emit(): void;
+    private startTickLoop;
+    private stopTickLoop;
+    private createTickWorker;
+    protected abstract disconnectProtocol(): Promise<void>;
+    abstract onConnected(context: WebBluetoothConnectionContext): Promise<void>;
+    protected abstract resetProtocolState(): void;
+    protected abstract resetEmergencyStopState(): void;
+    protected abstract setAbsoluteStrength(channel: Channel, value: number): void;
+    protected abstract adjustStrength(channel: Channel, delta: number): void;
+    protected abstract performTick(): Promise<void>;
+    protected abstract writeEmergencyStopPacket(): Promise<void>;
+}
+//# sourceMappingURL=base.d.ts.map

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package/dist/base.js

@@ -0,0 +1,338 @@
+import { createEmptyDeviceState, } from '@dg-kit/core';
+export const INACTIVE_FREQ = [0, 0, 0, 0];
+export const INACTIVE_INT = [0, 0, 0, 101];
+export const SILENT_WAVE_STEP = { freq: 10, int: 0 };
+export class BaseCoyoteProtocolAdapter {
+    listeners = new Set();
+    waveState = {
+        A: { frames: null, index: 0, loop: false, active: false },
+        B: { frames: null, index: 0, loop: false, active: false },
+    };
+    burstRestores = new Map();
+    state = createEmptyDeviceState();
+    batteryChar = null;
+    tickWorker = null;
+    tickInterval = null;
+    tickInFlight = false;
+    tickPaused = false;
+    suppressStaleStopStrengthNotifications = false;
+    subscribe(listener) {
+        this.listeners.add(listener);
+        return () => {
+            this.listeners.delete(listener);
+        };
+    }
+    async onDisconnected() {
+        await this.resetConnectionState({ emit: true });
+    }
+    async resetConnectionState(options) {
+        this.tickPaused = false;
+        this.suppressStaleStopStrengthNotifications = false;
+        this.stopTickLoop();
+        this.cancelBurstRestore('A');
+        this.cancelBurstRestore('B');
+        await this.disconnectProtocol();
+        const previousDeviceName = this.state.deviceName;
+        const previousAddress = this.state.address;
+        this.batteryChar = null;
+        this.resetProtocolState();
+        this.state = {
+            ...createEmptyDeviceState(),
+            deviceName: previousDeviceName,
+            address: previousAddress,
+        };
+        if (options.emit) {
+            this.emit();
+        }
+    }
+    getState() {
+        return {
+            ...this.state,
+            waveActiveA: this.waveState.A.active,
+            waveActiveB: this.waveState.B.active,
+            currentWaveA: this.waveState.A.waveformId,
+            currentWaveB: this.waveState.B.waveformId,
+        };
+    }
+    async execute(command) {
+        if (!this.state.connected) {
+            throw new Error('设备未连接');
+        }
+        if (command.type !== 'emergencyStop') {
+            this.suppressStaleStopStrengthNotifications = false;
+        }
+        switch (command.type) {
+            case 'start':
+                this.setAbsoluteStrength(command.channel, command.strength);
+                this.setWave(command.channel, command.waveform.id, command.waveform.frames, command.loop);
+                break;
+            case 'stop':
+                if (command.channel) {
+                    this.setAbsoluteStrength(command.channel, 0);
+                    this.clearWave(command.channel);
+                }
+                else {
+                    this.setAbsoluteStrength('A', 0);
+                    this.setAbsoluteStrength('B', 0);
+                    this.clearWave('A');
+                    this.clearWave('B');
+                }
+                break;
+            case 'adjustStrength':
+                this.adjustStrength(command.channel, command.delta);
+                break;
+            case 'changeWave':
+                this.setWave(command.channel, command.waveform.id, command.waveform.frames, command.loop);
+                break;
+            case 'burst':
+                this.runBurst(command.channel, command.strength, command.durationMs);
+                break;
+            case 'emergencyStop':
+                await this.emergencyStop();
+                break;
+        }
+        this.emit();
+        return { state: this.getState() };
+    }
+    async emergencyStop() {
+        this.tickPaused = true;
+        this.suppressStaleStopStrengthNotifications = true;
+        this.stopTickLoop();
+        await this.waitForTickIdle();
+        this.cancelBurstRestore('A');
+        this.cancelBurstRestore('B');
+        this.clearWave('A');
+        this.clearWave('B');
+        this.state.strengthA = 0;
+        this.state.strengthB = 0;
+        this.resetEmergencyStopState();
+        await this.writeEmergencyStopPacket();
+        this.emit();
+        this.tickPaused = false;
+        if (this.state.connected) {
+            this.startTickLoop();
+        }
+    }
+    setConnectedDevice(device) {
+        this.state = {
+            ...createEmptyDeviceState(),
+            connected: true,
+            deviceName: device.name ?? '',
+            address: device.id ?? '',
+            limitA: 200,
+            limitB: 200,
+        };
+    }
+    startProtocolLoop() {
+        this.startTickLoop();
+        this.emit();
+    }
+    resetWaveState() {
+        this.waveState.A = { frames: null, index: 0, loop: false, active: false };
+        this.waveState.B = { frames: null, index: 0, loop: false, active: false };
+    }
+    setWave(channel, waveformId, frames, loop) {
+        this.waveState[channel] = {
+            waveformId,
+            frames: frames.map((frame) => [frame[0], frame[1]]),
+            index: 0,
+            loop,
+            active: true,
+        };
+    }
+    clearWave(channel) {
+        this.waveState[channel] = {
+            waveformId: undefined,
+            frames: null,
+            index: 0,
+            loop: false,
+            active: false,
+        };
+    }
+    runBurst(channel, strength, durationMs) {
+        this.cancelBurstRestore(channel);
+        const previous = channel === 'A' ? this.state.strengthA : this.state.strengthB;
+        this.setAbsoluteStrength(channel, strength);
+        const timer = setTimeout(() => {
+            const current = channel === 'A' ? this.state.strengthA : this.state.strengthB;
+            const target = Math.min(current, previous);
+            this.setAbsoluteStrength(channel, target);
+            this.burstRestores.delete(channel);
+            this.emit();
+        }, Math.max(100, durationMs));
+        this.burstRestores.set(channel, timer);
+    }
+    cancelBurstRestore(channel) {
+        const timer = this.burstRestores.get(channel);
+        if (timer) {
+            clearTimeout(timer);
+            this.burstRestores.delete(channel);
+        }
+    }
+    async onTick() {
+        if (this.tickPaused || this.tickInFlight || !this.state.connected) {
+            return;
+        }
+        this.tickInFlight = true;
+        try {
+            if (this.tickPaused || !this.state.connected) {
+                return;
+            }
+            await this.performTick();
+            if (!this.tickPaused) {
+                this.emit();
+            }
+        }
+        catch {
+            // GATT disconnected mid-tick; suppress and let disconnect handler clean up.
+        }
+        finally {
+            this.tickInFlight = false;
+        }
+    }
+    async waitForTickIdle() {
+        while (this.tickInFlight) {
+            await new Promise((resolve) => setTimeout(resolve, 0));
+        }
+    }
+    advanceWaveStep(channel) {
+        const current = this.waveState[channel];
+        if (!current.active || !current.frames || current.frames.length === 0) {
+            return null;
+        }
+        const length = current.frames.length;
+        if (current.index >= length) {
+            if (current.loop) {
+                current.index = 0;
+            }
+            else {
+                current.active = false;
+                return null;
+            }
+        }
+        const frame = current.frames[current.index];
+        if (!frame) {
+            current.active = false;
+            return null;
+        }
+        current.index += 1;
+        if (current.index >= length && !current.loop) {
+            current.active = false;
+        }
+        const [rawFreq, rawInt] = frame;
+        return {
+            freq: this.clamp(rawFreq, SILENT_WAVE_STEP.freq, 240),
+            int: this.clamp(rawInt, 0, 100),
+        };
+    }
+    advanceWavePacket(channel) {
+        const first = this.advanceWaveStep(channel);
+        if (!first) {
+            return { freq: [...INACTIVE_FREQ], int: [...INACTIVE_INT] };
+        }
+        const freq = [first.freq, SILENT_WAVE_STEP.freq, SILENT_WAVE_STEP.freq, SILENT_WAVE_STEP.freq];
+        const int = [first.int, SILENT_WAVE_STEP.int, SILENT_WAVE_STEP.int, SILENT_WAVE_STEP.int];
+        for (let index = 1; index < 4; index++) {
+            const next = this.advanceWaveStep(channel);
+            if (!next)
+                break;
+            freq[index] = next.freq;
+            int[index] = next.int;
+        }
+        return {
+            freq: freq,
+            int: int,
+        };
+    }
+    clamp(value, min, max) {
+        const number = Number(value);
+        if (!Number.isFinite(number))
+            return min;
+        return Math.max(min, Math.min(max, Math.round(number)));
+    }
+    toInt(value, fallback = 0) {
+        const number = typeof value === 'number' ? value : Number(value);
+        return Number.isFinite(number) ? Math.round(number) : fallback;
+    }
+    async readBattery() {
+        if (!this.batteryChar)
+            return;
+        try {
+            const value = await this.batteryChar.readValue();
+            this.state.battery = value.getUint8(0);
+            this.emit();
+        }
+        catch {
+            this.state.battery = 0;
+        }
+    }
+    shouldIgnoreStaleStopStrengthNotification(strengthA, strengthB) {
+        return this.suppressStaleStopStrengthNotifications && (strengthA !== 0 || strengthB !== 0);
+    }
+    async writeCharacteristicValue(characteristic, value, options = {}) {
+        const attempts = options.preferResponse
+            ? [
+                characteristic.writeValueWithResponse?.bind(characteristic),
+                characteristic.writeValueWithoutResponse?.bind(characteristic),
+                characteristic.writeValue?.bind(characteristic),
+            ]
+            : [
+                characteristic.writeValueWithoutResponse?.bind(characteristic),
+                characteristic.writeValueWithResponse?.bind(characteristic),
+                characteristic.writeValue?.bind(characteristic),
+            ];
+        let lastError = null;
+        for (const attempt of attempts) {
+            if (!attempt)
+                continue;
+            try {
+                await attempt(value);
+                return;
+            }
+            catch (error) {
+                lastError = error;
+            }
+        }
+        throw lastError ?? new Error('Bluetooth characteristic is not writable');
+    }
+    emit() {
+        const snapshot = this.getState();
+        for (const listener of this.listeners) {
+            listener(snapshot);
+        }
+    }
+    startTickLoop() {
+        if (this.tickWorker || this.tickInterval) {
+            return;
+        }
+        try {
+            this.tickWorker = this.createTickWorker();
+            this.tickWorker.onmessage = () => {
+                void this.onTick();
+            };
+            this.tickWorker.postMessage('start');
+        }
+        catch {
+            this.tickInterval = setInterval(() => {
+                void this.onTick();
+            }, 100);
+        }
+    }
+    stopTickLoop() {
+        if (this.tickWorker) {
+            this.tickWorker.postMessage('stop');
+            this.tickWorker.terminate();
+            this.tickWorker = null;
+        }
+        if (this.tickInterval) {
+            clearInterval(this.tickInterval);
+            this.tickInterval = null;
+        }
+    }
+    createTickWorker() {
+        const code = 'let timer;onmessage=(event)=>{if(event.data==="start"){if(timer)return;timer=setInterval(()=>postMessage(1),100);}else{clearInterval(timer);timer=null;}};';
+        const blob = new Blob([code], { type: 'application/javascript' });
+        return new Worker(URL.createObjectURL(blob));
+    }
+}
+//# sourceMappingURL=base.js.map

package/dist/base.js.map

@@ -0,0 +1 @@
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package/dist/constants.d.ts

@@ -0,0 +1,18 @@
+import type { RequestDeviceOptionsLike } from './types.js';
+export declare const V3_DEVICE_NAME_PREFIX = "47L121";
+export declare const V3_SENSOR_NAME_PREFIX = "47L120";
+export declare const V3_PRIMARY_SERVICE = "0000180c-0000-1000-8000-00805f9b34fb";
+export declare const V3_WRITE_CHAR = "0000150a-0000-1000-8000-00805f9b34fb";
+export declare const V3_NOTIFY_CHAR = "0000150b-0000-1000-8000-00805f9b34fb";
+export declare const V3_BATTERY_SERVICE = "0000180a-0000-1000-8000-00805f9b34fb";
+export declare const V3_BATTERY_CHAR = "00001500-0000-1000-8000-00805f9b34fb";
+export declare const V2_DEVICE_NAME_PREFIX = "D-LAB ESTIM";
+export declare const v2Uuid: (short: string) => string;
+export declare const V2_PRIMARY_SERVICE: string;
+export declare const V2_STRENGTH_CHAR: string;
+export declare const V2_WAVE_A_CHAR: string;
+export declare const V2_WAVE_B_CHAR: string;
+export declare const V2_BATTERY_SERVICE: string;
+export declare const V2_BATTERY_CHAR: string;
+export declare const COYOTE_REQUEST_DEVICE_OPTIONS: RequestDeviceOptionsLike;
+//# sourceMappingURL=constants.d.ts.map

package/dist/constants.d.ts.map

@@ -0,0 +1 @@
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package/dist/constants.js

@@ -0,0 +1,31 @@
+// V3 (Coyote 3.0)
+export const V3_DEVICE_NAME_PREFIX = '47L121';
+export const V3_SENSOR_NAME_PREFIX = '47L120';
+export const V3_PRIMARY_SERVICE = '0000180c-0000-1000-8000-00805f9b34fb';
+export const V3_WRITE_CHAR = '0000150a-0000-1000-8000-00805f9b34fb';
+export const V3_NOTIFY_CHAR = '0000150b-0000-1000-8000-00805f9b34fb';
+export const V3_BATTERY_SERVICE = '0000180a-0000-1000-8000-00805f9b34fb';
+export const V3_BATTERY_CHAR = '00001500-0000-1000-8000-00805f9b34fb';
+// V2 (Coyote 2.0)
+export const V2_DEVICE_NAME_PREFIX = 'D-LAB ESTIM';
+export const v2Uuid = (short) => `955a${short}-0fe2-f5aa-a094-84b8d4f3e8ad`;
+export const V2_PRIMARY_SERVICE = v2Uuid('180b');
+export const V2_STRENGTH_CHAR = v2Uuid('1504');
+export const V2_WAVE_A_CHAR = v2Uuid('1505');
+export const V2_WAVE_B_CHAR = v2Uuid('1506');
+export const V2_BATTERY_SERVICE = v2Uuid('180a');
+export const V2_BATTERY_CHAR = v2Uuid('1500');
+export const COYOTE_REQUEST_DEVICE_OPTIONS = {
+    filters: [
+        { namePrefix: V3_DEVICE_NAME_PREFIX },
+        { namePrefix: V3_SENSOR_NAME_PREFIX },
+        { namePrefix: V2_DEVICE_NAME_PREFIX },
+    ],
+    optionalServices: [
+        V3_PRIMARY_SERVICE,
+        V3_BATTERY_SERVICE,
+        V2_PRIMARY_SERVICE,
+        V2_BATTERY_SERVICE,
+    ],
+};
+//# sourceMappingURL=constants.js.map

package/dist/constants.js.map

@@ -0,0 +1 @@
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package/dist/facade.d.ts

@@ -0,0 +1,22 @@
+import type { DeviceCommand, DeviceCommandResult, DeviceState } from '@dg-kit/core';
+import { type StateListener, type WebBluetoothConnectionContext, type WebBluetoothProtocolAdapter } from './base.js';
+/**
+ * Auto-routing protocol adapter. Picks the V2 or V3 implementation based on
+ * the connecting device's name prefix; defaults to V3.
+ */
+export declare class CoyoteProtocolAdapter implements WebBluetoothProtocolAdapter {
+    private readonly listeners;
+    private activeProtocol;
+    private unsubscribeActiveProtocol;
+    constructor();
+    subscribe(listener: StateListener): () => void;
+    onConnected(context: WebBluetoothConnectionContext): Promise<void>;
+    onDisconnected(): Promise<void>;
+    getState(): DeviceState;
+    execute(command: DeviceCommand): Promise<DeviceCommandResult>;
+    emergencyStop(): Promise<void>;
+    private createProtocol;
+    private bindActiveProtocol;
+    private emit;
+}
+//# sourceMappingURL=facade.d.ts.map

package/dist/facade.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"facade.d.ts","sourceRoot":"","sources":["../src/facade.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,aAAa,EAAE,mBAAmB,EAAE,WAAW,EAAE,MAAM,cAAc,CAAC;AACpF,OAAO,EACL,KAAK,aAAa,EAClB,KAAK,6BAA6B,EAClC,KAAK,2BAA2B,EACjC,MAAM,WAAW,CAAC;AAInB;;;GAGG;AACH,qBAAa,qBAAsB,YAAW,2BAA2B;IACvE,OAAO,CAAC,QAAQ,CAAC,SAAS,CAA4B;IACtD,OAAO,CAAC,cAAc,CAA8D;IACpF,OAAO,CAAC,yBAAyB,CAA6B;;IAM9D,SAAS,CAAC,QAAQ,EAAE,aAAa,GAAG,MAAM,IAAI;IAOxC,WAAW,CAAC,OAAO,EAAE,6BAA6B,GAAG,OAAO,CAAC,IAAI,CAAC;IAsBlE,cAAc,IAAI,OAAO,CAAC,IAAI,CAAC;IAIrC,QAAQ,IAAI,WAAW;IAIjB,OAAO,CAAC,OAAO,EAAE,aAAa,GAAG,OAAO,CAAC,mBAAmB,CAAC;IAI7D,aAAa,IAAI,OAAO,CAAC,IAAI,CAAC;IAIpC,OAAO,CAAC,cAAc;IAOtB,OAAO,CAAC,kBAAkB;IAU1B,OAAO,CAAC,IAAI;CAKb"}

package/dist/facade.js

@@ -0,0 +1,76 @@
+import { V2_DEVICE_NAME_PREFIX } from './constants.js';
+import {} from './base.js';
+import { CoyoteV2ProtocolAdapter } from './v2.js';
+import { CoyoteV3ProtocolAdapter } from './v3.js';
+/**
+ * Auto-routing protocol adapter. Picks the V2 or V3 implementation based on
+ * the connecting device's name prefix; defaults to V3.
+ */
+export class CoyoteProtocolAdapter {
+    listeners = new Set();
+    activeProtocol = new CoyoteV3ProtocolAdapter();
+    unsubscribeActiveProtocol = null;
+    constructor() {
+        this.bindActiveProtocol(this.activeProtocol);
+    }
+    subscribe(listener) {
+        this.listeners.add(listener);
+        return () => {
+            this.listeners.delete(listener);
+        };
+    }
+    async onConnected(context) {
+        const nextProtocol = this.createProtocol(context);
+        await nextProtocol.onConnected(context);
+        const previousProtocol = this.activeProtocol;
+        if (previousProtocol !== nextProtocol) {
+            try {
+                await previousProtocol.onDisconnected();
+            }
+            catch (error) {
+                try {
+                    await nextProtocol.onDisconnected();
+                }
+                catch {
+                    // ignore cleanup failure; preserve the original disconnect error
+                }
+                throw error;
+            }
+        }
+        this.bindActiveProtocol(nextProtocol);
+        this.emit(nextProtocol.getState());
+    }
+    async onDisconnected() {
+        await this.activeProtocol.onDisconnected();
+    }
+    getState() {
+        return this.activeProtocol.getState();
+    }
+    async execute(command) {
+        return this.activeProtocol.execute(command);
+    }
+    async emergencyStop() {
+        await this.activeProtocol.emergencyStop();
+    }
+    createProtocol(context) {
+        const name = context.device.name ?? '';
+        return name.startsWith(V2_DEVICE_NAME_PREFIX)
+            ? new CoyoteV2ProtocolAdapter()
+            : new CoyoteV3ProtocolAdapter();
+    }
+    bindActiveProtocol(protocol) {
+        this.unsubscribeActiveProtocol?.();
+        this.activeProtocol = protocol;
+        this.unsubscribeActiveProtocol = protocol.subscribe((state) => {
+            if (this.activeProtocol === protocol) {
+                this.emit(state);
+            }
+        });
+    }
+    emit(state) {
+        for (const listener of this.listeners) {
+            listener(state);
+        }
+    }
+}
+//# sourceMappingURL=facade.js.map

package/dist/facade.js.map

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package/dist/index.d.ts

@@ -0,0 +1,7 @@
+export * from './constants.js';
+export * from './types.js';
+export { BaseCoyoteProtocolAdapter, INACTIVE_FREQ, INACTIVE_INT, SILENT_WAVE_STEP, type ChannelWaveState, type Quad, type StateListener, type WaveStep, type WebBluetoothAvailability, type WebBluetoothConnectionContext, type WebBluetoothProtocolAdapter, } from './base.js';
+export { CoyoteV2ProtocolAdapter } from './v2.js';
+export { CoyoteV3ProtocolAdapter } from './v3.js';
+export { CoyoteProtocolAdapter } from './facade.js';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -0,0 +1,7 @@
+export * from './constants.js';
+export * from './types.js';
+export { BaseCoyoteProtocolAdapter, INACTIVE_FREQ, INACTIVE_INT, SILENT_WAVE_STEP, } from './base.js';
+export { CoyoteV2ProtocolAdapter } from './v2.js';
+export { CoyoteV3ProtocolAdapter } from './v3.js';
+export { CoyoteProtocolAdapter } from './facade.js';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/types.d.ts

@@ -0,0 +1,47 @@
+/**
+ * Minimal BLE characteristic shape needed by the protocol adapters.
+ *
+ * Both Web Bluetooth's `BluetoothRemoteGATTCharacteristic` and a Noble
+ * `Characteristic` shim must satisfy this interface for the protocol code to
+ * drive them.
+ */
+export interface BluetoothRequestFilterLike {
+    namePrefix?: string;
+}
+export interface RequestDeviceOptionsLike {
+    filters?: BluetoothRequestFilterLike[];
+    optionalServices?: string[];
+}
+export interface BluetoothRemoteGATTCharacteristicLike extends EventTarget {
+    value: DataView | null;
+    writeValueWithoutResponse?(value: ArrayBufferView | ArrayBuffer): Promise<void>;
+    writeValueWithResponse?(value: ArrayBufferView | ArrayBuffer): Promise<void>;
+    writeValue?(value: ArrayBufferView | ArrayBuffer): Promise<void>;
+    readValue(): Promise<DataView>;
+    startNotifications(): Promise<BluetoothRemoteGATTCharacteristicLike>;
+    stopNotifications(): Promise<BluetoothRemoteGATTCharacteristicLike>;
+}
+export interface BluetoothRemoteGATTServiceLike {
+    getCharacteristic(characteristic: string): Promise<BluetoothRemoteGATTCharacteristicLike>;
+}
+export interface BluetoothRemoteGATTServerLike {
+    connected: boolean;
+    getPrimaryService(service: string): Promise<BluetoothRemoteGATTServiceLike>;
+}
+export interface BluetoothRemoteGATTLike {
+    connected: boolean;
+    connect(): Promise<BluetoothRemoteGATTServerLike>;
+    disconnect(): void;
+}
+export interface BluetoothDeviceLike extends EventTarget {
+    id?: string;
+    name?: string;
+    gatt?: BluetoothRemoteGATTLike;
+}
+export interface BluetoothLike {
+    requestDevice(options: RequestDeviceOptionsLike): Promise<BluetoothDeviceLike>;
+}
+export interface NavigatorBluetoothLike {
+    bluetooth?: BluetoothLike;
+}
+//# sourceMappingURL=types.d.ts.map

package/dist/types.d.ts.map

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package/dist/types.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=types.js.map

package/dist/types.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"types.js","sourceRoot":"","sources":["../src/types.ts"],"names":[],"mappings":""}

package/dist/v2.d.ts

@@ -0,0 +1,24 @@
+import type { Channel } from '@dg-kit/core';
+import { BaseCoyoteProtocolAdapter, type WebBluetoothConnectionContext } from './base.js';
+import type { BluetoothRemoteGATTCharacteristicLike } from './types.js';
+export declare class CoyoteV2ProtocolAdapter extends BaseCoyoteProtocolAdapter {
+    protected v2StrengthChar: BluetoothRemoteGATTCharacteristicLike | null;
+    protected v2WaveAChar: BluetoothRemoteGATTCharacteristicLike | null;
+    protected v2WaveBChar: BluetoothRemoteGATTCharacteristicLike | null;
+    protected pendingStrA: number;
+    protected pendingStrB: number;
+    onConnected(context: WebBluetoothConnectionContext): Promise<void>;
+    protected disconnectProtocol(): Promise<void>;
+    protected resetProtocolState(): void;
+    protected resetEmergencyStopState(): void;
+    protected setAbsoluteStrength(channel: Channel, value: number): void;
+    protected adjustStrength(channel: Channel, delta: number): void;
+    protected performTick(): Promise<void>;
+    protected writeEmergencyStopPacket(): Promise<void>;
+    private encodeV2Strength;
+    private encodeV2Wave;
+    private decodeV3Freq;
+    private waveFrameToV2;
+    readonly handleV2StrengthNotification: (event: Event) => void;
+}
+//# sourceMappingURL=v2.d.ts.map

package/dist/v2.d.ts.map

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package/dist/v2.js

@@ -0,0 +1,180 @@
+import { V2_BATTERY_CHAR, V2_BATTERY_SERVICE, V2_PRIMARY_SERVICE, V2_STRENGTH_CHAR, V2_WAVE_A_CHAR, V2_WAVE_B_CHAR, } from './constants.js';
+import { BaseCoyoteProtocolAdapter } from './base.js';
+export class CoyoteV2ProtocolAdapter extends BaseCoyoteProtocolAdapter {
+    v2StrengthChar = null;
+    v2WaveAChar = null;
+    v2WaveBChar = null;
+    pendingStrA = 0;
+    pendingStrB = 0;
+    async onConnected(context) {
+        await this.resetConnectionState({ emit: false });
+        try {
+            this.setConnectedDevice(context.device);
+            const primaryService = await context.server.getPrimaryService(V2_PRIMARY_SERVICE);
+            this.v2StrengthChar = await primaryService.getCharacteristic(V2_STRENGTH_CHAR);
+            this.v2WaveAChar = await primaryService.getCharacteristic(V2_WAVE_A_CHAR);
+            this.v2WaveBChar = await primaryService.getCharacteristic(V2_WAVE_B_CHAR);
+            await this.v2StrengthChar.startNotifications();
+            this.v2StrengthChar.addEventListener('characteristicvaluechanged', this.handleV2StrengthNotification);
+            try {
+                const batteryService = await context.server.getPrimaryService(V2_BATTERY_SERVICE);
+                this.batteryChar = await batteryService.getCharacteristic(V2_BATTERY_CHAR);
+                await this.readBattery();
+            }
+            catch {
+                this.state.battery = 0;
+            }
+        }
+        catch (error) {
+            await this.resetConnectionState({ emit: false });
+            throw error;
+        }
+        try {
+            if (!this.v2StrengthChar) {
+                throw new Error('V2 strength characteristic unavailable');
+            }
+            if (!this.v2WaveAChar || !this.v2WaveBChar) {
+                throw new Error('V2 wave characteristics unavailable');
+            }
+            this.resetProtocolState();
+            await this.writeCharacteristicValue(this.v2StrengthChar, this.encodeV2Strength(0, 0), {
+                preferResponse: true,
+            });
+            this.startProtocolLoop();
+        }
+        catch (error) {
+            await this.resetConnectionState({ emit: false });
+            throw error;
+        }
+    }
+    async disconnectProtocol() {
+        if (this.v2StrengthChar) {
+            this.v2StrengthChar.removeEventListener('characteristicvaluechanged', this.handleV2StrengthNotification);
+            try {
+                await this.v2StrengthChar.stopNotifications();
+            }
+            catch {
+                // ignore
+            }
+        }
+        this.v2StrengthChar = null;
+        this.v2WaveAChar = null;
+        this.v2WaveBChar = null;
+    }
+    resetProtocolState() {
+        this.pendingStrA = 0;
+        this.pendingStrB = 0;
+        this.resetWaveState();
+    }
+    resetEmergencyStopState() {
+        this.pendingStrA = 0;
+        this.pendingStrB = 0;
+    }
+    setAbsoluteStrength(channel, value) {
+        const next = this.clamp(value, 0, 200);
+        if (channel === 'A') {
+            this.pendingStrA = next;
+            this.state.strengthA = next;
+        }
+        else {
+            this.pendingStrB = next;
+            this.state.strengthB = next;
+        }
+    }
+    adjustStrength(channel, delta) {
+        const next = channel === 'A'
+            ? this.clamp(this.state.strengthA + this.toInt(delta), 0, 200)
+            : this.clamp(this.state.strengthB + this.toInt(delta), 0, 200);
+        this.setAbsoluteStrength(channel, next);
+    }
+    async performTick() {
+        if (!this.v2StrengthChar)
+            return;
+        const strengthA = Math.min(this.pendingStrA, this.state.limitA);
+        const strengthB = Math.min(this.pendingStrB, this.state.limitB);
+        await this.writeCharacteristicValue(this.v2StrengthChar, this.encodeV2Strength(strengthA, strengthB), { preferResponse: true });
+        this.state.strengthA = strengthA;
+        this.state.strengthB = strengthB;
+        // V2 wave chars are crossed: PWM_A34 (v2WaveAChar) drives B, PWM_B34 drives A.
+        if (this.v2WaveBChar) {
+            const next = this.advanceWaveStep('A');
+            if (!next) {
+                await this.writeCharacteristicValue(this.v2WaveBChar, this.encodeV2Wave(0, 0, 0), {
+                    preferResponse: true,
+                });
+            }
+            else {
+                const params = this.waveFrameToV2(next.freq, next.int);
+                await this.writeCharacteristicValue(this.v2WaveBChar, this.encodeV2Wave(params.x, params.y, params.z), { preferResponse: true });
+            }
+        }
+        if (this.v2WaveAChar) {
+            const next = this.advanceWaveStep('B');
+            if (!next) {
+                await this.writeCharacteristicValue(this.v2WaveAChar, this.encodeV2Wave(0, 0, 0), {
+                    preferResponse: true,
+                });
+            }
+            else {
+                const params = this.waveFrameToV2(next.freq, next.int);
+                await this.writeCharacteristicValue(this.v2WaveAChar, this.encodeV2Wave(params.x, params.y, params.z), { preferResponse: true });
+            }
+        }
+    }
+    async writeEmergencyStopPacket() {
+        if (!this.v2StrengthChar)
+            return;
+        try {
+            await this.writeCharacteristicValue(this.v2StrengthChar, this.encodeV2Strength(0, 0), {
+                preferResponse: true,
+            });
+        }
+        catch {
+            // ignore best effort
+        }
+    }
+    encodeV2Strength(a, b) {
+        const valueA = Math.round((this.clamp(a, 0, 200) * 2047) / 200);
+        const valueB = Math.round((this.clamp(b, 0, 200) * 2047) / 200);
+        const combined = (valueA << 11) | valueB;
+        return new Uint8Array([(combined >> 16) & 0xff, (combined >> 8) & 0xff, combined & 0xff]);
+    }
+    encodeV2Wave(x, y, z) {
+        const packed = ((z & 0x1f) << 15) | ((y & 0x3ff) << 5) | (x & 0x1f);
+        return new Uint8Array([(packed >> 16) & 0xff, (packed >> 8) & 0xff, packed & 0xff]);
+    }
+    decodeV3Freq(encoded) {
+        if (encoded <= 100)
+            return encoded;
+        if (encoded <= 200)
+            return (encoded - 100) * 5 + 100;
+        return (encoded - 200) * 10 + 600;
+    }
+    waveFrameToV2(freq, intensity) {
+        const periodMs = this.decodeV3Freq(freq);
+        const x = this.clamp(Math.round(Math.sqrt(periodMs / 1000) * 15), 1, 31);
+        return {
+            x,
+            y: this.clamp(periodMs - x, 0, 1023),
+            z: this.clamp(Math.round((intensity * 31) / 100), 0, 31),
+        };
+    }
+    handleV2StrengthNotification = (event) => {
+        const target = event.target;
+        const value = target?.value;
+        if (!value || value.byteLength < 3)
+            return;
+        const raw = (value.getUint8(0) << 16) | (value.getUint8(1) << 8) | value.getUint8(2);
+        const rawA = (raw >> 11) & 0x7ff;
+        const rawB = raw & 0x7ff;
+        const nextStrengthA = Math.round((rawA * 200) / 2047);
+        const nextStrengthB = Math.round((rawB * 200) / 2047);
+        if (this.shouldIgnoreStaleStopStrengthNotification(nextStrengthA, nextStrengthB)) {
+            return;
+        }
+        this.state.strengthA = nextStrengthA;
+        this.state.strengthB = nextStrengthB;
+        this.emit();
+    };
+}
+//# sourceMappingURL=v2.js.map

package/dist/v2.js.map

@@ -0,0 +1 @@
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package/dist/v3.d.ts

@@ -0,0 +1,27 @@
+import type { Channel } from '@dg-kit/core';
+import { BaseCoyoteProtocolAdapter, type WebBluetoothConnectionContext } from './base.js';
+import type { BluetoothRemoteGATTCharacteristicLike } from './types.js';
+export declare class CoyoteV3ProtocolAdapter extends BaseCoyoteProtocolAdapter {
+    protected writeChar: BluetoothRemoteGATTCharacteristicLike | null;
+    protected notifyChar: BluetoothRemoteGATTCharacteristicLike | null;
+    protected seq: number;
+    protected pendingMode: number;
+    protected pendingStrA: number;
+    protected pendingStrB: number;
+    protected awaitingAck: boolean;
+    onConnected(context: WebBluetoothConnectionContext): Promise<void>;
+    protected disconnectProtocol(): Promise<void>;
+    protected resetProtocolState(): void;
+    protected resetEmergencyStopState(): void;
+    protected setAbsoluteStrength(channel: Channel, value: number): void;
+    protected adjustStrength(channel: Channel, delta: number): void;
+    protected performTick(): Promise<void>;
+    protected writeEmergencyStopPacket(): Promise<void>;
+    private buildB0;
+    private buildImmediateAbsoluteStrengthPacket;
+    private buildBF;
+    private writeBF;
+    private nextSeq;
+    readonly handleV3Notification: (event: Event) => void;
+}
+//# sourceMappingURL=v3.d.ts.map

package/dist/v3.d.ts.map

@@ -0,0 +1 @@
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package/dist/v3.js

@@ -0,0 +1,193 @@
+import { V3_BATTERY_CHAR, V3_BATTERY_SERVICE, V3_NOTIFY_CHAR, V3_PRIMARY_SERVICE, V3_WRITE_CHAR, } from './constants.js';
+import { BaseCoyoteProtocolAdapter, INACTIVE_FREQ, INACTIVE_INT, } from './base.js';
+export class CoyoteV3ProtocolAdapter extends BaseCoyoteProtocolAdapter {
+    writeChar = null;
+    notifyChar = null;
+    seq = 0;
+    pendingMode = 0;
+    pendingStrA = 0;
+    pendingStrB = 0;
+    awaitingAck = false;
+    async onConnected(context) {
+        await this.resetConnectionState({ emit: false });
+        try {
+            this.setConnectedDevice(context.device);
+            const primaryService = await context.server.getPrimaryService(V3_PRIMARY_SERVICE);
+            this.writeChar = await primaryService.getCharacteristic(V3_WRITE_CHAR);
+            this.notifyChar = await primaryService.getCharacteristic(V3_NOTIFY_CHAR);
+            await this.notifyChar.startNotifications();
+            this.notifyChar.addEventListener('characteristicvaluechanged', this.handleV3Notification);
+            try {
+                const batteryService = await context.server.getPrimaryService(V3_BATTERY_SERVICE);
+                this.batteryChar = await batteryService.getCharacteristic(V3_BATTERY_CHAR);
+                await this.readBattery();
+            }
+            catch {
+                this.state.battery = 0;
+            }
+            this.resetProtocolState();
+            if (!this.writeChar || !this.notifyChar) {
+                throw new Error('V3 transport characteristics unavailable');
+            }
+            await this.writeBF(this.state.limitA, this.state.limitB);
+            this.pendingMode = (3 << 2) | 3;
+            this.pendingStrA = 0;
+            this.pendingStrB = 0;
+            this.startProtocolLoop();
+        }
+        catch (error) {
+            await this.resetConnectionState({ emit: false });
+            throw error;
+        }
+    }
+    async disconnectProtocol() {
+        if (this.notifyChar) {
+            this.notifyChar.removeEventListener('characteristicvaluechanged', this.handleV3Notification);
+            try {
+                await this.notifyChar.stopNotifications();
+            }
+            catch {
+                // ignore
+            }
+        }
+        this.writeChar = null;
+        this.notifyChar = null;
+    }
+    resetProtocolState() {
+        this.seq = 0;
+        this.pendingMode = 0;
+        this.pendingStrA = 0;
+        this.pendingStrB = 0;
+        this.awaitingAck = false;
+        this.resetWaveState();
+    }
+    resetEmergencyStopState() {
+        this.pendingStrA = 0;
+        this.pendingStrB = 0;
+        this.awaitingAck = false;
+        this.seq = 0;
+        this.pendingMode = 0;
+    }
+    setAbsoluteStrength(channel, value) {
+        const next = this.clamp(value, 0, 200);
+        if (channel === 'A') {
+            this.pendingStrA = next;
+            this.state.strengthA = next;
+            this.pendingMode = (this.pendingMode & 0x03) | (3 << 2);
+        }
+        else {
+            this.pendingStrB = next;
+            this.state.strengthB = next;
+            this.pendingMode = (this.pendingMode & 0x0c) | 3;
+        }
+    }
+    adjustStrength(channel, delta) {
+        const next = channel === 'A'
+            ? this.clamp(this.state.strengthA + this.toInt(delta), 0, 200)
+            : this.clamp(this.state.strengthB + this.toInt(delta), 0, 200);
+        const signedDelta = this.toInt(delta, 0);
+        const mode = signedDelta >= 0 ? 1 : 2;
+        const magnitude = this.clamp(Math.abs(signedDelta), 0, 200);
+        if (channel === 'A') {
+            this.pendingStrA = magnitude;
+            this.state.strengthA = next;
+            this.pendingMode = (this.pendingMode & 0x03) | (mode << 2);
+        }
+        else {
+            this.pendingStrB = magnitude;
+            this.state.strengthB = next;
+            this.pendingMode = (this.pendingMode & 0x0c) | mode;
+        }
+    }
+    async performTick() {
+        if (!this.writeChar)
+            return;
+        await this.writeCharacteristicValue(this.writeChar, this.buildB0());
+    }
+    async writeEmergencyStopPacket() {
+        if (!this.writeChar)
+            return;
+        try {
+            await this.writeCharacteristicValue(this.writeChar, this.buildImmediateAbsoluteStrengthPacket(0, 0));
+        }
+        catch {
+            // ignore best effort
+        }
+    }
+    buildB0() {
+        const buffer = new Uint8Array(20);
+        buffer[0] = 0xb0;
+        let modeNibble = 0;
+        const strengthA = this.pendingStrA;
+        const strengthB = this.pendingStrB;
+        if (!this.awaitingAck && this.pendingMode !== 0) {
+            this.seq = this.nextSeq();
+            modeNibble = this.pendingMode;
+            this.awaitingAck = true;
+            this.pendingMode = 0;
+        }
+        buffer[1] = ((this.seq & 0x0f) << 4) | (modeNibble & 0x0f);
+        buffer[2] = this.clamp(strengthA, 0, 200);
+        buffer[3] = this.clamp(strengthB, 0, 200);
+        const channelA = this.advanceWavePacket('A');
+        const channelB = this.advanceWavePacket('B');
+        buffer.set(channelA.freq, 4);
+        buffer.set(channelA.int, 8);
+        buffer.set(channelB.freq, 12);
+        buffer.set(channelB.int, 16);
+        return buffer;
+    }
+    buildImmediateAbsoluteStrengthPacket(strengthA, strengthB) {
+        const buffer = new Uint8Array(20);
+        buffer[0] = 0xb0;
+        buffer[1] = 0x0f;
+        buffer[2] = this.clamp(strengthA, 0, 200);
+        buffer[3] = this.clamp(strengthB, 0, 200);
+        buffer.set(INACTIVE_FREQ, 4);
+        buffer.set(INACTIVE_INT, 8);
+        buffer.set(INACTIVE_FREQ, 12);
+        buffer.set(INACTIVE_INT, 16);
+        return buffer;
+    }
+    buildBF(limitA, limitB) {
+        const buffer = new Uint8Array(7);
+        buffer[0] = 0xbf;
+        buffer[1] = this.clamp(limitA, 0, 200);
+        buffer[2] = this.clamp(limitB, 0, 200);
+        buffer[3] = 160;
+        buffer[4] = 160;
+        buffer[5] = 0;
+        buffer[6] = 0;
+        return buffer;
+    }
+    async writeBF(limitA, limitB) {
+        if (!this.writeChar)
+            return;
+        await this.writeCharacteristicValue(this.writeChar, this.buildBF(limitA, limitB));
+    }
+    nextSeq() {
+        return this.seq >= 15 ? 1 : this.seq + 1;
+    }
+    handleV3Notification = (event) => {
+        const target = event.target;
+        const value = target?.value;
+        if (!value || value.byteLength < 4)
+            return;
+        if (value.getUint8(0) !== 0xb1)
+            return;
+        const ackSeq = value.getUint8(1);
+        const nextStrengthA = value.getUint8(2);
+        const nextStrengthB = value.getUint8(3);
+        if (this.shouldIgnoreStaleStopStrengthNotification(nextStrengthA, nextStrengthB)) {
+            return;
+        }
+        this.state.strengthA = nextStrengthA;
+        this.state.strengthB = nextStrengthB;
+        if (this.awaitingAck && ackSeq === this.seq) {
+            this.awaitingAck = false;
+            this.seq = 0;
+        }
+        this.emit();
+    };
+}
+//# sourceMappingURL=v3.js.map

package/dist/v3.js.map

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

@@ -0,0 +1,51 @@
+{
+  "name": "@dg-kit/protocol",
+  "version": "0.1.0",
+  "description": "DG-Lab Coyote V2 / V3 BLE protocol adapters (transport-agnostic)",
+  "license": "MIT",
+  "author": "0xNullAI",
+  "homepage": "https://github.com/0xNullAI/DG-Kit/tree/main/packages/protocol",
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/0xNullAI/DG-Kit.git",
+    "directory": "packages/protocol"
+  },
+  "type": "module",
+  "main": "./src/index.ts",
+  "types": "./src/index.ts",
+  "exports": {
+    ".": {
+      "types": "./src/index.ts",
+      "import": "./src/index.ts"
+    }
+  },
+  "files": [
+    "dist",
+    "README.md"
+  ],
+  "publishConfig": {
+    "access": "public",
+    "main": "./dist/index.js",
+    "types": "./dist/index.d.ts",
+    "exports": {
+      ".": {
+        "types": "./dist/index.d.ts",
+        "import": "./dist/index.js"
+      }
+    }
+  },
+  "dependencies": {
+    "@dg-kit/core": "0.1.0"
+  },
+  "scripts": {
+    "build": "tsc -p tsconfig.json",
+    "typecheck": "tsc -p tsconfig.json --noEmit"
+  },
+  "keywords": [
+    "dg-lab",
+    "coyote",
+    "ble",
+    "bluetooth",
+    "protocol"
+  ]
+}