@ntcore-ts/client 1.0.0-beta.2

package/dist/lib/pubsub/topic.d.ts

@@ -0,0 +1,134 @@
+import { NetworkTablesBaseTopic } from './base-topic';
+import type { CallbackFn } from './base-topic';
+import type { PubSubClient } from './pubsub';
+import type { AnnounceMessage, AnnounceMessageParams, NetworkTablesTypeInfo, NetworkTablesTypes, SubscribeOptions, TopicProperties } from '../types/types';
+export declare class NetworkTablesTopic<TWire extends NetworkTablesTypes, TPublic = TWire> extends NetworkTablesBaseTopic<TPublic> {
+    readonly type = "regular";
+    private _wireValue;
+    private readonly _typeInfo;
+    protected _publisher: boolean;
+    protected _pubuid?: number;
+    protected _publishProperties?: TopicProperties;
+    /**
+     * Gets the type info for the topic.
+     * @returns The type info for the topic.
+     */
+    get typeInfo(): NetworkTablesTypeInfo;
+    /**
+     * Gets whether the client is the publisher of the topic.
+     * @returns Whether the client is the publisher of the topic.
+     */
+    get publisher(): boolean;
+    /**
+     * Gets the UID of the publisher.
+     * @returns The UID of the publisher, or undefined if the client is not the publisher.
+     */
+    get pubuid(): number | undefined;
+    /**
+     * Creates a new topic. This should only be done after the
+     * base NTCore client has been initialized.
+     * @param client - The client that owns the topic.
+     * @param name - The name of the topic.
+     * @param typeInfo - The type info for the topic.
+     * @param defaultValue - The default value for the topic.
+     */
+    constructor(client: PubSubClient, name: string, typeInfo: NetworkTablesTypeInfo, defaultValue?: TPublic);
+    /**
+     * Sets the value of the topic.
+     * The client must be the publisher of the topic to set the value.
+     * @param value - The value to set.
+     */
+    setValue(value: TPublic): void;
+    /** Internal: set wire-format value and notify subscribers. Subclasses may call this when encoding decoded values. */
+    protected setWireValue(value: TWire): void;
+    /** Called after setWireValue from subclasses that encode before setting. Runs prefix notify and updateServer. */
+    protected afterSetWireValue(): void;
+    /** Params for prefix notify; use real announce params when we have them, else minimal fallback. */
+    private getAnnounceParamsForNotify;
+    /**
+     * Resends the latest retained value after reconnect.
+     *
+     * This is intended to be called after reconnect, once publish frames have been re-sent.
+     * This ensures that if the server/robot restarted, it receives the current state.
+     */
+    resendLatestValue(): void;
+    /**
+     * Gets the value of the topic.
+     * @returns The value of the topic.
+     */
+    getValue(): TPublic | null;
+    /**
+     * Updates the value of the topic.
+     * This should only be called by the PubSubClient.
+     * @param value - The value to update (wire format).
+     * @param lastChangedTime - The server time of the last value change.
+     */
+    updateValue(value: TWire, lastChangedTime: number): void;
+    /** */
+    /** */
+    /**
+     * Marks the topic as announced. This should only be called by the PubSubClient.
+     * @param params - The parameters of the announcement.
+     */
+    announce(params: AnnounceMessageParams): void;
+    /** */
+    /** */
+    /**
+     * Creates a new subscriber.
+     * @param callback - The callback to call when the topic value changes.
+     * @param options - The options for the subscriber. `immediateNotify` is client-side only and is
+     *   not sent to the NT server. `id` and `save` are not part of this public signature.
+     * @returns The UID of the subscriber.
+     */
+    subscribe(callback: CallbackFn<TPublic>, options?: Omit<SubscribeOptions, 'prefix'>): number;
+    /**
+     * Creates a new subscriber, optionally reusing a subscription UID.
+     * @internal Used by resubscribeAll. Does not honor `immediateNotify`.
+     * @param callback - The callback to call when the topic value changes.
+     * @param options - The options for the subscriber.
+     * @param id - The UID of the subscriber. You must verify that the ID is not already in use.
+     * @param save - Whether to save the subscriber.
+     * @returns The UID of the subscriber.
+     */
+    protected subscribeWithId(callback: CallbackFn<TPublic>, options?: Omit<SubscribeOptions, 'prefix'>, id?: number, save?: boolean): number;
+    resubscribeAll(client: PubSubClient): void;
+    /**
+     * Notifies all subscribers of the current value.
+     * Protected so derived classes (e.g. NetworkTablesProtobufTopic) can override
+     * and pass decoded/transformed values to callbacks.
+     */
+    protected notifySubscribers(): void;
+    /** */
+    /** */
+    /**
+     * Publishes the topic.
+     * @param properties - The properties to publish the topic with.
+     * @param id - The UID of the publisher. You must verify that the ID is not already in use.
+     * @returns A promise that resolves when the topic is published.
+     */
+    publish(properties?: TopicProperties, id?: number): Promise<AnnounceMessage | void>;
+    /**
+     * Unpublishes the topic.
+     */
+    unpublish(): void;
+    /**
+     * Republishes the topic.
+     * @param client - The client to republish with.
+     * @returns A promise that resolves when the topic is republished.
+     */
+    republish(client: PubSubClient): Promise<void | {
+        method: "announce";
+        params: {
+            name: string;
+            id: number;
+            type: string;
+            properties: {
+                persistent?: boolean | undefined;
+                retained?: boolean | undefined;
+                cached?: boolean | undefined;
+            };
+            pubuid?: number | undefined;
+        };
+    }>;
+}
+//# sourceMappingURL=topic.d.ts.map

package/dist/lib/pubsub/topic.d.ts.map

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package/dist/lib/socket/messenger.d.ts

@@ -0,0 +1,104 @@
+import { NetworkTablesSocket } from './socket';
+import type { NetworkTablesTopic } from '../pubsub/topic';
+import type { PublishMessageParams, SetPropertiesMessageParams, SubscribeMessageParams, NetworkTablesTypes, BinaryMessageData, AnnounceMessageParams, UnannounceMessageParams, PropertiesMessageParams, AnnounceMessage, PropertiesMessage } from '../types/types';
+/** NetworkTables client. */
+export declare class Messenger {
+    private readonly _socket;
+    private readonly publications;
+    private readonly subscriptions;
+    private static _instances;
+    private _currentPubUID;
+    private _currentSubUID;
+    private readonly _onAnnounce;
+    /**
+     * Gets the NetworkTablesSocket used by the Messenger.
+     * @returns The NetworkTablesSocket used by the Messenger.
+     */
+    get socket(): NetworkTablesSocket;
+    /**
+     * Creates a new NetworkTables client.
+     * @param serverUrl - The URL of the server to connect to.
+     * @param onTopicUpdate - Called when a topic is updated.
+     * @param onAnnounce - Called when a topic is announced.
+     * @param onUnannounce - Called when a topic is unannounced.
+     * @param onTopicProperties - Called when a topic's properties are updated.
+     */
+    private constructor();
+    /**
+     * Gets the instance of the NetworkTables client.
+     * @param serverUrl - The URL of the server to connect to. This is not needed after the first call.
+     * @param onTopicUpdate - Called when a topic is updated.
+     * @param onAnnounce - Called when a topic is announced.
+     * @param onUnannounce - Called when a topic is unannounced.
+     * @param onTopicProperties - Called when a topic's properties are updated.
+     * @returns The instance of the NetworkTables client.
+     */
+    static getInstance(serverUrl: string, onTopicUpdate: (_: BinaryMessageData) => void, onAnnounce: (_: AnnounceMessageParams) => void, onUnannounce: (_: UnannounceMessageParams) => void, onTopicProperties: (_: PropertiesMessageParams) => void): Messenger;
+    /**
+     * Reinstantiates the messenger by resetting the socket with a new URL.
+     * @param serverUrl - The URL of the server to connect to.
+     */
+    reinstantiate(serverUrl: string): void;
+    /**
+     * Called when the socket opens.
+     */
+    onSocketOpen: () => void;
+    /**
+     * Called when the socket closes.
+     */
+    onSocketClose: () => void;
+    private parseAndFilterMessage;
+    /**
+     * Publishes a topic to the server.
+     * @param params - The publication parameters.
+     * @param force - Whether to force the publication.
+     * @returns The announcement parameters.
+     */
+    publish(params: PublishMessageParams, force?: boolean): Promise<AnnounceMessage>;
+    private sendPublishFrames;
+    /**
+     * Unpublishes a topic from the server.
+     * @param pubuid - The publication ID to unpublish.
+     */
+    unpublish(pubuid: number): void;
+    /**
+     * Subscribes to a topic.
+     * @param params - The subscription parameters.
+     * @param force - Whether to force the subscription.
+     */
+    subscribe(params: SubscribeMessageParams, force?: boolean): void;
+    /**
+     * Unsubscribes from a topic.
+     * @param subuid - The subscription ID to unsubscribe from.
+     */
+    unsubscribe(subuid: number): void;
+    /**
+     * Sets the properties of a topic.
+     * @param params - The parameters to set
+     * @returns The new properties of the topic.
+     */
+    setProperties(params: SetPropertiesMessageParams): Promise<PropertiesMessage>;
+    /**
+     * Send data to a topic.
+     * This should only be called by the PubSubClient.
+     * @param topic - The topic to update.
+     * @param value - The value to update the topic to.
+     * @returns The timestamp of the update, or -1 if the socket is not connected.
+     */
+    sendToTopic<TWire extends NetworkTablesTypes, TPublic = TWire>(topic: NetworkTablesTopic<TWire, TPublic>, value: TWire): number;
+    /**
+     * Gets the next available publisher UID.
+     * @returns The next available publisher UID.
+     */
+    getNextPubUID(): number;
+    /**
+     * Gets the next available subscriber UID.
+     * @returns The next available subscriber UID.
+     */
+    getNextSubUID(): number;
+    /**
+     * Removes this messenger and its socket from their singleton maps.
+     */
+    releaseInstance(): void;
+}
+//# sourceMappingURL=messenger.d.ts.map

package/dist/lib/socket/messenger.d.ts.map

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package/dist/lib/socket/socket.d.ts

@@ -0,0 +1,193 @@
+import WebSocket from 'isomorphic-ws';
+import type { AnnounceMessageParams, Message, PropertiesMessageParams, UnannounceMessageParams, NetworkTablesTypes, NetworkTablesTypeInfo, BinaryMessageData } from '../types/types';
+/** Socket for NetworkTables 4.1 */
+export declare class NetworkTablesSocket {
+    private static instances;
+    private static readonly PROTOCOL_V4_0;
+    private static readonly PROTOCOL_V4_1;
+    private static readonly RECONNECT_TIMEOUT;
+    /** Timestamp keepalive period when WebSocket PING cannot be sent (NT 4.0 and JS 4.1). */
+    private static readonly RTT_PERIOD_MS;
+    /** Disconnect if no server frames arrive. Spec: ~3s when using timestamp messages for aliveness. */
+    private static readonly IDLE_TIMEOUT_MS;
+    private readonly connectionListeners;
+    private offset;
+    private bestRtt;
+    /** True after the first valid RTT reply; required before control frames and strong value publishes. */
+    private clockSynced;
+    private heartbeatInterval;
+    private idleTimer;
+    private reconnectTimer;
+    private connectionAttemptCount;
+    private lastConnectionLogTime;
+    private tearingDown;
+    private readonly connectionWaiters;
+    private static readonly CONNECTION_LOG_INTERVAL;
+    private _websocket;
+    get websocket(): WebSocket;
+    private serverUrl;
+    private readonly onSocketOpen;
+    private readonly onSocketClose;
+    private readonly onTopicUpdate;
+    private readonly onAnnounce;
+    private readonly onUnannounce;
+    private readonly onProperties;
+    private autoConnect;
+    private messageQueue;
+    /**
+     * Creates a new NetworkTables socket.
+     * @param serverUrl - The URL of the server to connect to.
+     * @param onSocketOpen - Called when the socket is opened.
+     * @param onSocketClose - Called when the socket is closed.
+     * @param onTopicUpdate - Called when a topic is updated.
+     * @param onAnnounce - Called when a topic is announced.
+     * @param onUnannounce - Called when a topic is unannounced.
+     * @param onProperties - Called when a topic's properties are updated.
+     * @param autoConnect - Whether to automatically connect to the server.
+     */
+    private constructor();
+    /**
+     * Gets the instance of the NetworkTables socket.
+     * @param serverUrl - The URL of the server to connect to.
+     * @param onSocketOpen - Called when the socket is opened.
+     * @param onSocketClose - Called when the socket is closed.
+     * @param onTopicUpdate - Called when a topic is updated.
+     * @param onAnnounce - Called when a topic is announced.
+     * @param onUnannounce - Called when a topic is unannounced.
+     * @param onProperties - Called when a topic's properties are updated.
+     * @param autoConnect - Whether to automatically connect to the server.
+     * @returns The instance of the NetworkTables socket.
+     */
+    static getInstance(serverUrl: string, onSocketOpen: () => void, onSocketClose: () => void, onTopicUpdate: (_: BinaryMessageData) => void, onAnnounce: (_: AnnounceMessageParams) => void, onUnannounce: (_: UnannounceMessageParams) => void, onProperties: (_: PropertiesMessageParams) => void, autoConnect?: boolean): NetworkTablesSocket;
+    /**
+     * Initialization. This is done outside of the constructor to allow for
+     * the socket to refresh itself.
+     */
+    private init;
+    /**
+     * Reset the socket and reconnect to the server.
+     * @param serverUrl - The URL of the server to connect to.
+     */
+    reinstantiate(serverUrl: string): void;
+    /**
+     * Returns whether the socket is open and the client clock is synchronized with the server.
+     * @returns Whether the robot connection is ready for control and value frames.
+     */
+    isConnected(): boolean;
+    /**
+     * Returns whether the socket is connecting (including waiting for the first RTT).
+     * @returns Whether the robot connection is not yet ready.
+     */
+    isConnecting(): boolean;
+    /**
+     * Wait for the socket to connect.
+     * @returns A promise that resolves when the socket is connected.
+     */
+    waitForConnection(): Promise<void>;
+    /**
+     * Create a connection listener.
+     * @param callback - Called when the connection state changes.
+     * @param immediateNotify - When true, the callback is also invoked with the current connection state
+     *   on a microtask after this method returns, so the returned disposer can be used safely from that
+     *   first invocation (unlike a synchronous notify before return).
+     * @returns A function that removes the listener.
+     */
+    addConnectionListener(callback: (_: boolean) => void, immediateNotify?: boolean): () => void;
+    /**
+     * Remove a connection listener.
+     * @param callback - The callback to remove.
+     */
+    removeConnectionListener(callback: (_: boolean) => void): void;
+    /**
+     * Get the best round-trip time to the server in milliseconds.
+     * @returns RTT in ms, or -1 if not connected or not yet measured.
+     */
+    getBestRttMs(): number;
+    /**
+     * Updates all connection listeners with the current connection state.
+     */
+    private updateConnectionListeners;
+    /**
+     * Stops auto-reconnecting to the server.
+     */
+    stopAutoConnect(): void;
+    /**
+     * Starts auto-reconnecting to the server. If the socket is closed, opens a new connection.
+     */
+    startAutoConnect(): void;
+    private clearReconnectTimer;
+    private rejectConnectionWaiters;
+    /**
+     * Handle a message from the websocket.
+     * @param event - The message event.
+     */
+    private onMessage;
+    /**
+     * Handle an error from the websocket.
+     * @param event - The error event.
+     */
+    private onError;
+    /**
+     * Handle a binary frame from the websocket.
+     * Uses sync decodeMulti (not async streams): we receive one complete frame per
+     * WebSocket message, so decodeMultiStream would add async overhead without benefit.
+     * @param frame - The frame.
+     */
+    private handleBinaryFrame;
+    /**
+     * Handle a text frame from the websocket.
+     * @param frame - The frame.
+     */
+    private handleTextFrame;
+    /**
+     * Send a text frame to the server.
+     * @param message - The message to send.
+     */
+    sendTextFrame(message: Message): void;
+    /**
+     * Function to send queued messages whenever the WebSocket connection is opened
+     */
+    private sendQueuedMessages;
+    /**
+     * Send a message to a topic.
+     * @param pubuid - The topic's publisher UID.
+     * @param value - The value to send.
+     * @param typeInfo - The type info for the value.
+     * @returns The time the message was sent, or -1 if not connected.
+     */
+    sendValueToTopic(pubuid: number, value: NetworkTablesTypes, typeInfo: NetworkTablesTypeInfo): number;
+    /**
+     * Send a timestamp ping to the server (topic id -1, timestamp 0, value = client microseconds).
+     */
+    private heartbeat;
+    /**
+     * Handle a round trip time message from the server.
+     *
+     * RTT is `now - echoed client time` (the MessagePack value). Clock offset is updated only when
+     * this RTT is the best so far (Cristian's algorithm / NT spec).
+     * @param serverTime - Server timestamp from the reply.
+     * @param clientEcho - Client time echoed back from the ping.
+     */
+    private handleRTT;
+    /**
+     * Get the current server time.
+     * @returns The current server time.
+     */
+    private getServerTime;
+    private isSocketOpen;
+    private resetClockSync;
+    private completeHandshakeIfNeeded;
+    private resetIdleTimer;
+    private clearIdleTimer;
+    private clearHeartbeatInterval;
+    /**
+     * Close the websocket connection.
+     */
+    close(): void;
+    /**
+     * Removes this socket from the singleton map so a later getInstance can create a new one.
+     */
+    releaseInstance(): void;
+}
+export default NetworkTablesSocket;
+//# sourceMappingURL=socket.d.ts.map

package/dist/lib/socket/socket.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/struct/built-in-schemas.d.ts

@@ -0,0 +1,21 @@
+import type { StructDescriptor } from './struct-descriptor';
+declare const SCHEMAS: {
+    readonly Translation2d: "double x;double y";
+    readonly Rotation2d: "double value";
+    readonly Pose2d: "Translation2d translation;Rotation2d rotation";
+    readonly Transform2d: "Translation2d translation;Rotation2d rotation";
+    readonly Twist2d: "double dx;double dy;double dtheta";
+    readonly Translation3d: "double x;double y;double z";
+    readonly Quaternion: "double w;double x;double y;double z";
+    readonly Rotation3d: "Quaternion q";
+    readonly Pose3d: "Translation3d translation;Rotation3d rotation";
+    readonly Transform3d: "Translation3d translation;Rotation3d rotation";
+    readonly Twist3d: "double dx;double dy;double dz;double rx;double ry;double rz";
+};
+export declare function getBuiltInDescriptor(typeName: string): StructDescriptor | null;
+/** All built-in struct type names (WPILib geometry). */
+export declare const BUILT_IN_STRUCT_TYPE_NAMES: (keyof typeof SCHEMAS)[];
+/** Returns the schema string for a built-in type, or undefined. */
+export declare function getBuiltInSchemaString(typeName: string): string | undefined;
+export {};
+//# sourceMappingURL=built-in-schemas.d.ts.map

package/dist/lib/struct/built-in-schemas.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"built-in-schemas.d.ts","sourceRoot":"","sources":["../../../src/lib/struct/built-in-schemas.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,qBAAqB,CAAC;AAE5D,QAAA,MAAM,OAAO;;;;;;;;;;;;CAYH,CAAC;AAkCX,wBAAgB,oBAAoB,CAAC,QAAQ,EAAE,MAAM,GAAG,gBAAgB,GAAG,IAAI,CAU9E;AAED,wDAAwD;AACxD,eAAO,MAAM,0BAA0B,EAA2B,CAAC,MAAM,OAAO,OAAO,CAAC,EAAE,CAAC;AAE3F,mEAAmE;AACnE,wBAAgB,sBAAsB,CAAC,QAAQ,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS,CAE3E"}

package/dist/lib/struct/geometry.d.ts

@@ -0,0 +1,129 @@
+import { z } from 'zod';
+import { BUILT_IN_STRUCT_TYPE_NAMES } from './built-in-schemas';
+/** WPILib built-in struct type names (geometry). */
+export type BuiltInStructTypeName = (typeof BUILT_IN_STRUCT_TYPE_NAMES)[number];
+/**
+ * Struct type name accepted by getStructTopic.
+ * Built-in names, their array forms, or any custom type string.
+ */
+export type StructTypeName = BuiltInStructTypeName | `${BuiltInStructTypeName}[]` | (string & {});
+/**
+ * WPILib-style struct type descriptor (e.g. `Pose2d`) used to infer the topic value type.
+ * `schema` is a Zod schema matching the unpacked plain-object shape.
+ */
+export interface StructTypeDescriptor<T extends object = object> {
+    readonly typeName: string;
+    readonly schema: z.ZodType<T>;
+}
+/**
+ * Returns true when the argument is a WPILib-style struct type descriptor (e.g. `Pose2d`).
+ * @param value - The value to check.
+ * @returns Whether the value is a struct type descriptor.
+ */
+export declare function isStructTypeDescriptor(value: unknown): value is StructTypeDescriptor<object>;
+/** Unpacked `Translation2d` (`double x; double y`). */
+export interface Translation2d {
+    x: number;
+    y: number;
+}
+/** Zod schema for {@link Translation2d}. */
+export declare const Translation2dSchema: z.ZodType<Translation2d>;
+/** WPILib-style `Translation2d.struct` descriptor. */
+export declare const Translation2d: StructTypeDescriptor<Translation2d>;
+/** Unpacked `Rotation2d` (`double value`). */
+export interface Rotation2d {
+    value: number;
+}
+/** Zod schema for {@link Rotation2d}. */
+export declare const Rotation2dSchema: z.ZodType<Rotation2d>;
+/** WPILib-style `Rotation2d.struct` descriptor. */
+export declare const Rotation2d: StructTypeDescriptor<Rotation2d>;
+/** Unpacked `Pose2d` (`Translation2d translation; Rotation2d rotation`). */
+export interface Pose2d {
+    translation: Translation2d;
+    rotation: Rotation2d;
+}
+/** Zod schema for {@link Pose2d}. */
+export declare const Pose2dSchema: z.ZodType<Pose2d>;
+/** WPILib-style `Pose2d.struct` descriptor. */
+export declare const Pose2d: StructTypeDescriptor<Pose2d>;
+/** Unpacked `Transform2d` (`Translation2d translation; Rotation2d rotation`). */
+export interface Transform2d {
+    translation: Translation2d;
+    rotation: Rotation2d;
+}
+/** Zod schema for {@link Transform2d}. */
+export declare const Transform2dSchema: z.ZodType<Transform2d>;
+/** WPILib-style `Transform2d.struct` descriptor. */
+export declare const Transform2d: StructTypeDescriptor<Transform2d>;
+/** Unpacked `Twist2d` (`double dx; double dy; double dtheta`). */
+export interface Twist2d {
+    dx: number;
+    dy: number;
+    dtheta: number;
+}
+/** Zod schema for {@link Twist2d}. */
+export declare const Twist2dSchema: z.ZodType<Twist2d>;
+/** WPILib-style `Twist2d.struct` descriptor. */
+export declare const Twist2d: StructTypeDescriptor<Twist2d>;
+/** Unpacked `Translation3d` (`double x; double y; double z`). */
+export interface Translation3d {
+    x: number;
+    y: number;
+    z: number;
+}
+/** Zod schema for {@link Translation3d}. */
+export declare const Translation3dSchema: z.ZodType<Translation3d>;
+/** WPILib-style `Translation3d.struct` descriptor. */
+export declare const Translation3d: StructTypeDescriptor<Translation3d>;
+/** Unpacked `Quaternion` (`double w; double x; double y; double z`). */
+export interface Quaternion {
+    w: number;
+    x: number;
+    y: number;
+    z: number;
+}
+/** Zod schema for {@link Quaternion}. */
+export declare const QuaternionSchema: z.ZodType<Quaternion>;
+/** WPILib-style `Quaternion.struct` descriptor. */
+export declare const Quaternion: StructTypeDescriptor<Quaternion>;
+/** Unpacked `Rotation3d` (`Quaternion q`). */
+export interface Rotation3d {
+    q: Quaternion;
+}
+/** Zod schema for {@link Rotation3d}. */
+export declare const Rotation3dSchema: z.ZodType<Rotation3d>;
+/** WPILib-style `Rotation3d.struct` descriptor. */
+export declare const Rotation3d: StructTypeDescriptor<Rotation3d>;
+/** Unpacked `Pose3d` (`Translation3d translation; Rotation3d rotation`). */
+export interface Pose3d {
+    translation: Translation3d;
+    rotation: Rotation3d;
+}
+/** Zod schema for {@link Pose3d}. */
+export declare const Pose3dSchema: z.ZodType<Pose3d>;
+/** WPILib-style `Pose3d.struct` descriptor. */
+export declare const Pose3d: StructTypeDescriptor<Pose3d>;
+/** Unpacked `Transform3d` (`Translation3d translation; Rotation3d rotation`). */
+export interface Transform3d {
+    translation: Translation3d;
+    rotation: Rotation3d;
+}
+/** Zod schema for {@link Transform3d}. */
+export declare const Transform3dSchema: z.ZodType<Transform3d>;
+/** WPILib-style `Transform3d.struct` descriptor. */
+export declare const Transform3d: StructTypeDescriptor<Transform3d>;
+/** Unpacked `Twist3d` (`double dx; double dy; double dz; double rx; double ry; double rz`). */
+export interface Twist3d {
+    dx: number;
+    dy: number;
+    dz: number;
+    rx: number;
+    ry: number;
+    rz: number;
+}
+/** Zod schema for {@link Twist3d}. */
+export declare const Twist3dSchema: z.ZodType<Twist3d>;
+/** WPILib-style `Twist3d.struct` descriptor. */
+export declare const Twist3d: StructTypeDescriptor<Twist3d>;
+//# sourceMappingURL=geometry.d.ts.map

package/dist/lib/struct/geometry.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/struct/index.d.ts

@@ -0,0 +1,5 @@
+export { type StructDescriptor, type StructFieldDescriptor, type PrimitiveTypeName, PRIMITIVE_SIZES, getPrimitiveSize, isPrimitiveType, } from './struct-descriptor';
+export { parseSchema, buildStructDescriptor, type ParsedField } from './struct-parser';
+export { pack, unpack, type StructPlainObject } from './struct-codec';
+export { getBuiltInDescriptor, BUILT_IN_STRUCT_TYPE_NAMES } from './built-in-schemas';
+//# sourceMappingURL=index.d.ts.map

package/dist/lib/struct/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../src/lib/struct/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,KAAK,gBAAgB,EACrB,KAAK,qBAAqB,EAC1B,KAAK,iBAAiB,EACtB,eAAe,EACf,gBAAgB,EAChB,eAAe,GAChB,MAAM,qBAAqB,CAAC;AAC7B,OAAO,EAAE,WAAW,EAAE,qBAAqB,EAAE,KAAK,WAAW,EAAE,MAAM,iBAAiB,CAAC;AACvF,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,iBAAiB,EAAE,MAAM,gBAAgB,CAAC;AACtE,OAAO,EAAE,oBAAoB,EAAE,0BAA0B,EAAE,MAAM,oBAAoB,CAAC"}

package/dist/lib/struct/struct-codec.d.ts

@@ -0,0 +1,14 @@
+import type { StructDescriptor } from './struct-descriptor';
+/** Plain object representation of a struct (for pack input / unpack output). */
+export type StructPlainObject = Record<string, unknown>;
+/**
+ * Unpacks a little-endian binary buffer into a plain object using the struct descriptor.
+ * @throws Error if buffer is too small for the descriptor size.
+ */
+export declare function unpack(buffer: Uint8Array, descriptor: StructDescriptor): StructPlainObject;
+/**
+ * Packs a plain object into a little-endian Uint8Array using the struct descriptor.
+ * @throws Error if value is missing required fields or has invalid types.
+ */
+export declare function pack(value: StructPlainObject, descriptor: StructDescriptor): Uint8Array;
+//# sourceMappingURL=struct-codec.d.ts.map

package/dist/lib/struct/struct-codec.d.ts.map

@@ -0,0 +1 @@
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