npm - @robotical/raftjs - Versions diffs - 2.0.6 → 2.0.7 - Mend

@robotical/raftjs 2.0.6 → 2.0.7

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (6) hide show

package/dist/react-native/RaftChannelSimulated.js +113 -23
package/dist/react-native/RaftChannelSimulated.js.map +1 -1
package/dist/web/RaftChannelSimulated.js +113 -23
package/dist/web/RaftChannelSimulated.js.map +1 -1
package/package.json +1 -1
package/src/RaftChannelSimulated.ts +120 -24

package/dist/react-native/RaftChannelSimulated.js CHANGED Viewed

@@ -152,6 +152,69 @@ class RaftChannelSimulated {
                         "j": "let combined = buf[0] + (buf[1] << 8); let ir = buf[2] + (buf[3] << 8); attrValues['ir'].push(ir); attrValues['visible'].push(Math.max(0, combined - ir));"
                     }
                 }
+            },
+            "RoboticalServo": {
+                "name": "Robotical Servo",
+                "desc": "Servo",
+                "manu": "Robotical",
+                "type": "RoboticalServo",
+                "clas": ["SRVO"],
+                "resp": {
+                    "b": 6,
+                    "a": [
+                        {
+                            "n": "angle",
+                            "t": ">h",
+                            "r": [-180.0, 180.0],
+                            "f": ".1f",
+                            "d": 10,
+                            "o": "int16",
+                            "u": "degrees"
+                        },
+                        {
+                            "n": "current",
+                            "t": "b",
+                            "r": [-128, 127],
+                            "f": "d",
+                            "o": "int8"
+                        },
+                        {
+                            "n": "state",
+                            "t": "B",
+                            "r": [0, 255],
+                            "f": "02x",
+                            "o": "uint8"
+                        },
+                        {
+                            "n": "velocity",
+                            "t": ">h",
+                            "r": [-32768, 32767],
+                            "f": "d",
+                            "o": "int16"
+                        }
+                    ]
+                },
+                "actions": [
+                    {
+                        "n": "angle",
+                        "t": ">h",
+                        "w": "0001",
+                        "wz": "0064",
+                        "f": ".1f",
+                        "mul": 10,
+                        "sub": 0,
+                        "r": [-180.0, 180.0],
+                        "d": 0
+                    },
+                    {
+                        "n": "enable",
+                        "t": "B",
+                        "w": "20",
+                        "f": "b",
+                        "r": [0, 1],
+                        "d": 1
+                    }
+                ]
             }
         };
     }
@@ -495,30 +558,57 @@ class RaftChannelSimulated {
     }
     _fillCustomRawData(deviceTypeInfo, dataView, bytePos, dataBlockSizeBytes, deviceIntervalMs, deviceTimeMs) {
         var _a, _b, _c, _d, _e, _f;
-        if (deviceTypeInfo.type !== "LTR-329") {
-            return false;
-        }
-        if (dataBlockSizeBytes < 4) {
-            return false;
+        switch (deviceTypeInfo.type) {
+            case "LTR-329": {
+                if (dataBlockSizeBytes < 4) {
+                    return false;
+                }
+                const frequencyHz = (deviceIntervalMs > 0)
+                    ? (1000 / deviceIntervalMs) / 10
+                    : 0.1;
+                const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
+                const range = (_d = (_c = (_b = (_a = deviceTypeInfo.resp) === null || _a === void 0 ? void 0 : _a.a) === null || _b === void 0 ? void 0 : _b[0]) === null || _c === void 0 ? void 0 : _c.r) !== null && _d !== void 0 ? _d : [0, 64000];
+                const minLux = (_e = range[0]) !== null && _e !== void 0 ? _e : 0;
+                const maxLux = (_f = range[1]) !== null && _f !== void 0 ? _f : 64000;
+                const baseLux = (maxLux + minLux) / 4;
+                const amplitudeLux = (maxLux - minLux) / 6;
+                let combined = Math.round(baseLux + amplitudeLux * Math.sin(timeRadians));
+                combined = Math.max(minLux, Math.min(maxLux, combined));
+                const irBase = combined * 0.35;
+                const irVariance = (combined * 0.15) * Math.sin(timeRadians + Math.PI / 4);
+                let ir = Math.round(irBase + irVariance);
+                ir = Math.max(minLux, Math.min(combined, ir));
+                dataView.setUint16(bytePos, combined, true);
+                dataView.setUint16(bytePos + 2, ir, true);
+                return true;
+            }
+            case "RoboticalServo": {
+                if (dataBlockSizeBytes < 6) {
+                    return false;
+                }
+                const swingAmplitudeDeg = 90;
+                const cycleMs = 4000;
+                const angularSpeedRadPerMs = (2 * Math.PI) / cycleMs;
+                const phaseRadians = (deviceTimeMs % cycleMs) * angularSpeedRadPerMs;
+                const angleDegrees = swingAmplitudeDeg * Math.sin(phaseRadians);
+                const velocityDegPerSec = swingAmplitudeDeg * angularSpeedRadPerMs * 1000 * Math.cos(phaseRadians);
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const angleRaw = clamp(Math.round(angleDegrees * 10), -1800, 1800);
+                let velocityRaw = Math.round(velocityDegPerSec);
+                velocityRaw = clamp(velocityRaw, -32768, 32767);
+                let currentRaw = Math.round(20 + 0.08 * Math.abs(velocityDegPerSec));
+                currentRaw = clamp(currentRaw, 0, 127);
+                const isMoving = Math.abs(velocityDegPerSec) > 5;
+                const stateRaw = (0x02) | (isMoving ? 0x01 : 0);
+                dataView.setInt16(bytePos, angleRaw, false);
+                dataView.setInt8(bytePos + 2, currentRaw);
+                dataView.setUint8(bytePos + 3, stateRaw);
+                dataView.setInt16(bytePos + 4, velocityRaw, false);
+                return true;
+            }
+            default:
+                return false;
         }
-        const frequencyHz = (deviceIntervalMs > 0)
-            ? (1000 / deviceIntervalMs) / 10
-            : 0.1;
-        const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
-        const range = (_d = (_c = (_b = (_a = deviceTypeInfo.resp) === null || _a === void 0 ? void 0 : _a.a) === null || _b === void 0 ? void 0 : _b[0]) === null || _c === void 0 ? void 0 : _c.r) !== null && _d !== void 0 ? _d : [0, 64000];
-        const minLux = (_e = range[0]) !== null && _e !== void 0 ? _e : 0;
-        const maxLux = (_f = range[1]) !== null && _f !== void 0 ? _f : 64000;
-        const baseLux = (maxLux + minLux) / 4;
-        const amplitudeLux = (maxLux - minLux) / 6;
-        let combined = Math.round(baseLux + amplitudeLux * Math.sin(timeRadians));
-        combined = Math.max(minLux, Math.min(maxLux, combined));
-        const irBase = combined * 0.35;
-        const irVariance = (combined * 0.15) * Math.sin(timeRadians + Math.PI / 4);
-        let ir = Math.round(irBase + irVariance);
-        ir = Math.max(minLux, Math.min(combined, ir));
-        dataView.setUint16(bytePos, combined, true);
-        dataView.setUint16(bytePos + 2, ir, true);
-        return true;
     }
     _getGridDimensions(attr, repeatCount) {
         if (attr && typeof attr.resolution === "string") {

package/dist/react-native/RaftChannelSimulated.js.map CHANGED Viewed

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package/dist/web/RaftChannelSimulated.js CHANGED Viewed

@@ -152,6 +152,69 @@ class RaftChannelSimulated {
                         "j": "let combined = buf[0] + (buf[1] << 8); let ir = buf[2] + (buf[3] << 8); attrValues['ir'].push(ir); attrValues['visible'].push(Math.max(0, combined - ir));"
                     }
                 }
+            },
+            "RoboticalServo": {
+                "name": "Robotical Servo",
+                "desc": "Servo",
+                "manu": "Robotical",
+                "type": "RoboticalServo",
+                "clas": ["SRVO"],
+                "resp": {
+                    "b": 6,
+                    "a": [
+                        {
+                            "n": "angle",
+                            "t": ">h",
+                            "r": [-180.0, 180.0],
+                            "f": ".1f",
+                            "d": 10,
+                            "o": "int16",
+                            "u": "degrees"
+                        },
+                        {
+                            "n": "current",
+                            "t": "b",
+                            "r": [-128, 127],
+                            "f": "d",
+                            "o": "int8"
+                        },
+                        {
+                            "n": "state",
+                            "t": "B",
+                            "r": [0, 255],
+                            "f": "02x",
+                            "o": "uint8"
+                        },
+                        {
+                            "n": "velocity",
+                            "t": ">h",
+                            "r": [-32768, 32767],
+                            "f": "d",
+                            "o": "int16"
+                        }
+                    ]
+                },
+                "actions": [
+                    {
+                        "n": "angle",
+                        "t": ">h",
+                        "w": "0001",
+                        "wz": "0064",
+                        "f": ".1f",
+                        "mul": 10,
+                        "sub": 0,
+                        "r": [-180.0, 180.0],
+                        "d": 0
+                    },
+                    {
+                        "n": "enable",
+                        "t": "B",
+                        "w": "20",
+                        "f": "b",
+                        "r": [0, 1],
+                        "d": 1
+                    }
+                ]
             }
         };
     }
@@ -495,30 +558,57 @@ class RaftChannelSimulated {
     }
     _fillCustomRawData(deviceTypeInfo, dataView, bytePos, dataBlockSizeBytes, deviceIntervalMs, deviceTimeMs) {
         var _a, _b, _c, _d, _e, _f;
-        if (deviceTypeInfo.type !== "LTR-329") {
-            return false;
-        }
-        if (dataBlockSizeBytes < 4) {
-            return false;
+        switch (deviceTypeInfo.type) {
+            case "LTR-329": {
+                if (dataBlockSizeBytes < 4) {
+                    return false;
+                }
+                const frequencyHz = (deviceIntervalMs > 0)
+                    ? (1000 / deviceIntervalMs) / 10
+                    : 0.1;
+                const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
+                const range = (_d = (_c = (_b = (_a = deviceTypeInfo.resp) === null || _a === void 0 ? void 0 : _a.a) === null || _b === void 0 ? void 0 : _b[0]) === null || _c === void 0 ? void 0 : _c.r) !== null && _d !== void 0 ? _d : [0, 64000];
+                const minLux = (_e = range[0]) !== null && _e !== void 0 ? _e : 0;
+                const maxLux = (_f = range[1]) !== null && _f !== void 0 ? _f : 64000;
+                const baseLux = (maxLux + minLux) / 4;
+                const amplitudeLux = (maxLux - minLux) / 6;
+                let combined = Math.round(baseLux + amplitudeLux * Math.sin(timeRadians));
+                combined = Math.max(minLux, Math.min(maxLux, combined));
+                const irBase = combined * 0.35;
+                const irVariance = (combined * 0.15) * Math.sin(timeRadians + Math.PI / 4);
+                let ir = Math.round(irBase + irVariance);
+                ir = Math.max(minLux, Math.min(combined, ir));
+                dataView.setUint16(bytePos, combined, true);
+                dataView.setUint16(bytePos + 2, ir, true);
+                return true;
+            }
+            case "RoboticalServo": {
+                if (dataBlockSizeBytes < 6) {
+                    return false;
+                }
+                const swingAmplitudeDeg = 90;
+                const cycleMs = 4000;
+                const angularSpeedRadPerMs = (2 * Math.PI) / cycleMs;
+                const phaseRadians = (deviceTimeMs % cycleMs) * angularSpeedRadPerMs;
+                const angleDegrees = swingAmplitudeDeg * Math.sin(phaseRadians);
+                const velocityDegPerSec = swingAmplitudeDeg * angularSpeedRadPerMs * 1000 * Math.cos(phaseRadians);
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const angleRaw = clamp(Math.round(angleDegrees * 10), -1800, 1800);
+                let velocityRaw = Math.round(velocityDegPerSec);
+                velocityRaw = clamp(velocityRaw, -32768, 32767);
+                let currentRaw = Math.round(20 + 0.08 * Math.abs(velocityDegPerSec));
+                currentRaw = clamp(currentRaw, 0, 127);
+                const isMoving = Math.abs(velocityDegPerSec) > 5;
+                const stateRaw = (0x02) | (isMoving ? 0x01 : 0);
+                dataView.setInt16(bytePos, angleRaw, false);
+                dataView.setInt8(bytePos + 2, currentRaw);
+                dataView.setUint8(bytePos + 3, stateRaw);
+                dataView.setInt16(bytePos + 4, velocityRaw, false);
+                return true;
+            }
+            default:
+                return false;
         }
-        const frequencyHz = (deviceIntervalMs > 0)
-            ? (1000 / deviceIntervalMs) / 10
-            : 0.1;
-        const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
-        const range = (_d = (_c = (_b = (_a = deviceTypeInfo.resp) === null || _a === void 0 ? void 0 : _a.a) === null || _b === void 0 ? void 0 : _b[0]) === null || _c === void 0 ? void 0 : _c.r) !== null && _d !== void 0 ? _d : [0, 64000];
-        const minLux = (_e = range[0]) !== null && _e !== void 0 ? _e : 0;
-        const maxLux = (_f = range[1]) !== null && _f !== void 0 ? _f : 64000;
-        const baseLux = (maxLux + minLux) / 4;
-        const amplitudeLux = (maxLux - minLux) / 6;
-        let combined = Math.round(baseLux + amplitudeLux * Math.sin(timeRadians));
-        combined = Math.max(minLux, Math.min(maxLux, combined));
-        const irBase = combined * 0.35;
-        const irVariance = (combined * 0.15) * Math.sin(timeRadians + Math.PI / 4);
-        let ir = Math.round(irBase + irVariance);
-        ir = Math.max(minLux, Math.min(combined, ir));
-        dataView.setUint16(bytePos, combined, true);
-        dataView.setUint16(bytePos + 2, ir, true);
-        return true;
     }
     _getGridDimensions(attr, repeatCount) {
         if (attr && typeof attr.resolution === "string") {

package/dist/web/RaftChannelSimulated.js.map CHANGED Viewed

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

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/raftjs",
-  "version": "2.0.6",
+  "version": "2.0.7",
   "description": "Javascript/TS library for Raft library",
   "main": "dist/web/main.js",
   "types": "dist/web/main.d.ts",

package/src/RaftChannelSimulated.ts CHANGED Viewed

@@ -492,37 +492,70 @@ export default class RaftChannelSimulated implements RaftChannel {
     deviceIntervalMs: number,
     deviceTimeMs: number
   ): boolean {
-    if (deviceTypeInfo.type !== "LTR-329") {
-      return false;
-    }
+    switch (deviceTypeInfo.type) {
+      case "LTR-329": {
+        if (dataBlockSizeBytes < 4) {
+          return false;
+        }
-    if (dataBlockSizeBytes < 4) {
-      return false;
-    }
+        const frequencyHz = (deviceIntervalMs > 0)
+          ? (1000 / deviceIntervalMs) / 10
+          : 0.1;
+        const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
-    const frequencyHz = (deviceIntervalMs > 0)
-      ? (1000 / deviceIntervalMs) / 10
-      : 0.1;
-    const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
+        const range = deviceTypeInfo.resp?.a?.[0]?.r ?? [0, 64000];
+        const minLux = range[0] ?? 0;
+        const maxLux = range[1] ?? 64000;
-    const range = deviceTypeInfo.resp?.a?.[0]?.r ?? [0, 64000];
-    const minLux = range[0] ?? 0;
-    const maxLux = range[1] ?? 64000;
+        const baseLux = (maxLux + minLux) / 4;
+        const amplitudeLux = (maxLux - minLux) / 6;
+        let combined = Math.round(baseLux + amplitudeLux * Math.sin(timeRadians));
+        combined = Math.max(minLux, Math.min(maxLux, combined));
-    const baseLux = (maxLux + minLux) / 4;
-    const amplitudeLux = (maxLux - minLux) / 6;
-    let combined = Math.round(baseLux + amplitudeLux * Math.sin(timeRadians));
-    combined = Math.max(minLux, Math.min(maxLux, combined));
+        const irBase = combined * 0.35;
+        const irVariance = (combined * 0.15) * Math.sin(timeRadians + Math.PI / 4);
+        let ir = Math.round(irBase + irVariance);
+        ir = Math.max(minLux, Math.min(combined, ir));
-    const irBase = combined * 0.35;
-    const irVariance = (combined * 0.15) * Math.sin(timeRadians + Math.PI / 4);
-    let ir = Math.round(irBase + irVariance);
-    ir = Math.max(minLux, Math.min(combined, ir));
+        dataView.setUint16(bytePos, combined, true);
+        dataView.setUint16(bytePos + 2, ir, true);
-    dataView.setUint16(bytePos, combined, true);
-    dataView.setUint16(bytePos + 2, ir, true);
+        return true;
+      }
+      case "RoboticalServo": {
+        if (dataBlockSizeBytes < 6) {
+          return false;
+        }
-    return true;
+        const swingAmplitudeDeg = 90;
+        const cycleMs = 4000;
+        const angularSpeedRadPerMs = (2 * Math.PI) / cycleMs;
+        const phaseRadians = (deviceTimeMs % cycleMs) * angularSpeedRadPerMs;
+        const angleDegrees = swingAmplitudeDeg * Math.sin(phaseRadians);
+        const velocityDegPerSec = swingAmplitudeDeg * angularSpeedRadPerMs * 1000 * Math.cos(phaseRadians);
+        const clamp = (value: number, min: number, max: number) => Math.max(min, Math.min(max, value));
+        const angleRaw = clamp(Math.round(angleDegrees * 10), -1800, 1800);
+        let velocityRaw = Math.round(velocityDegPerSec);
+        velocityRaw = clamp(velocityRaw, -32768, 32767);
+        let currentRaw = Math.round(20 + 0.08 * Math.abs(velocityDegPerSec));
+        currentRaw = clamp(currentRaw, 0, 127);
+        const isMoving = Math.abs(velocityDegPerSec) > 5;
+        const stateRaw = (0x02) | (isMoving ? 0x01 : 0);
+        dataView.setInt16(bytePos, angleRaw, false);
+        dataView.setInt8(bytePos + 2, currentRaw);
+        dataView.setUint8(bytePos + 3, stateRaw);
+        dataView.setInt16(bytePos + 4, velocityRaw, false);
+        return true;
+      }
+      default:
+        return false;
+    }
   }
   private _getGridDimensions(attr: any, repeatCount: number): { rows: number; cols: number } {
@@ -810,6 +843,69 @@ export default class RaftChannelSimulated implements RaftChannel {
           "j": "let combined = buf[0] + (buf[1] << 8); let ir = buf[2] + (buf[3] << 8); attrValues['ir'].push(ir); attrValues['visible'].push(Math.max(0, combined - ir));"
         }
       }
+    },
+    "RoboticalServo": {
+      "name": "Robotical Servo",
+      "desc": "Servo",
+      "manu": "Robotical",
+      "type": "RoboticalServo",
+      "clas": ["SRVO"],
+      "resp": {
+        "b": 6,
+        "a": [
+          {
+            "n": "angle",
+            "t": ">h",
+            "r": [-180.0, 180.0],
+            "f": ".1f",
+            "d": 10,
+            "o": "int16",
+            "u": "degrees"
+          },
+          {
+            "n": "current",
+            "t": "b",
+            "r": [-128, 127],
+            "f": "d",
+            "o": "int8"
+          },
+          {
+            "n": "state",
+            "t": "B",
+            "r": [0, 255],
+            "f": "02x",
+            "o": "uint8"
+          },
+          {
+            "n": "velocity",
+            "t": ">h",
+            "r": [-32768, 32767],
+            "f": "d",
+            "o": "int16"
+          }
+        ]
+      },
+      "actions": [
+        {
+          "n": "angle",
+          "t": ">h",
+          "w": "0001",
+          "wz": "0064",
+          "f": ".1f",
+          "mul": 10,
+          "sub": 0,
+          "r": [-180.0, 180.0],
+          "d": 0
+        },
+        {
+          "n": "enable",
+          "t": "B",
+          "w": "20",
+          "f": "b",
+          "r": [0, 1],
+          "d": 1
+        }
+      ]
     }
   };