npm - @robotical/raftjs - Versions diffs - 2.0.7 → 2.0.10 - Mend

@robotical/raftjs 2.0.7 → 2.0.10

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 (9) hide show

package/dist/react-native/RaftChannelSimulated.js +244 -0
package/dist/react-native/RaftChannelSimulated.js.map +1 -1
package/dist/react-native/RaftDeviceInfo.d.ts +1 -1
package/dist/web/RaftChannelSimulated.js +244 -0
package/dist/web/RaftChannelSimulated.js.map +1 -1
package/dist/web/RaftDeviceInfo.d.ts +1 -1
package/package.json +1 -1
package/src/RaftChannelSimulated.ts +264 -0
package/src/RaftDeviceInfo.ts +1 -1

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

@@ -153,6 +153,72 @@ class RaftChannelSimulated {
                     }
                 }
             },
+            "LTR-390": {
+                "name": "LTR-390",
+                "desc": "UV and Visible light sensor",
+                "manu": "Lite On",
+                "type": "LTR-390",
+                "clas": ["LGHT"],
+                "resp": {
+                    "b": 5,
+                    "a": [
+                        {
+                            "n": "ambient",
+                            "t": "<H",
+                            "u": "lux",
+                            "r": [0, 64000],
+                            "d": 1.25,
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "UVI",
+                            "at": 3,
+                            "t": "<H",
+                            "u": "index",
+                            "r": [0, 64000],
+                            "d": 24,
+                            "f": ".3f",
+                            "o": "float"
+                        }
+                    ]
+                },
+                "actions": []
+            },
+            "VL53L4CD": {
+                "name": "VL53L4CD",
+                "desc": "ToF distance sensor with range 0-1.3m",
+                "manu": "ST",
+                "type": "VL53L4CD",
+                "clas": ["DIST"],
+                "resp": {
+                    "b": 3,
+                    "a": [
+                        {
+                            "n": "valid",
+                            "t": "B",
+                            "u": "",
+                            "r": [0, 1],
+                            "m": "0x04",
+                            "x": "0x04",
+                            "s": 2,
+                            "f": "b",
+                            "o": "bool",
+                            "vs": false
+                        },
+                        {
+                            "n": "dist",
+                            "t": ">H",
+                            "u": "mm",
+                            "r": [0, 65535],
+                            "f": "3d",
+                            "o": "uint16",
+                            "vft": "valid"
+                        }
+                    ],
+                    "us": 100000
+                }
+            },
             "RoboticalServo": {
                 "name": "Robotical Servo",
                 "desc": "Servo",
@@ -215,6 +281,102 @@ class RaftChannelSimulated {
                         "d": 1
                     }
                 ]
+            },
+            "RoboticalDCMotor": {
+                "name": "Robotical DC Motor",
+                "desc": "DCmotor",
+                "manu": "Robotical",
+                "type": "RoboticalDCMotor",
+                "clas": ["MOTR"],
+                "resp": {
+                    "b": 4,
+                    "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"
+                        }
+                    ]
+                },
+                "actions": [
+                    {
+                        "n": "power",
+                        "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
+                    }
+                ]
+            },
+            "RoboticalLEDRing": {
+                "name": "Robotical LED Ring",
+                "desc": "12 RGB LED Ring",
+                "manu": "Robotical",
+                "type": "RoboticalLEDRing",
+                "clas": ["LED"],
+                "resp": {
+                    "b": 1,
+                    "a": [
+                        {
+                            "n": "status",
+                            "t": "B",
+                            "r": [0, 255],
+                            "f": "02x",
+                            "o": "uint8"
+                        }
+                    ]
+                },
+                "actions": [
+                    {
+                        "n": "pixels",
+                        "t": "BBBB",
+                        "w": "04",
+                        "f": "LEDPIX",
+                        "NX": 3,
+                        "NY": 1,
+                        "concat": false,
+                        "r": [0, 255]
+                    },
+                    {
+                        "n": "brightness",
+                        "t": "B",
+                        "w": "FF01",
+                        "wz": "&p100",
+                        "f": "b",
+                        "r": [0, 255],
+                        "d": 100
+                    }
+                ]
             }
         };
     }
@@ -582,6 +744,88 @@ class RaftChannelSimulated {
                 dataView.setUint16(bytePos + 2, ir, true);
                 return true;
             }
+            case "LTR-390": {
+                if (dataBlockSizeBytes < 5) {
+                    return false;
+                }
+                const numerator = (deviceIntervalMs > 0) ? (1000 / deviceIntervalMs) : 0;
+                const timeRadians = deviceTimeMs * numerator * (2 * Math.PI) / 1000 / 10;
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const ambientLux = clamp(8000 + 4500 * Math.sin(timeRadians), 0, 64000);
+                const ambientRaw = clamp(Math.round(ambientLux * 1.25), 0, 0xFFFFF);
+                dataView.setUint8(bytePos, ambientRaw & 0xFF);
+                dataView.setUint8(bytePos + 1, (ambientRaw >> 8) & 0xFF);
+                dataView.setUint8(bytePos + 2, (ambientRaw >> 16) & 0x0F);
+                const uviIndex = clamp(3.5 + 1.8 * Math.sin(timeRadians + Math.PI / 3), 0, 12);
+                const uviRaw = clamp(Math.round(uviIndex * 24), 0, 0xFFFF);
+                dataView.setUint16(bytePos + 3, uviRaw, true);
+                return true;
+            }
+            case "VL53L4CD": {
+                if (dataBlockSizeBytes < 3) {
+                    return false;
+                }
+                const rangeMinMm = 40;
+                const rangeMaxMm = 1300;
+                const cycleMs = 9000;
+                const timeInCycle = deviceTimeMs % cycleMs;
+                // Simulate periods where the sensor reports invalid readings (target lost)
+                const invalidReading = timeInCycle < 600 ||
+                    (timeInCycle > 4200 && timeInCycle < 5100) ||
+                    (timeInCycle > 7800);
+                const isValid = !invalidReading;
+                // Generate a smooth oscillating distance while valid
+                const phase = (deviceTimeMs % cycleMs) / cycleMs;
+                const smoothWave = 0.5 * (1 - Math.cos(phase * 2 * Math.PI));
+                const slowDrift = 0.05 * Math.sin(deviceTimeMs / 5000);
+                const fastRipple = 0.02 * Math.sin(deviceTimeMs / 200);
+                const normalized = Math.min(1, Math.max(0, smoothWave + slowDrift + fastRipple));
+                let distanceMm = Math.round(rangeMinMm + normalized * (rangeMaxMm - rangeMinMm));
+                // Clamp to the reported range
+                distanceMm = Math.max(rangeMinMm, Math.min(rangeMaxMm, distanceMm));
+                if (!isValid) {
+                    distanceMm = 0;
+                }
+                const statusRaw = isValid ? 0x00 : 0x04;
+                dataView.setUint8(bytePos, statusRaw);
+                dataView.setUint16(bytePos + 1, distanceMm, false);
+                return true;
+            }
+            case "RoboticalLEDRing": {
+                if (dataBlockSizeBytes < 1) {
+                    return false;
+                }
+                const animationPhase = (deviceTimeMs % 6000) / 6000;
+                const patternIndex = Math.floor(animationPhase * 6) % 6;
+                const brightness = Math.round((Math.sin(deviceTimeMs / 600) + 1) * 127.5);
+                const isAnimating = Math.sin(deviceTimeMs / 1500) > 0;
+                const status = ((patternIndex & 0x07) << 4) | Math.min(0x0F, brightness >> 4) | (isAnimating ? 0x80 : 0x00);
+                dataView.setUint8(bytePos, status & 0xFF);
+                return true;
+            }
+            case "RoboticalDCMotor": {
+                if (dataBlockSizeBytes < 4) {
+                    return false;
+                }
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const cycleMs = 3200;
+                const cycleIndex = Math.floor(deviceTimeMs / cycleMs);
+                const direction = (cycleIndex % 2 === 0) ? 1 : -1;
+                const progress = (deviceTimeMs % cycleMs) / cycleMs;
+                const baseAngle = (progress * 360) - 180;
+                const angleDegrees = direction > 0 ? baseAngle : -baseAngle;
+                const angleRaw = clamp(Math.round(angleDegrees * 10), -1800, 1800);
+                const ripple = 6 * Math.sin((deviceTimeMs % cycleMs) / 180);
+                const loadComponent = Math.abs(baseAngle) * 0.12;
+                const currentRaw = clamp(Math.round(24 + loadComponent + ripple), -128, 127);
+                const highLoad = Math.abs(loadComponent) > 8;
+                const directionBit = direction > 0 ? 0x01 : 0x00;
+                const stateRaw = 0x02 | directionBit | (highLoad ? 0x04 : 0x00);
+                dataView.setInt16(bytePos, angleRaw, false);
+                dataView.setInt8(bytePos + 2, currentRaw);
+                dataView.setUint8(bytePos + 3, stateRaw);
+                return true;
+            }
             case "RoboticalServo": {
                 if (dataBlockSizeBytes < 6) {
                     return false;

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

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package/dist/react-native/RaftDeviceInfo.d.ts CHANGED Viewed

@@ -11,7 +11,7 @@ export interface DeviceTypeAttribute {
     at?: number | number[];
     u?: string;
     r?: number[];
-    x?: number;
+    x?: number | string;
     m?: number | string;
     s?: number;
     sb?: number;

package/dist/web/RaftChannelSimulated.js CHANGED Viewed

@@ -153,6 +153,72 @@ class RaftChannelSimulated {
                     }
                 }
             },
+            "LTR-390": {
+                "name": "LTR-390",
+                "desc": "UV and Visible light sensor",
+                "manu": "Lite On",
+                "type": "LTR-390",
+                "clas": ["LGHT"],
+                "resp": {
+                    "b": 5,
+                    "a": [
+                        {
+                            "n": "ambient",
+                            "t": "<H",
+                            "u": "lux",
+                            "r": [0, 64000],
+                            "d": 1.25,
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "UVI",
+                            "at": 3,
+                            "t": "<H",
+                            "u": "index",
+                            "r": [0, 64000],
+                            "d": 24,
+                            "f": ".3f",
+                            "o": "float"
+                        }
+                    ]
+                },
+                "actions": []
+            },
+            "VL53L4CD": {
+                "name": "VL53L4CD",
+                "desc": "ToF distance sensor with range 0-1.3m",
+                "manu": "ST",
+                "type": "VL53L4CD",
+                "clas": ["DIST"],
+                "resp": {
+                    "b": 3,
+                    "a": [
+                        {
+                            "n": "valid",
+                            "t": "B",
+                            "u": "",
+                            "r": [0, 1],
+                            "m": "0x04",
+                            "x": "0x04",
+                            "s": 2,
+                            "f": "b",
+                            "o": "bool",
+                            "vs": false
+                        },
+                        {
+                            "n": "dist",
+                            "t": ">H",
+                            "u": "mm",
+                            "r": [0, 65535],
+                            "f": "3d",
+                            "o": "uint16",
+                            "vft": "valid"
+                        }
+                    ],
+                    "us": 100000
+                }
+            },
             "RoboticalServo": {
                 "name": "Robotical Servo",
                 "desc": "Servo",
@@ -215,6 +281,102 @@ class RaftChannelSimulated {
                         "d": 1
                     }
                 ]
+            },
+            "RoboticalDCMotor": {
+                "name": "Robotical DC Motor",
+                "desc": "DCmotor",
+                "manu": "Robotical",
+                "type": "RoboticalDCMotor",
+                "clas": ["MOTR"],
+                "resp": {
+                    "b": 4,
+                    "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"
+                        }
+                    ]
+                },
+                "actions": [
+                    {
+                        "n": "power",
+                        "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
+                    }
+                ]
+            },
+            "RoboticalLEDRing": {
+                "name": "Robotical LED Ring",
+                "desc": "12 RGB LED Ring",
+                "manu": "Robotical",
+                "type": "RoboticalLEDRing",
+                "clas": ["LED"],
+                "resp": {
+                    "b": 1,
+                    "a": [
+                        {
+                            "n": "status",
+                            "t": "B",
+                            "r": [0, 255],
+                            "f": "02x",
+                            "o": "uint8"
+                        }
+                    ]
+                },
+                "actions": [
+                    {
+                        "n": "pixels",
+                        "t": "BBBB",
+                        "w": "04",
+                        "f": "LEDPIX",
+                        "NX": 3,
+                        "NY": 1,
+                        "concat": false,
+                        "r": [0, 255]
+                    },
+                    {
+                        "n": "brightness",
+                        "t": "B",
+                        "w": "FF01",
+                        "wz": "&p100",
+                        "f": "b",
+                        "r": [0, 255],
+                        "d": 100
+                    }
+                ]
             }
         };
     }
@@ -582,6 +744,88 @@ class RaftChannelSimulated {
                 dataView.setUint16(bytePos + 2, ir, true);
                 return true;
             }
+            case "LTR-390": {
+                if (dataBlockSizeBytes < 5) {
+                    return false;
+                }
+                const numerator = (deviceIntervalMs > 0) ? (1000 / deviceIntervalMs) : 0;
+                const timeRadians = deviceTimeMs * numerator * (2 * Math.PI) / 1000 / 10;
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const ambientLux = clamp(8000 + 4500 * Math.sin(timeRadians), 0, 64000);
+                const ambientRaw = clamp(Math.round(ambientLux * 1.25), 0, 0xFFFFF);
+                dataView.setUint8(bytePos, ambientRaw & 0xFF);
+                dataView.setUint8(bytePos + 1, (ambientRaw >> 8) & 0xFF);
+                dataView.setUint8(bytePos + 2, (ambientRaw >> 16) & 0x0F);
+                const uviIndex = clamp(3.5 + 1.8 * Math.sin(timeRadians + Math.PI / 3), 0, 12);
+                const uviRaw = clamp(Math.round(uviIndex * 24), 0, 0xFFFF);
+                dataView.setUint16(bytePos + 3, uviRaw, true);
+                return true;
+            }
+            case "VL53L4CD": {
+                if (dataBlockSizeBytes < 3) {
+                    return false;
+                }
+                const rangeMinMm = 40;
+                const rangeMaxMm = 1300;
+                const cycleMs = 9000;
+                const timeInCycle = deviceTimeMs % cycleMs;
+                // Simulate periods where the sensor reports invalid readings (target lost)
+                const invalidReading = timeInCycle < 600 ||
+                    (timeInCycle > 4200 && timeInCycle < 5100) ||
+                    (timeInCycle > 7800);
+                const isValid = !invalidReading;
+                // Generate a smooth oscillating distance while valid
+                const phase = (deviceTimeMs % cycleMs) / cycleMs;
+                const smoothWave = 0.5 * (1 - Math.cos(phase * 2 * Math.PI));
+                const slowDrift = 0.05 * Math.sin(deviceTimeMs / 5000);
+                const fastRipple = 0.02 * Math.sin(deviceTimeMs / 200);
+                const normalized = Math.min(1, Math.max(0, smoothWave + slowDrift + fastRipple));
+                let distanceMm = Math.round(rangeMinMm + normalized * (rangeMaxMm - rangeMinMm));
+                // Clamp to the reported range
+                distanceMm = Math.max(rangeMinMm, Math.min(rangeMaxMm, distanceMm));
+                if (!isValid) {
+                    distanceMm = 0;
+                }
+                const statusRaw = isValid ? 0x00 : 0x04;
+                dataView.setUint8(bytePos, statusRaw);
+                dataView.setUint16(bytePos + 1, distanceMm, false);
+                return true;
+            }
+            case "RoboticalLEDRing": {
+                if (dataBlockSizeBytes < 1) {
+                    return false;
+                }
+                const animationPhase = (deviceTimeMs % 6000) / 6000;
+                const patternIndex = Math.floor(animationPhase * 6) % 6;
+                const brightness = Math.round((Math.sin(deviceTimeMs / 600) + 1) * 127.5);
+                const isAnimating = Math.sin(deviceTimeMs / 1500) > 0;
+                const status = ((patternIndex & 0x07) << 4) | Math.min(0x0F, brightness >> 4) | (isAnimating ? 0x80 : 0x00);
+                dataView.setUint8(bytePos, status & 0xFF);
+                return true;
+            }
+            case "RoboticalDCMotor": {
+                if (dataBlockSizeBytes < 4) {
+                    return false;
+                }
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const cycleMs = 3200;
+                const cycleIndex = Math.floor(deviceTimeMs / cycleMs);
+                const direction = (cycleIndex % 2 === 0) ? 1 : -1;
+                const progress = (deviceTimeMs % cycleMs) / cycleMs;
+                const baseAngle = (progress * 360) - 180;
+                const angleDegrees = direction > 0 ? baseAngle : -baseAngle;
+                const angleRaw = clamp(Math.round(angleDegrees * 10), -1800, 1800);
+                const ripple = 6 * Math.sin((deviceTimeMs % cycleMs) / 180);
+                const loadComponent = Math.abs(baseAngle) * 0.12;
+                const currentRaw = clamp(Math.round(24 + loadComponent + ripple), -128, 127);
+                const highLoad = Math.abs(loadComponent) > 8;
+                const directionBit = direction > 0 ? 0x01 : 0x00;
+                const stateRaw = 0x02 | directionBit | (highLoad ? 0x04 : 0x00);
+                dataView.setInt16(bytePos, angleRaw, false);
+                dataView.setInt8(bytePos + 2, currentRaw);
+                dataView.setUint8(bytePos + 3, stateRaw);
+                return true;
+            }
             case "RoboticalServo": {
                 if (dataBlockSizeBytes < 6) {
                     return false;

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

	@@ -1 +1 @@
1	- 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package/dist/web/RaftDeviceInfo.d.ts CHANGED Viewed

@@ -11,7 +11,7 @@ export interface DeviceTypeAttribute {
     at?: number | number[];
     u?: string;
     r?: number[];
-    x?: number;
+    x?: number | string;
     m?: number | string;
     s?: number;
     sb?: number;

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/raftjs",
-  "version": "2.0.7",
+  "version": "2.0.10",
   "description": "Javascript/TS library for Raft library",
   "main": "dist/web/main.js",
   "types": "dist/web/main.d.ts",

package/src/RaftChannelSimulated.ts CHANGED Viewed

@@ -522,6 +522,108 @@ export default class RaftChannelSimulated implements RaftChannel {
         return true;
       }
+      case "LTR-390": {
+        if (dataBlockSizeBytes < 5) {
+          return false;
+        }
+        const numerator = (deviceIntervalMs > 0) ? (1000 / deviceIntervalMs) : 0;
+        const timeRadians = deviceTimeMs * numerator * (2 * Math.PI) / 1000 / 10;
+        const clamp = (value: number, min: number, max: number) => Math.max(min, Math.min(max, value));
+        const ambientLux = clamp(8000 + 4500 * Math.sin(timeRadians), 0, 64000);
+        const ambientRaw = clamp(Math.round(ambientLux * 1.25), 0, 0xFFFFF);
+        dataView.setUint8(bytePos, ambientRaw & 0xFF);
+        dataView.setUint8(bytePos + 1, (ambientRaw >> 8) & 0xFF);
+        dataView.setUint8(bytePos + 2, (ambientRaw >> 16) & 0x0F);
+        const uviIndex = clamp(3.5 + 1.8 * Math.sin(timeRadians + Math.PI / 3), 0, 12);
+        const uviRaw = clamp(Math.round(uviIndex * 24), 0, 0xFFFF);
+        dataView.setUint16(bytePos + 3, uviRaw, true);
+        return true;
+      }
+      case "VL53L4CD": {
+        if (dataBlockSizeBytes < 3) {
+          return false;
+        }
+        const rangeMinMm = 40;
+        const rangeMaxMm = 1300;
+        const cycleMs = 9000;
+        const timeInCycle = deviceTimeMs % cycleMs;
+        // Simulate periods where the sensor reports invalid readings (target lost)
+        const invalidReading =
+          timeInCycle < 600 ||
+          (timeInCycle > 4200 && timeInCycle < 5100) ||
+          (timeInCycle > 7800);
+        const isValid = !invalidReading;
+        // Generate a smooth oscillating distance while valid
+        const phase = (deviceTimeMs % cycleMs) / cycleMs;
+        const smoothWave = 0.5 * (1 - Math.cos(phase * 2 * Math.PI));
+        const slowDrift = 0.05 * Math.sin(deviceTimeMs / 5000);
+        const fastRipple = 0.02 * Math.sin(deviceTimeMs / 200);
+        const normalized = Math.min(1, Math.max(0, smoothWave + slowDrift + fastRipple));
+        let distanceMm = Math.round(rangeMinMm + normalized * (rangeMaxMm - rangeMinMm));
+        // Clamp to the reported range
+        distanceMm = Math.max(rangeMinMm, Math.min(rangeMaxMm, distanceMm));
+        if (!isValid) {
+          distanceMm = 0;
+        }
+        const statusRaw = isValid ? 0x00 : 0x04;
+        dataView.setUint8(bytePos, statusRaw);
+        dataView.setUint16(bytePos + 1, distanceMm, false);
+        return true;
+      }
+      case "RoboticalLEDRing": {
+        if (dataBlockSizeBytes < 1) {
+          return false;
+        }
+        const animationPhase = (deviceTimeMs % 6000) / 6000;
+        const patternIndex = Math.floor(animationPhase * 6) % 6;
+        const brightness = Math.round((Math.sin(deviceTimeMs / 600) + 1) * 127.5);
+        const isAnimating = Math.sin(deviceTimeMs / 1500) > 0;
+        const status = ((patternIndex & 0x07) << 4) | Math.min(0x0F, brightness >> 4) | (isAnimating ? 0x80 : 0x00);
+        dataView.setUint8(bytePos, status & 0xFF);
+        return true;
+      }
+      case "RoboticalDCMotor": {
+        if (dataBlockSizeBytes < 4) {
+          return false;
+        }
+        const clamp = (value: number, min: number, max: number) => Math.max(min, Math.min(max, value));
+        const cycleMs = 3200;
+        const cycleIndex = Math.floor(deviceTimeMs / cycleMs);
+        const direction = (cycleIndex % 2 === 0) ? 1 : -1;
+        const progress = (deviceTimeMs % cycleMs) / cycleMs;
+        const baseAngle = (progress * 360) - 180;
+        const angleDegrees = direction > 0 ? baseAngle : -baseAngle;
+        const angleRaw = clamp(Math.round(angleDegrees * 10), -1800, 1800);
+        const ripple = 6 * Math.sin((deviceTimeMs % cycleMs) / 180);
+        const loadComponent = Math.abs(baseAngle) * 0.12;
+        const currentRaw = clamp(Math.round(24 + loadComponent + ripple), -128, 127);
+        const highLoad = Math.abs(loadComponent) > 8;
+        const directionBit = direction > 0 ? 0x01 : 0x00;
+        const stateRaw = 0x02 | directionBit | (highLoad ? 0x04 : 0x00);
+        dataView.setInt16(bytePos, angleRaw, false);
+        dataView.setInt8(bytePos + 2, currentRaw);
+        dataView.setUint8(bytePos + 3, stateRaw);
+        return true;
+      }
       case "RoboticalServo": {
         if (dataBlockSizeBytes < 6) {
           return false;
@@ -844,6 +946,72 @@ export default class RaftChannelSimulated implements RaftChannel {
         }
       }
     },
+    "LTR-390": {
+      "name": "LTR-390",
+      "desc": "UV and Visible light sensor",
+      "manu": "Lite On",
+      "type": "LTR-390",
+      "clas": ["LGHT"],
+      "resp": {
+        "b": 5,
+        "a": [
+          {
+            "n": "ambient",
+            "t": "<H",
+            "u": "lux",
+            "r": [0, 64000],
+            "d": 1.25,
+            "f": ".2f",
+            "o": "float"
+          },
+          {
+            "n": "UVI",
+            "at": 3,
+            "t": "<H",
+            "u": "index",
+            "r": [0, 64000],
+            "d": 24,
+            "f": ".3f",
+            "o": "float"
+          }
+        ]
+      },
+      "actions": []
+    },
+    "VL53L4CD": {
+      "name": "VL53L4CD",
+      "desc": "ToF distance sensor with range 0-1.3m",
+      "manu": "ST",
+      "type": "VL53L4CD",
+      "clas": ["DIST"],
+      "resp": {
+        "b": 3,
+        "a": [
+          {
+            "n": "valid",
+            "t": "B",
+            "u": "",
+            "r": [0, 1],
+            "m": "0x04",
+            "x": "0x04",
+            "s": 2,
+            "f": "b",
+            "o": "bool",
+            "vs": false
+          },
+          {
+            "n": "dist",
+            "t": ">H",
+            "u": "mm",
+            "r": [0, 65535],
+            "f": "3d",
+            "o": "uint16",
+            "vft": "valid"
+          }
+        ],
+        "us": 100000
+      }
+    },
     "RoboticalServo": {
       "name": "Robotical Servo",
       "desc": "Servo",
@@ -906,6 +1074,102 @@ export default class RaftChannelSimulated implements RaftChannel {
           "d": 1
         }
       ]
+    },
+    "RoboticalDCMotor": {
+      "name": "Robotical DC Motor",
+      "desc": "DCmotor",
+      "manu": "Robotical",
+      "type": "RoboticalDCMotor",
+      "clas": ["MOTR"],
+      "resp": {
+        "b": 4,
+        "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"
+          }
+        ]
+      },
+      "actions": [
+        {
+          "n": "power",
+          "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
+        }
+      ]
+    },
+    "RoboticalLEDRing": {
+      "name": "Robotical LED Ring",
+      "desc": "12 RGB LED Ring",
+      "manu": "Robotical",
+      "type": "RoboticalLEDRing",
+      "clas": ["LED"],
+      "resp": {
+        "b": 1,
+        "a": [
+          {
+            "n": "status",
+            "t": "B",
+            "r": [0, 255],
+            "f": "02x",
+            "o": "uint8"
+          }
+        ]
+      },
+      "actions": [
+        {
+          "n": "pixels",
+          "t": "BBBB",
+          "w": "04",
+          "f": "LEDPIX",
+          "NX": 3,
+          "NY": 1,
+          "concat": false,
+          "r": [0,255]
+        },
+        {
+          "n": "brightness",
+          "t": "B",
+          "w": "FF01",
+          "wz": "&p100",
+          "f": "b",
+          "r": [0,255],
+          "d": 100
+        }
+      ]
     }
   };

package/src/RaftDeviceInfo.ts CHANGED Viewed

@@ -59,7 +59,7 @@ export interface DeviceTypeAttribute {
     at?: number | number[];         // Start pos in buffer (after timestamp) if present (otherwise use relative position) or array of byte positions for non-contiguous data
     u?: string;                     // Units (e.g. mm)
     r?: number[];                   // Range (either min, max or min, max, step or discrete values)
-    x?: number;                     // XOR bit mask to invert bits in the attribute value
+    x?: number | string;            // XOR bit mask to invert bits in the attribute value
     m?: number | string;            // AND bit mask to extract the attribute value from the message
     s?: number;                     // Shift value to shift the attribute value to the right (or left if negative)
     sb?: number;                    // Sign-bit position (0-based)