npm - @robotical/raftjs - Versions diffs - 2.0.8 → 2.0.10 - Mend

@robotical/raftjs 2.0.8 → 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 +64 -0
package/dist/react-native/RaftChannelSimulated.js.map +1 -1
package/dist/react-native/RaftDeviceInfo.d.ts +1 -1
package/dist/web/RaftChannelSimulated.js +64 -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 +72 -0
package/src/RaftDeviceInfo.ts +1 -1

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

@@ -185,6 +185,40 @@ class RaftChannelSimulated {
                 },
                 "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",
@@ -727,6 +761,36 @@ class RaftChannelSimulated {
                 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;

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

@@ -185,6 +185,40 @@ class RaftChannelSimulated {
                 },
                 "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",
@@ -727,6 +761,36 @@ class RaftChannelSimulated {
                 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;

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": "2.0.8",
+  "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

@@ -543,6 +543,44 @@ export default class RaftChannelSimulated implements RaftChannel {
         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;
@@ -940,6 +978,40 @@ export default class RaftChannelSimulated implements RaftChannel {
       },
       "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",

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)