@robotical/raftjs 2.0.8 → 2.0.11
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.
- package/dist/react-native/RaftChannelSimulated.js +64 -0
- package/dist/react-native/RaftChannelSimulated.js.map +1 -1
- package/dist/react-native/RaftChannelWebSerial.js +1 -1
- package/dist/react-native/RaftChannelWebSerial.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/RaftChannelWebSerial.js +1 -1
- package/dist/web/RaftChannelWebSerial.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/RaftChannelWebSerial.ts +1 -1
- package/src/RaftDeviceInfo.ts +1 -1
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@@ -185,6 +185,40 @@ class RaftChannelSimulated {
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185
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},
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"actions": []
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187
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},
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188
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+
"VL53L4CD": {
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189
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+
"name": "VL53L4CD",
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190
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"desc": "ToF distance sensor with range 0-1.3m",
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191
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"manu": "ST",
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192
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"type": "VL53L4CD",
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193
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"clas": ["DIST"],
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"resp": {
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195
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"b": 3,
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196
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"a": [
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{
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"n": "valid",
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"t": "B",
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"u": "",
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"r": [0, 1],
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"m": "0x04",
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"x": "0x04",
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"s": 2,
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"f": "b",
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"o": "bool",
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"vs": false
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},
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{
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"n": "dist",
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211
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"t": ">H",
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212
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"u": "mm",
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213
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"r": [0, 65535],
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"f": "3d",
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"o": "uint16",
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"vft": "valid"
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}
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],
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"us": 100000
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}
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},
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"RoboticalServo": {
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189
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"name": "Robotical Servo",
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"desc": "Servo",
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@@ -727,6 +761,36 @@ class RaftChannelSimulated {
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727
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dataView.setUint16(bytePos + 3, uviRaw, true);
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728
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return true;
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729
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}
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764
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case "VL53L4CD": {
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765
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if (dataBlockSizeBytes < 3) {
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766
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return false;
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767
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}
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768
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const rangeMinMm = 40;
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769
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const rangeMaxMm = 1300;
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770
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const cycleMs = 9000;
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771
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const timeInCycle = deviceTimeMs % cycleMs;
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772
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// Simulate periods where the sensor reports invalid readings (target lost)
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773
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const invalidReading = timeInCycle < 600 ||
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774
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(timeInCycle > 4200 && timeInCycle < 5100) ||
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775
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(timeInCycle > 7800);
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776
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const isValid = !invalidReading;
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777
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// Generate a smooth oscillating distance while valid
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778
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const phase = (deviceTimeMs % cycleMs) / cycleMs;
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779
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const smoothWave = 0.5 * (1 - Math.cos(phase * 2 * Math.PI));
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780
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const slowDrift = 0.05 * Math.sin(deviceTimeMs / 5000);
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781
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const fastRipple = 0.02 * Math.sin(deviceTimeMs / 200);
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782
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const normalized = Math.min(1, Math.max(0, smoothWave + slowDrift + fastRipple));
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783
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let distanceMm = Math.round(rangeMinMm + normalized * (rangeMaxMm - rangeMinMm));
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784
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// Clamp to the reported range
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785
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distanceMm = Math.max(rangeMinMm, Math.min(rangeMaxMm, distanceMm));
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786
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if (!isValid) {
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787
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distanceMm = 0;
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788
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}
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789
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const statusRaw = isValid ? 0x00 : 0x04;
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790
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dataView.setUint8(bytePos, statusRaw);
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791
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dataView.setUint16(bytePos + 1, distanceMm, false);
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792
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return true;
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793
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}
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730
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case "RoboticalLEDRing": {
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731
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if (dataBlockSizeBytes < 1) {
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732
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return false;
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@@ -1 +1 @@
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1
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-
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1
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|
+
{"version":3,"file":"RaftChannelWebSerial.js","sourceRoot":"","sources":["../../src/RaftChannelWebSerial.ts"],"names":[],"mappings":";AAAA,iHAAiH;AACjH,EAAE;AACF,uBAAuB;AACvB,iBAAiB;AACjB,EAAE;AACF,wCAAwC;AACxC,oCAAoC;AACpC,EAAE;AACF,iHAAiH;;;AAIjH,gEAAgC;AAChC,qDAAkE;AA0DlE,MAAqB,oBAAoB;IAAzC;QAEE,kBAAkB;QACV,oBAAe,GAA0B,IAAI,CAAC;QAE9C,UAAK,GAA0B,IAAI,CAAC;QAG5C,uBAAuB;QACvB,uCAAuC;QACvC,uCAAuC;QAEvC,eAAe;QACP,iBAAY,GAAG,KAAK,CAAC;QACrB,gBAAW,GAAG,KAAK,CAAC;QAEpB,kBAAa,GAAa,EAAE,CAAC;QAE7B,mBAAc,GAAG,CAAC,CAAC;QACnB,wBAAmB,GAAG,IAAI,CAAC;QAC3B,wBAAmB,GAAG,IAAI,CAAC;QAC3B,wBAAmB,GAAG,IAAI,CAAC;QAC3B,wBAAmB,GAAG,IAAI,CAAC;QAEnC,gBAAgB;QACR,iBAAY,GAA2B,IAAI,CAAC;QAEpD,0BAA0B;QAClB,2BAAsB,GAAG,CAAC,CAAC;QAC3B,4BAAuB,GAAG,IAAI,CAAC;IA+TzC,CAAC;IA7TC,cAAc,KAAa,OAAO,IAAI,CAAC,sBAAsB,CAAC,CAAC,CAAC;IAChE,eAAe,KAAa,OAAO,IAAI,CAAC,uBAAuB,CAAC,CAAC,CAAC;IAElE,cAAc;IACd,WAAW;QACT,OAAO,IAAI,CAAC,YAAY,CAAC;IAC3B,CAAC;IAED,sBAAsB;IACtB,aAAa,CAAC,cAA8B;QAC1C,IAAI,CAAC,eAAe,GAAG,cAAc,CAAC;IACxC,CAAC;IAED,4EAA4E;IAC5E,oBAAoB;QAClB,OAAO,IAAI,CAAC;IACd,CAAC;IAED,oCAAoC;IACpC,0BAA0B;QACxB,OAAO,IAAI,CAAC;IACd,CAAC;IAED,0BAA0B;IAC1B,cAAc,CAAC,WAA4B;QACzC,IAAI,CAAC,YAAY,GAAG,WAAW,CAAC;IAClC,CAAC;IAED,wBAAwB;IACxB,mBAAmB;QACjB,OAAO,IAAI,CAAC,KAAK,IAAI,EAAE,CAAC;IAC1B,CAAC;IAED,sBAAsB;IACtB,KAAK,CAAC,OAAO,CAAC,OAAwB,EAAE,iBAAmC;QACzE,OAAO,CAAC,GAAG,CAAC,mBAAmB,EAAE,iBAAiB,CAAC,CAAC;QACpD,QAAQ;QACR,iBAAO,CAAC,KAAK,CAAC,+BAA+B,GAAG,OAAO,CAAC,QAAQ,EAAE,CAAC,CAAC;QAEpE,0BAA0B;QAC1B,IAAI,MAAM,IAAI,CAAC,WAAW,EAAE,EAAE,CAAC;YAC7B,OAAO,IAAI,CAAC;QACd,CAAC;QAED,IAAI,CAAC;YACH,IAAI,CAAC,QAAQ,IAAI,SAAS,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,KAAK,IAAI,OAAO,IAAI,WAAW,CAAC,EAAE,CAAC;gBACvE,MAAM,IAAI,GAAG,MAAO,SAAiC,CAAC,MAAM,CAAC,WAAW,EAAE,CAAC;gBAC3E,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;YACpB,CAAC;YACD,UAAU;YACV,IAAI,CAAC,IAAI,CAAC,KAAK;gBACb,OAAO,KAAK,CAAC;YAEf,IAAI,CAAC;gBACH,iBAAO,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC;gBAC7B,MAAM,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC,CAAC;YAC9C,CAAC;YAAC,OAAO,GAAQ,EAAE,CAAC;gBAClB,IAAI,GAAG,CAAC,IAAI,IAAI,mBAAmB,EAAE,CAAC;oBACpC,iBAAO,CAAC,KAAK,CAAC,sCAAsC,GAAG,EAAE,CAAC,CAAC;gBAC7D,CAAC;qBAAM,CAAC;oBACN,iBAAO,CAAC,IAAI,CAAC,wBAAwB,GAAG,EAAE,CAAC,CAAC;oBAC5C,MAAM,GAAG,CAAC;gBACZ,CAAC;YACH,CAAC;YAED,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;YAEzB,kBAAkB;YAClB,IAAI,CAAC,SAAS,EAAE,CAAC;YAEjB,IAAI,CAAC,KAAK,CAAC,gBAAgB,CAAC,YAAY,EAAE,CAAC,KAAK,EAAE,EAAE;gBAClD,iBAAO,CAAC,KAAK,CAAC,uBAAuB,GAAG,IAAI,CAAC,SAAS,CAAC,KAAK,CAAC,CAAC,CAAC;gBAC/D,IAAI,IAAI,CAAC,YAAY;oBACnB,IAAI,CAAC,YAAY,CAAC,8BAAa,CAAC,iBAAiB,CAAC,CAAC;YACvD,CAAC,CAAC,CAAC;YACH,sBAAsB;QACxB,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,iBAAO,CAAC,IAAI,CAAC,4CAA4C,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC,CAAC;YACjF,OAAO,KAAK,CAAC;QACf,CAAC;QAED,OAAO,IAAI,CAAC;IACd,CAAC;IAED,aAAa;IACb,KAAK,CAAC,UAAU;QAEd,gBAAgB;QAChB,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;QAE1B,iBAAO,CAAC,KAAK,CAAC,+DAA+D,CAAC,CAAC;QAE/E,OAAO,IAAI,CAAC,OAAO,EAAE,CAAC;YACpB,MAAM,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,EAAE,CAAC,UAAU,CAAC,OAAO,EAAE,GAAG,CAAC,CAAC,CAAC;QAC3D,CAAC;QAED,uBAAuB;QACvB,IAAI,CAAC;YACH,IAAI,IAAI,CAAC,KAAK;gBACZ,MAAM,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,CAAC;QAC7B,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,OAAO,CAAC,KAAK,CAAC,sBAAsB,GAAG,EAAE,CAAC,CAAC;QAC7C,CAAC;QACD,IAAI,IAAI,CAAC,YAAY;YACnB,IAAI,CAAC,YAAY,CAAC,8BAAa,CAAC,iBAAiB,CAAC,CAAC;QAErD,iBAAO,CAAC,KAAK,CAAC,uBAAuB,CAAC,CAAC;QACvC,OAAO;IACT,CAAC;IAED,eAAe,CAAC,KAAc;QAC5B,IAAI,CAAC,WAAW,GAAG,KAAK,CAAC;IAC3B,CAAC;IAEO,oBAAoB,CAAC,EAAU;QACrC,8BAA8B;QAC9B,IAAI,IAAI,CAAC,cAAc,IAAI,CAAC,EAAE,CAAC;YAC7B,MAAM,WAAW,GAAG,IAAI,CAAC,cAAc,CAAC;YACxC,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,IAAI,WAAW,IAAI,CAAC,EAAE,CAAC;gBACrB,OAAO,CAAC,EAAE,GAAG,IAAI,CAAC,mBAAmB,CAAC,GAAG,IAAI,CAAC;YAChD,CAAC;iBAAM,IAAI,WAAW,IAAI,CAAC,EAAE,CAAC;gBAC5B,OAAO,EAAE,GAAG,IAAI,CAAC,mBAAmB,CAAC;YACvC,CAAC;YACD,OAAO,EAAE,CAAC;QACZ,CAAC;aAAM,IAAI,EAAE,IAAI,IAAI,CAAC,mBAAmB,EAAE,CAAC;YAC1C,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,OAAO,CAAC,CAAC,CAAC;QACZ,CAAC;aAAM,IAAI,EAAE,IAAI,IAAI,CAAC,mBAAmB,EAAE,CAAC;YAC1C,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,OAAO,CAAC,CAAC,CAAC;QACZ,CAAC;aAAM,IAAI,EAAE,IAAI,IAAI,CAAC,mBAAmB,EAAE,CAAC;YAC1C,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,OAAO,CAAC,CAAC,CAAC;QACZ,CAAC;aAAM,CAAC;YACN,OAAO,EAAE,GAAG,IAAI,CAAC;QACnB,CAAC;IACH,CAAC;IAEO,gBAAgB,CAAC,MAAkB;QACzC;;;;;;;;;;;UAWE;QACF,qBAAqB;QACrB,MAAM,YAAY,GAAa,EAAE,CAAC;QAClC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,MAAM,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;YACvC,IAAI,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,EAAE,CAAC;gBACtB,YAAY,CAAC,IAAI,CAAC,IAAI,CAAC,mBAAmB,CAAC,CAAC;gBAC5C,YAAY,CAAC,IAAI,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,mBAAmB,CAAC,GAAG,IAAI,CAAC,CAAC;YACnE,CAAC;iBAAM,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,EAAE,CAAC;gBACtD,YAAY,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;YACtC,CAAC;iBAAM,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,EAAE,CAAC;gBACtD,YAAY,CAAC,IAAI,CAAC,IAAI,CAAC,mBAAmB,CAAC,CAAC;gBAC5C,YAAY,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,C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|
|
@@ -185,6 +185,40 @@ class RaftChannelSimulated {
|
|
|
185
185
|
},
|
|
186
186
|
"actions": []
|
|
187
187
|
},
|
|
188
|
+
"VL53L4CD": {
|
|
189
|
+
"name": "VL53L4CD",
|
|
190
|
+
"desc": "ToF distance sensor with range 0-1.3m",
|
|
191
|
+
"manu": "ST",
|
|
192
|
+
"type": "VL53L4CD",
|
|
193
|
+
"clas": ["DIST"],
|
|
194
|
+
"resp": {
|
|
195
|
+
"b": 3,
|
|
196
|
+
"a": [
|
|
197
|
+
{
|
|
198
|
+
"n": "valid",
|
|
199
|
+
"t": "B",
|
|
200
|
+
"u": "",
|
|
201
|
+
"r": [0, 1],
|
|
202
|
+
"m": "0x04",
|
|
203
|
+
"x": "0x04",
|
|
204
|
+
"s": 2,
|
|
205
|
+
"f": "b",
|
|
206
|
+
"o": "bool",
|
|
207
|
+
"vs": false
|
|
208
|
+
},
|
|
209
|
+
{
|
|
210
|
+
"n": "dist",
|
|
211
|
+
"t": ">H",
|
|
212
|
+
"u": "mm",
|
|
213
|
+
"r": [0, 65535],
|
|
214
|
+
"f": "3d",
|
|
215
|
+
"o": "uint16",
|
|
216
|
+
"vft": "valid"
|
|
217
|
+
}
|
|
218
|
+
],
|
|
219
|
+
"us": 100000
|
|
220
|
+
}
|
|
221
|
+
},
|
|
188
222
|
"RoboticalServo": {
|
|
189
223
|
"name": "Robotical Servo",
|
|
190
224
|
"desc": "Servo",
|
|
@@ -727,6 +761,36 @@ class RaftChannelSimulated {
|
|
|
727
761
|
dataView.setUint16(bytePos + 3, uviRaw, true);
|
|
728
762
|
return true;
|
|
729
763
|
}
|
|
764
|
+
case "VL53L4CD": {
|
|
765
|
+
if (dataBlockSizeBytes < 3) {
|
|
766
|
+
return false;
|
|
767
|
+
}
|
|
768
|
+
const rangeMinMm = 40;
|
|
769
|
+
const rangeMaxMm = 1300;
|
|
770
|
+
const cycleMs = 9000;
|
|
771
|
+
const timeInCycle = deviceTimeMs % cycleMs;
|
|
772
|
+
// Simulate periods where the sensor reports invalid readings (target lost)
|
|
773
|
+
const invalidReading = timeInCycle < 600 ||
|
|
774
|
+
(timeInCycle > 4200 && timeInCycle < 5100) ||
|
|
775
|
+
(timeInCycle > 7800);
|
|
776
|
+
const isValid = !invalidReading;
|
|
777
|
+
// Generate a smooth oscillating distance while valid
|
|
778
|
+
const phase = (deviceTimeMs % cycleMs) / cycleMs;
|
|
779
|
+
const smoothWave = 0.5 * (1 - Math.cos(phase * 2 * Math.PI));
|
|
780
|
+
const slowDrift = 0.05 * Math.sin(deviceTimeMs / 5000);
|
|
781
|
+
const fastRipple = 0.02 * Math.sin(deviceTimeMs / 200);
|
|
782
|
+
const normalized = Math.min(1, Math.max(0, smoothWave + slowDrift + fastRipple));
|
|
783
|
+
let distanceMm = Math.round(rangeMinMm + normalized * (rangeMaxMm - rangeMinMm));
|
|
784
|
+
// Clamp to the reported range
|
|
785
|
+
distanceMm = Math.max(rangeMinMm, Math.min(rangeMaxMm, distanceMm));
|
|
786
|
+
if (!isValid) {
|
|
787
|
+
distanceMm = 0;
|
|
788
|
+
}
|
|
789
|
+
const statusRaw = isValid ? 0x00 : 0x04;
|
|
790
|
+
dataView.setUint8(bytePos, statusRaw);
|
|
791
|
+
dataView.setUint16(bytePos + 1, distanceMm, false);
|
|
792
|
+
return true;
|
|
793
|
+
}
|
|
730
794
|
case "RoboticalLEDRing": {
|
|
731
795
|
if (dataBlockSizeBytes < 1) {
|
|
732
796
|
return false;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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1
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|
+
{"version":3,"file":"RaftChannelWebSerial.js","sourceRoot":"","sources":["../../src/RaftChannelWebSerial.ts"],"names":[],"mappings":";AAAA,iHAAiH;AACjH,EAAE;AACF,uBAAuB;AACvB,iBAAiB;AACjB,EAAE;AACF,wCAAwC;AACxC,oCAAoC;AACpC,EAAE;AACF,iHAAiH;;;AAIjH,gEAAgC;AAChC,qDAAkE;AA0DlE,MAAqB,oBAAoB;IAAzC;QAEE,kBAAkB;QACV,oBAAe,GAA0B,IAAI,CAAC;QAE9C,UAAK,GAA0B,IAAI,CAAC;QAG5C,uBAAuB;QACvB,uCAAuC;QACvC,uCAAuC;QAEvC,eAAe;QACP,iBAAY,GAAG,KAAK,CAAC;QACrB,gBAAW,GAAG,KAAK,CAAC;QAEpB,kBAAa,GAAa,EAAE,CAAC;QAE7B,mBAAc,GAAG,CAAC,CAAC;QACnB,wBAAmB,GAAG,IAAI,CAAC;QAC3B,wBAAmB,GAAG,IAAI,CAAC;QAC3B,wBAAmB,GAAG,IAAI,CAAC;QAC3B,wBAAmB,GAAG,IAAI,CAAC;QAEnC,gBAAgB;QACR,iBAAY,GAA2B,IAAI,CAAC;QAEpD,0BAA0B;QAClB,2BAAsB,GAAG,CAAC,CAAC;QAC3B,4BAAuB,GAAG,IAAI,CAAC;IA+TzC,CAAC;IA7TC,cAAc,KAAa,OAAO,IAAI,CAAC,sBAAsB,CAAC,CAAC,CAAC;IAChE,eAAe,KAAa,OAAO,IAAI,CAAC,uBAAuB,CAAC,CAAC,CAAC;IAElE,cAAc;IACd,WAAW;QACT,OAAO,IAAI,CAAC,YAAY,CAAC;IAC3B,CAAC;IAED,sBAAsB;IACtB,aAAa,CAAC,cAA8B;QAC1C,IAAI,CAAC,eAAe,GAAG,cAAc,CAAC;IACxC,CAAC;IAED,4EAA4E;IAC5E,oBAAoB;QAClB,OAAO,IAAI,CAAC;IACd,CAAC;IAED,oCAAoC;IACpC,0BAA0B;QACxB,OAAO,IAAI,CAAC;IACd,CAAC;IAED,0BAA0B;IAC1B,cAAc,CAAC,WAA4B;QACzC,IAAI,CAAC,YAAY,GAAG,WAAW,CAAC;IAClC,CAAC;IAED,wBAAwB;IACxB,mBAAmB;QACjB,OAAO,IAAI,CAAC,KAAK,IAAI,EAAE,CAAC;IAC1B,CAAC;IAED,sBAAsB;IACtB,KAAK,CAAC,OAAO,CAAC,OAAwB,EAAE,iBAAmC;QACzE,OAAO,CAAC,GAAG,CAAC,mBAAmB,EAAE,iBAAiB,CAAC,CAAC;QACpD,QAAQ;QACR,iBAAO,CAAC,KAAK,CAAC,+BAA+B,GAAG,OAAO,CAAC,QAAQ,EAAE,CAAC,CAAC;QAEpE,0BAA0B;QAC1B,IAAI,MAAM,IAAI,CAAC,WAAW,EAAE,EAAE,CAAC;YAC7B,OAAO,IAAI,CAAC;QACd,CAAC;QAED,IAAI,CAAC;YACH,IAAI,CAAC,QAAQ,IAAI,SAAS,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,KAAK,IAAI,OAAO,IAAI,WAAW,CAAC,EAAE,CAAC;gBACvE,MAAM,IAAI,GAAG,MAAO,SAAiC,CAAC,MAAM,CAAC,WAAW,EAAE,CAAC;gBAC3E,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;YACpB,CAAC;YACD,UAAU;YACV,IAAI,CAAC,IAAI,CAAC,KAAK;gBACb,OAAO,KAAK,CAAC;YAEf,IAAI,CAAC;gBACH,iBAAO,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC;gBAC7B,MAAM,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC,CAAC;YAC9C,CAAC;YAAC,OAAO,GAAQ,EAAE,CAAC;gBAClB,IAAI,GAAG,CAAC,IAAI,IAAI,mBAAmB,EAAE,CAAC;oBACpC,iBAAO,CAAC,KAAK,CAAC,sCAAsC,GAAG,EAAE,CAAC,CAAC;gBAC7D,CAAC;qBAAM,CAAC;oBACN,iBAAO,CAAC,IAAI,CAAC,wBAAwB,GAAG,EAAE,CAAC,CAAC;oBAC5C,MAAM,GAAG,CAAC;gBACZ,CAAC;YACH,CAAC;YAED,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;YAEzB,kBAAkB;YAClB,IAAI,CAAC,SAAS,EAAE,CAAC;YAEjB,IAAI,CAAC,KAAK,CAAC,gBAAgB,CAAC,YAAY,EAAE,CAAC,KAAK,EAAE,EAAE;gBAClD,iBAAO,CAAC,KAAK,CAAC,uBAAuB,GAAG,IAAI,CAAC,SAAS,CAAC,KAAK,CAAC,CAAC,CAAC;gBAC/D,IAAI,IAAI,CAAC,YAAY;oBACnB,IAAI,CAAC,YAAY,CAAC,8BAAa,CAAC,iBAAiB,CAAC,CAAC;YACvD,CAAC,CAAC,CAAC;YACH,sBAAsB;QACxB,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,iBAAO,CAAC,IAAI,CAAC,4CAA4C,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC,CAAC;YACjF,OAAO,KAAK,CAAC;QACf,CAAC;QAED,OAAO,IAAI,CAAC;IACd,CAAC;IAED,aAAa;IACb,KAAK,CAAC,UAAU;QAEd,gBAAgB;QAChB,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;QAE1B,iBAAO,CAAC,KAAK,CAAC,+DAA+D,CAAC,CAAC;QAE/E,OAAO,IAAI,CAAC,OAAO,EAAE,CAAC;YACpB,MAAM,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,EAAE,CAAC,UAAU,CAAC,OAAO,EAAE,GAAG,CAAC,CAAC,CAAC;QAC3D,CAAC;QAED,uBAAuB;QACvB,IAAI,CAAC;YACH,IAAI,IAAI,CAAC,KAAK;gBACZ,MAAM,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,CAAC;QAC7B,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,OAAO,CAAC,KAAK,CAAC,sBAAsB,GAAG,EAAE,CAAC,CAAC;QAC7C,CAAC;QACD,IAAI,IAAI,CAAC,YAAY;YACnB,IAAI,CAAC,YAAY,CAAC,8BAAa,CAAC,iBAAiB,CAAC,CAAC;QAErD,iBAAO,CAAC,KAAK,CAAC,uBAAuB,CAAC,CAAC;QACvC,OAAO;IACT,CAAC;IAED,eAAe,CAAC,KAAc;QAC5B,IAAI,CAAC,WAAW,GAAG,KAAK,CAAC;IAC3B,CAAC;IAEO,oBAAoB,CAAC,EAAU;QACrC,8BAA8B;QAC9B,IAAI,IAAI,CAAC,cAAc,IAAI,CAAC,EAAE,CAAC;YAC7B,MAAM,WAAW,GAAG,IAAI,CAAC,cAAc,CAAC;YACxC,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,IAAI,WAAW,IAAI,CAAC,EAAE,CAAC;gBACrB,OAAO,CAAC,EAAE,GAAG,IAAI,CAAC,mBAAmB,CAAC,GAAG,IAAI,CAAC;YAChD,CAAC;iBAAM,IAAI,WAAW,IAAI,CAAC,EAAE,CAAC;gBAC5B,OAAO,EAAE,GAAG,IAAI,CAAC,mBAAmB,CAAC;YACvC,CAAC;YACD,OAAO,EAAE,CAAC;QACZ,CAAC;aAAM,IAAI,EAAE,IAAI,IAAI,CAAC,mBAAmB,EAAE,CAAC;YAC1C,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,OAAO,CAAC,CAAC,CAAC;QACZ,CAAC;aAAM,IAAI,EAAE,IAAI,IAAI,CAAC,mBAAmB,EAAE,CAAC;YAC1C,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,OAAO,CAAC,CAAC,CAAC;QACZ,CAAC;aAAM,IAAI,EAAE,IAAI,IAAI,CAAC,mBAAmB,EAAE,CAAC;YAC1C,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC;YACxB,OAAO,CAAC,CAAC,CAAC;QACZ,CAAC;aAAM,CAAC;YACN,OAAO,EAAE,GAAG,IAAI,CAAC;QACnB,CAAC;IACH,CAAC;IAEO,gBAAgB,CAAC,MAAkB;QACzC;;;;;;;;;;;UAWE;QACF,qBAAqB;QACrB,MAAM,YAAY,GAAa,EAAE,CAAC;QAClC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,MAAM,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;YACvC,IAAI,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,EAAE,CAAC;gBACtB,YAAY,CAAC,IAAI,CAAC,IAAI,CAAC,mBAAmB,CAAC,CAAC;gBAC5C,YAAY,CAAC,IAAI,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,mBAAmB,CAAC,GAAG,IAAI,CAAC,CAAC;YACnE,CAAC;iBAAM,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,EAAE,CAAC;gBACtD,YAAY,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;YACtC,CAAC;iBAAM,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,EAAE,CAAC;gBACtD,YAAY,CAAC,IAAI,CAAC,IAAI,CAAC,mBAAmB,CAAC,CAAC;gBAC5C,YAAY,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,C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|
package/package.json
CHANGED
|
@@ -543,6 +543,44 @@ export default class RaftChannelSimulated implements RaftChannel {
|
|
|
543
543
|
|
|
544
544
|
return true;
|
|
545
545
|
}
|
|
546
|
+
case "VL53L4CD": {
|
|
547
|
+
if (dataBlockSizeBytes < 3) {
|
|
548
|
+
return false;
|
|
549
|
+
}
|
|
550
|
+
|
|
551
|
+
const rangeMinMm = 40;
|
|
552
|
+
const rangeMaxMm = 1300;
|
|
553
|
+
const cycleMs = 9000;
|
|
554
|
+
const timeInCycle = deviceTimeMs % cycleMs;
|
|
555
|
+
|
|
556
|
+
// Simulate periods where the sensor reports invalid readings (target lost)
|
|
557
|
+
const invalidReading =
|
|
558
|
+
timeInCycle < 600 ||
|
|
559
|
+
(timeInCycle > 4200 && timeInCycle < 5100) ||
|
|
560
|
+
(timeInCycle > 7800);
|
|
561
|
+
const isValid = !invalidReading;
|
|
562
|
+
|
|
563
|
+
// Generate a smooth oscillating distance while valid
|
|
564
|
+
const phase = (deviceTimeMs % cycleMs) / cycleMs;
|
|
565
|
+
const smoothWave = 0.5 * (1 - Math.cos(phase * 2 * Math.PI));
|
|
566
|
+
const slowDrift = 0.05 * Math.sin(deviceTimeMs / 5000);
|
|
567
|
+
const fastRipple = 0.02 * Math.sin(deviceTimeMs / 200);
|
|
568
|
+
const normalized = Math.min(1, Math.max(0, smoothWave + slowDrift + fastRipple));
|
|
569
|
+
let distanceMm = Math.round(rangeMinMm + normalized * (rangeMaxMm - rangeMinMm));
|
|
570
|
+
|
|
571
|
+
// Clamp to the reported range
|
|
572
|
+
distanceMm = Math.max(rangeMinMm, Math.min(rangeMaxMm, distanceMm));
|
|
573
|
+
|
|
574
|
+
if (!isValid) {
|
|
575
|
+
distanceMm = 0;
|
|
576
|
+
}
|
|
577
|
+
|
|
578
|
+
const statusRaw = isValid ? 0x00 : 0x04;
|
|
579
|
+
dataView.setUint8(bytePos, statusRaw);
|
|
580
|
+
dataView.setUint16(bytePos + 1, distanceMm, false);
|
|
581
|
+
|
|
582
|
+
return true;
|
|
583
|
+
}
|
|
546
584
|
case "RoboticalLEDRing": {
|
|
547
585
|
if (dataBlockSizeBytes < 1) {
|
|
548
586
|
return false;
|
|
@@ -940,6 +978,40 @@ export default class RaftChannelSimulated implements RaftChannel {
|
|
|
940
978
|
},
|
|
941
979
|
"actions": []
|
|
942
980
|
},
|
|
981
|
+
"VL53L4CD": {
|
|
982
|
+
"name": "VL53L4CD",
|
|
983
|
+
"desc": "ToF distance sensor with range 0-1.3m",
|
|
984
|
+
"manu": "ST",
|
|
985
|
+
"type": "VL53L4CD",
|
|
986
|
+
"clas": ["DIST"],
|
|
987
|
+
"resp": {
|
|
988
|
+
"b": 3,
|
|
989
|
+
"a": [
|
|
990
|
+
{
|
|
991
|
+
"n": "valid",
|
|
992
|
+
"t": "B",
|
|
993
|
+
"u": "",
|
|
994
|
+
"r": [0, 1],
|
|
995
|
+
"m": "0x04",
|
|
996
|
+
"x": "0x04",
|
|
997
|
+
"s": 2,
|
|
998
|
+
"f": "b",
|
|
999
|
+
"o": "bool",
|
|
1000
|
+
"vs": false
|
|
1001
|
+
},
|
|
1002
|
+
{
|
|
1003
|
+
"n": "dist",
|
|
1004
|
+
"t": ">H",
|
|
1005
|
+
"u": "mm",
|
|
1006
|
+
"r": [0, 65535],
|
|
1007
|
+
"f": "3d",
|
|
1008
|
+
"o": "uint16",
|
|
1009
|
+
"vft": "valid"
|
|
1010
|
+
}
|
|
1011
|
+
],
|
|
1012
|
+
"us": 100000
|
|
1013
|
+
}
|
|
1014
|
+
},
|
|
943
1015
|
"RoboticalServo": {
|
|
944
1016
|
"name": "Robotical Servo",
|
|
945
1017
|
"desc": "Servo",
|
|
@@ -115,7 +115,7 @@ export default class RaftChannelWebSerial implements RaftChannel {
|
|
|
115
115
|
|
|
116
116
|
// Serial interface will require subscription, but don't start it by default
|
|
117
117
|
requiresSubscription(): boolean {
|
|
118
|
-
return
|
|
118
|
+
return true;
|
|
119
119
|
}
|
|
120
120
|
|
|
121
121
|
// RICREST command before disconnect
|
package/src/RaftDeviceInfo.ts
CHANGED
|
@@ -59,7 +59,7 @@ export interface DeviceTypeAttribute {
|
|
|
59
59
|
at?: number | number[]; // Start pos in buffer (after timestamp) if present (otherwise use relative position) or array of byte positions for non-contiguous data
|
|
60
60
|
u?: string; // Units (e.g. mm)
|
|
61
61
|
r?: number[]; // Range (either min, max or min, max, step or discrete values)
|
|
62
|
-
x?: number;
|
|
62
|
+
x?: number | string; // XOR bit mask to invert bits in the attribute value
|
|
63
63
|
m?: number | string; // AND bit mask to extract the attribute value from the message
|
|
64
64
|
s?: number; // Shift value to shift the attribute value to the right (or left if negative)
|
|
65
65
|
sb?: number; // Sign-bit position (0-based)
|