@robotical/raftjs 2.1.2 → 2.1.4

package/dist/web/RaftAttributeHandler.js

@@ -12,6 +12,7 @@ const tslib_1 = require("tslib");
 const RaftCustomAttrHandler_1 = tslib_1.__importDefault(require("./RaftCustomAttrHandler"));
 const RaftDeviceInfo_1 = require("./RaftDeviceInfo");
 const RaftStruct_1 = require("./RaftStruct");
+const RaftUtils_1 = tslib_1.__importDefault(require("./RaftUtils"));
 class AttributeHandler {
     constructor() {
         // Custom attribute handler
@@ -20,8 +21,21 @@ class AttributeHandler {
         this.POLL_RESULT_TIMESTAMP_SIZE = 2;
         this.POLL_RESULT_WRAP_VALUE = this.POLL_RESULT_TIMESTAMP_SIZE === 2 ? 65536 : 4294967296;
         this.POLL_RESULT_RESOLUTION_US = 100;
+        // One-shot detailed warning when an attribute decode would overrun the
+        // sample/message bounds. Includes the exact bytes and schema so the
+        // firmware vs. registered device-type schema can be reconciled.
+        this._overrunWarnSeen = new Set();
     }
-    processMsgAttrGroup(msgBuffer, msgBufIdx, deviceTimeline, pollRespMetadata, devAttrsState, maxDataPoints, msgEndIdx = msgBuffer.length) {
+    processMsgAttrGroup(msgBuffer, msgBufIdx, deviceTimeline, pollRespMetadata, devAttrsState, maxDataPoints, msgEndIdxOrDiagCtx = msgBuffer.length, diagCtx) {
+        var _a;
+        // Merge rationale: Robotical's devbin compatibility parser needs an
+        // explicit sample boundary; upstream's diagnostics need per-sample
+        // context. Accept both call styles so malformed samples are skipped
+        // without losing useful overrun warnings.
+        const msgEndIdx = typeof msgEndIdxOrDiagCtx === "number"
+            ? msgEndIdxOrDiagCtx
+            : (_a = msgEndIdxOrDiagCtx.sampleEndIdx) !== null && _a !== void 0 ? _a : msgBuffer.length;
+        const effectiveDiagCtx = typeof msgEndIdxOrDiagCtx === "number" ? diagCtx : msgEndIdxOrDiagCtx;
         // console.log(`processMsgAttrGroup msg ${msgHexStr} timestamp ${timestamp} origTimestamp ${origTimestamp} msgBufIdx ${msgBufIdx}`)
         const boundedMsgEndIdx = Math.min(Math.max(msgEndIdx, msgBufIdx), msgBuffer.length);
         // Extract msg timestamp
@@ -33,6 +47,11 @@ class AttributeHandler {
         const msgDataStartIdx = msgBufIdx;
         // New attribute values (in order as they appear in the attributes JSON)
         let newAttrValues = [];
+        // Tracks whether any individual attribute decode failed in the non-custom path.
+        // When true, the detailed per-attribute overrun warning has already been emitted
+        // by processMsgAttribute, so we suppress the redundant downstream length/empty
+        // warnings that would otherwise fire every poll.
+        let attrDecodeFailed = false;
         if ("c" in pollRespMetadata) {
             // Extract attribute values using custom handler
             newAttrValues = this._customAttrHandler.handleAttr(pollRespMetadata, msgBuffer, msgBufIdx, boundedMsgEndIdx);
@@ -71,11 +90,12 @@ class AttributeHandler {
                 if (!("t" in attrDef)) {
                     console.warn(`DeviceManager msg unknown msgBuffer ${msgBuffer} tsUs ${timestampUs} attrDef ${JSON.stringify(attrDef)}`);
                     newAttrValues.push([]);
+                    attrDecodeFailed = true;
                     continue;
                 }
                 // console.log(`RaftAttrHdlr.processMsgAttrGroup attr ${attrDef.n} msgBufIdx ${msgBufIdx} timestampUs ${timestampUs} attrDef ${JSON.stringify(attrDef)}`);
                 // Process the attribute
-                const { values, newMsgBufIdx } = this.processMsgAttribute(attrDef, msgBuffer, msgBufIdx, msgDataStartIdx, boundedMsgEndIdx);
+                const { values, newMsgBufIdx } = this.processMsgAttribute(attrDef, msgBuffer, msgBufIdx, msgDataStartIdx, boundedMsgEndIdx, pollRespMetadata, effectiveDiagCtx);
                 if (newMsgBufIdx < 0) {
                     return -1;
                 }
@@ -97,13 +117,17 @@ class AttributeHandler {
         const numNewDataPoints = newAttrValues[0].length;
         for (let i = 1; i < newAttrValues.length; i++) {
             if (newAttrValues[i].length !== numNewDataPoints) {
-                console.warn(`DeviceManager msg attrGroup ${pollRespMetadata} attrName ${pollRespMetadata.a[i].n} newAttrValues ${newAttrValues} do not have the same length`);
+                if (!attrDecodeFailed) {
+                    console.warn(`DeviceManager msg attrGroup ${JSON.stringify(pollRespMetadata)} attrName ${pollRespMetadata.a[i].n} newAttrValues lengths ${newAttrValues.map(v => v.length).join(",")} do not match`);
+                }
                 return msgDataStartIdx + pollRespSizeBytes;
             }
         }
         // All attributes in the schema should have values
         if (newAttrValues.length !== pollRespMetadata.a.length) {
-            console.warn(`DeviceManager msg attrGroup ${pollRespMetadata} newAttrValues ${newAttrValues} length does not match attrGroup.a length`);
+            if (!attrDecodeFailed) {
+                console.warn(`DeviceManager msg attrGroup ${JSON.stringify(pollRespMetadata)} newAttrValues length ${newAttrValues.length} does not match attrGroup.a length ${pollRespMetadata.a.length}`);
+            }
             return msgDataStartIdx + pollRespSizeBytes;
         }
         // Add the new attribute values to the device state
@@ -238,7 +262,7 @@ class AttributeHandler {
             }
         }
     }
-    processMsgAttribute(attrDef, msgBuffer, msgBufIdx, msgDataStartIdx, msgEndIdx) {
+    processMsgAttribute(attrDef, msgBuffer, msgBufIdx, msgDataStartIdx, msgEndIdx, pollRespMetadata, diagCtx) {
         // Current field message string index
         let curFieldBufIdx = msgBufIdx;
         let attrUsesAbsPos = false;
@@ -257,7 +281,8 @@ class AttributeHandler {
                 // Copy bytes from the specified positions
                 for (let i = 0; i < attrDef.at.length && i < elemSize; i++) {
                     const sourceIdx = msgDataStartIdx + attrDef.at[i];
-                    if (sourceIdx >= boundedMsgEndIdx) {
+                    if (sourceIdx < msgDataStartIdx || sourceIdx >= boundedMsgEndIdx) {
+                        this.warnAttrOverrun(attrDef, msgBuffer, sourceIdx, elemSize, msgDataStartIdx, true, pollRespMetadata, diagCtx, sourceIdx >= msgBuffer.length ? "msgBuffer" : "sample");
                         return { values: [], newMsgBufIdx: -1 };
                     }
                     bytesForType[i] = msgBuffer[sourceIdx];
@@ -273,11 +298,13 @@ class AttributeHandler {
             }
             attrUsesAbsPos = true;
         }
-        // Check if outside bounds of message
+        // Merge rationale: keep Robotical's hard sample bounds as the source of
+        // truth, but emit upstream's one-shot diagnostic when a schema tries to
+        // read beyond the sample or buffer.
         const attrEndIdx = curFieldBufIdx + numBytesConsumed;
         const effectiveMsgEndIdx = Math.min(Math.max(msgEndIdx, curFieldBufIdx), msgBuffer.length);
         if (curFieldBufIdx >= effectiveMsgEndIdx || attrEndIdx > effectiveMsgEndIdx) {
-            // console.warn(`DeviceManager msg outside bounds msgBuffer ${msgBuffer} attrName ${attrDef.n}`);
+            this.warnAttrOverrun(attrDef, msgBuffer, curFieldBufIdx, numBytesConsumed, msgDataStartIdx, attrUsesAbsPos, pollRespMetadata, diagCtx, attrEndIdx > msgBuffer.length ? "msgBuffer" : "sample");
             return { values: [], newMsgBufIdx: -1 };
         }
         // Slice into buffer
@@ -379,6 +406,31 @@ class AttributeHandler {
         // Return the value
         return { values: attrValues, newMsgBufIdx: msgBufIdx };
     }
+    warnAttrOverrun(attrDef, msgBuffer, curFieldBufIdx, attrTypeSize, msgDataStartIdx, attrUsesAbsPos, pollRespMetadata, diagCtx, overrunOf) {
+        var _a, _b, _c, _d, _e, _f;
+        const sampleStart = (_a = diagCtx === null || diagCtx === void 0 ? void 0 : diagCtx.sampleStartIdx) !== null && _a !== void 0 ? _a : msgDataStartIdx;
+        const sampleEnd = diagCtx === null || diagCtx === void 0 ? void 0 : diagCtx.sampleEndIdx;
+        const dedupeKey = `${(_b = diagCtx === null || diagCtx === void 0 ? void 0 : diagCtx.deviceKey) !== null && _b !== void 0 ? _b : "?"}|${(_c = diagCtx === null || diagCtx === void 0 ? void 0 : diagCtx.deviceType) !== null && _c !== void 0 ? _c : "?"}|${attrDef.n}|${attrDef.t}|${attrUsesAbsPos ? attrDef.at : "rel"}`;
+        if (this._overrunWarnSeen.has(dedupeKey)) {
+            return;
+        }
+        this._overrunWarnSeen.add(dedupeKey);
+        const sampleHex = sampleEnd !== undefined
+            ? RaftUtils_1.default.bufferToHex(msgBuffer.slice(sampleStart, sampleEnd))
+            : "<unknown sample bounds>";
+        const availableInSample = sampleEnd !== undefined ? Math.max(0, sampleEnd - curFieldBufIdx) : -1;
+        const availableInBuffer = Math.max(0, msgBuffer.length - curFieldBufIdx);
+        console.warn(`AttributeHandler decode overrun (${overrunOf}): ` +
+            `deviceKey=${(_d = diagCtx === null || diagCtx === void 0 ? void 0 : diagCtx.deviceKey) !== null && _d !== void 0 ? _d : "?"} deviceType=${(_e = diagCtx === null || diagCtx === void 0 ? void 0 : diagCtx.deviceType) !== null && _e !== void 0 ? _e : "?"} ` +
+            `debugMsgIndex=${(_f = diagCtx === null || diagCtx === void 0 ? void 0 : diagCtx.debugMsgIndex) !== null && _f !== void 0 ? _f : "?"} attr.n=${attrDef.n} attr.t=${attrDef.t} ` +
+            `attrTypeSize=${attrTypeSize} attrUsesAbsPos=${attrUsesAbsPos} attr.at=${JSON.stringify(attrDef.at)} ` +
+            `curFieldBufIdx=${curFieldBufIdx} msgBuffer.length=${msgBuffer.length} ` +
+            `sampleStartIdx=${sampleStart} sampleEndIdx=${sampleEnd !== null && sampleEnd !== void 0 ? sampleEnd : "?"} ` +
+            `availableInSample=${availableInSample} availableInBuffer=${availableInBuffer} ` +
+            `sampleHex=${sampleHex} ` +
+            `pollRespMetadata.b=${pollRespMetadata === null || pollRespMetadata === void 0 ? void 0 : pollRespMetadata.b} ` +
+            `schema=${JSON.stringify(pollRespMetadata === null || pollRespMetadata === void 0 ? void 0 : pollRespMetadata.a)}`);
+    }
     signExtend(value, mask) {
         const signBitMask = (mask + 1) >> 1;
         const signBit = value & signBitMask;

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package/dist/web/RaftChannelSimulated.d.ts

@@ -32,6 +32,7 @@ export default class RaftChannelSimulated implements RaftChannel {
     private _generateAttributeScaledValues;
     private _generateThermalGridValues;
     private _fillCustomRawData;
+    private _writeFloat32BytesAtOffsets;
     private _getGridDimensions;
     private _prepareRawValue;
     private _writeRawValueToBuffer;

package/dist/web/RaftChannelSimulated.js

@@ -220,6 +220,45 @@ class RaftChannelSimulated {
                     "us": 100000
                 }
             },
+            "SCD30": {
+                "name": "CO2 Sensor",
+                "desc": "",
+                "manu": "Sensirion",
+                "type": "SCD30",
+                "clas": ["CO2", "TEMP", "RH"],
+                "resp": {
+                    "b": 24,
+                    "a": [
+                        {
+                            "n": "CO2",
+                            "t": ">f",
+                            "at": [6, 7, 9, 10],
+                            "u": "ppm",
+                            "r": [0, 40000],
+                            "f": ".1f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "temperature",
+                            "t": ">f",
+                            "at": [12, 13, 15, 16],
+                            "u": "C",
+                            "r": [-40, 125],
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "humidity",
+                            "t": ">f",
+                            "at": [18, 19, 21, 22],
+                            "u": "%RH",
+                            "r": [0, 100],
+                            "f": ".2f",
+                            "o": "float"
+                        }
+                    ]
+                }
+            },
             "RoboticalServo": {
                 "name": "Robotical Servo",
                 "desc": "Servo",
@@ -795,6 +834,18 @@ class RaftChannelSimulated {
                 dataView.setUint16(bytePos + 1, distanceMm, false);
                 return true;
             }
+            case "SCD30": {
+                if (dataBlockSizeBytes < 24) {
+                    return false;
+                }
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const co2Ppm = clamp(850 + 320 * Math.sin(deviceTimeMs / 6500) + 45 * Math.sin(deviceTimeMs / 1400), 400, 2000);
+                const temperatureC = clamp(22 + 2.2 * Math.sin(deviceTimeMs / 11000 + Math.PI / 5), -40, 125);
+                const humidityPercent = clamp(48 + 14 * Math.sin(deviceTimeMs / 9000 + Math.PI / 2), 0, 100);
+                return (this._writeFloat32BytesAtOffsets(dataView, bytePos, [6, 7, 9, 10], co2Ppm) &&
+                    this._writeFloat32BytesAtOffsets(dataView, bytePos, [12, 13, 15, 16], temperatureC) &&
+                    this._writeFloat32BytesAtOffsets(dataView, bytePos, [18, 19, 21, 22], humidityPercent));
+            }
             case "RoboticalLEDRing": {
                 if (dataBlockSizeBytes < 1) {
                     return false;
@@ -858,6 +909,22 @@ class RaftChannelSimulated {
                 return false;
         }
     }
+    _writeFloat32BytesAtOffsets(dataView, baseBytePos, offsets, value) {
+        if (offsets.length < 4) {
+            return false;
+        }
+        const maxOffset = Math.max(...offsets);
+        if (baseBytePos + maxOffset >= dataView.byteLength) {
+            return false;
+        }
+        const scratchBuffer = new ArrayBuffer(4);
+        new DataView(scratchBuffer).setFloat32(0, value, false);
+        const bytes = new Uint8Array(scratchBuffer);
+        for (let idx = 0; idx < 4; idx++) {
+            dataView.setUint8(baseBytePos + offsets[idx], bytes[idx]);
+        }
+        return true;
+    }
     _getGridDimensions(attr, repeatCount) {
         if (attr && typeof attr.resolution === "string") {
             const match = attr.resolution.match(/(\d+)\s*x\s*(\d+)/i);

package/dist/web/RaftChannelSimulated.js.map

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package/dist/web/RaftConnector.d.ts

@@ -1,7 +1,7 @@
 import RaftChannel from "./RaftChannel";
 import RaftMsgHandler, { RaftMsgResultCode } from "./RaftMsgHandler";
 import RaftCommsStats from "./RaftCommsStats";
-import { RaftEventFn, RaftOKFail, RaftFileDownloadResult, RaftProgressCBType, RaftStreamDataProgressCBType, RaftBridgeSetupResp, RaftFileDownloadFn, RaftReportMsg } from "./RaftTypes";
+import { RaftEventFn, RaftOKFail, RaftFileDownloadResult, RaftProgressCBType, RaftStreamDataProgressCBType, RaftBridgeSetupResp, RaftFileDownloadFn, RaftReportMsg, RaftRtStreamHandle, RaftRtStreamOptions } from "./RaftTypes";
 import RaftSystemUtils from "./RaftSystemUtils";
 import RaftStreamHandler from "./RaftStreamHandler";
 import { RaftConnEvent } from "./RaftConnEvents";
@@ -29,6 +29,8 @@ export default class RaftConnector {
     getStreamHandler(): RaftStreamHandler;
     private _onEventFn;
     private _raftUpdateManager;
+    private _rtStreamCallbacks;
+    private _fallbackRtStreamCallback;
     /**
      * RaftConnector constructor
      * @param getSystemTypeCB - callback to get system type
@@ -89,6 +91,16 @@ export default class RaftConnector {
      * @returns RaftCommsStats - communication stats
      * */
     getCommsStats(): RaftCommsStats;
+    /**
+     * getOperationQueueDepth
+     * @returns number of high-level device operations queued or running
+     */
+    getOperationQueueDepth(): number;
+    /**
+     * isOperationBusy
+     * @returns true when a high-level device operation is queued or running
+     */
+    isOperationBusy(): boolean;
     /**
      * Get Raft message handler (to allow message sending and receiving)
      * @returns RaftMsgHandler - Raft message handler
@@ -122,6 +134,7 @@ export default class RaftConnector {
      *
      */
     sendRICRESTMsg(commandName: string, params: object, bridgeID?: number | undefined): Promise<RaftOKFail>;
+    private _sendRICRESTMsg;
     /**
      * onRxReply - handle a reply message
      * @param msgHandle number indicating the message that is being replied to (from the original message)
@@ -165,6 +178,11 @@ export default class RaftConnector {
      * @returns Promise<boolean> true on success
      */
     streamData(streamContents: Uint8Array, fileName: string, targetEndpoint: string, progressCallback?: RaftStreamDataProgressCBType): Promise<boolean>;
+    /**
+     * openRtStream - open an indefinite bidirectional RT stream.
+     * The returned handle can send byte blocks and closes with ufEnd.
+     */
+    openRtStream(options: RaftRtStreamOptions): Promise<RaftRtStreamHandle>;
     /**
      * streamAudio - stream audio
      * @param streamContents audio data