@v5x/cli 0.0.16 → 0.0.17

package/dist/index.js

@@ -31,6 +31,19 @@ var __toESM = (mod, isNodeMode, target) => {
   return to;
 };
 var __commonJS = (cb, mod) => () => (mod || cb((mod = { exports: {} }).exports, mod), mod.exports);
+var __returnValue = (v) => v;
+function __exportSetter(name, newValue) {
+  this[name] = __returnValue.bind(null, newValue);
+}
+var __export = (target, all) => {
+  for (var name in all)
+    __defProp(target, name, {
+      get: all[name],
+      enumerable: true,
+      configurable: true,
+      set: __exportSetter.bind(all, name)
+    });
+};
 var __require = import.meta.require;
 
 // ../../node_modules/.bun/commander@14.0.3/node_modules/commander/lib/error.js
@@ -2128,7 +2141,7 @@ var require_commander = __commonJS((exports) => {
 // package.json
 var package_default = {
   name: "@v5x/cli",
-  version: "0.0.16",
+  version: "0.0.17",
   description: "Command line interface for v5x.",
   license: "MIT",
   type: "module",
@@ -2189,6 +2202,8 @@ var {
 
 // src/commands/build.ts
 import { exists } from "fs/promises";
+
+// src/utils/detect.ts
 import { join } from "path";
 async function detectProgramType(path) {
   const prosFile = Bun.file(join(path, "project.pros"));
@@ -2213,6 +2228,8 @@ async function detectProgramType(path) {
   }
   return "unknown";
 }
+
+// src/commands/build.ts
 var build = new Command("build").alias("b").description("build a program for the vex v5 brain").argument("[path]", "path to the program", process.cwd()).option("-t, --type <type>", "type of the program").action(async (path, options) => {
   if (!await exists(path)) {
     console.error(`path does not exist: ${path}`);
@@ -2232,7 +2249,15 @@ var build = new Command("build").alias("b").description("build a program for the
       await makeProc.exited;
       process.exit(makeProc.exitCode);
     case "vexide":
-      break;
+      const cargoProc = Bun.spawn({
+        cmd: ["cargo", "v5", "build"],
+        cwd: path,
+        stdout: "inherit",
+        stderr: "inherit",
+        stdin: "inherit"
+      });
+      await cargoProc.exited;
+      process.exit(cargoProc.exitCode ?? 1);
     case "vexcode-py":
       break;
     case "unknown":
@@ -2244,6 +2269,3778 @@ var build = new Command("build").alias("b").description("build a program for the
   }
 });
 
+// src/commands/upload.ts
+import { exists as exists3 } from "fs/promises";
+import { join as join4 } from "path";
+
+// ../serial/src/Vex.ts
+var USER_PROG_CHUNK_SIZE = 4096;
+var USER_FLASH_USR_CODE_START = 58720256;
+// ../serial/src/VexEvent.ts
+class VexEventEmitter {
+  handlerMap;
+  constructor() {
+    this.handlerMap = new Map;
+  }
+  on(eventName, listener) {
+    let listeners = this.handlerMap.get(eventName);
+    listeners ??= [];
+    listeners.push(listener);
+    this.handlerMap.set(eventName, listeners);
+  }
+  remove(eventName, listener) {
+    let listeners = this.handlerMap.get(eventName);
+    listeners ??= [];
+    const index = listeners.indexOf(listener);
+    if (index > -1) {
+      listeners.splice(index, 1);
+    }
+    this.handlerMap.set(eventName, listeners);
+  }
+  emit(eventName, data) {
+    (this.handlerMap.get(eventName) ?? []).forEach((callback) => {
+      callback(data);
+    });
+  }
+  clearListeners() {
+    this.handlerMap.clear();
+  }
+}
+
+class VexEventTarget {
+  emitter;
+  constructor() {
+    this.emitter = new VexEventEmitter;
+  }
+  emit(eventName, data) {
+    this.emitter.emit(String(eventName), data);
+  }
+  on(eventName, listener) {
+    this.emitter.on(String(eventName), listener);
+  }
+  remove(eventName, listener) {
+    this.emitter.remove(String(eventName), listener);
+  }
+  clearListeners() {
+    this.emitter.clearListeners();
+  }
+}
+
+// ../serial/src/VexPacket.ts
+var exports_VexPacket = {};
+__export(exports_VexPacket, {
+  WriteKeyValueReplyD2HPacket: () => WriteKeyValueReplyD2HPacket,
+  WriteKeyValueH2DPacket: () => WriteKeyValueH2DPacket,
+  WriteFileReplyD2HPacket: () => WriteFileReplyD2HPacket,
+  WriteFileH2DPacket: () => WriteFileH2DPacket,
+  UpdateMatchModeH2DPacket: () => UpdateMatchModeH2DPacket,
+  SystemVersionReplyD2HPacket: () => SystemVersionReplyD2HPacket,
+  SystemVersionH2DPacket: () => SystemVersionH2DPacket,
+  SetFileMetadataReplyD2HPacket: () => SetFileMetadataReplyD2HPacket,
+  SetFileMetadataH2DPacket: () => SetFileMetadataH2DPacket,
+  SendDashTouchReplyD2HPacket: () => SendDashTouchReplyD2HPacket,
+  SendDashTouchH2DPacket: () => SendDashTouchH2DPacket,
+  SelectDashReplyD2HPacket: () => SelectDashReplyD2HPacket,
+  SelectDashH2DPacket: () => SelectDashH2DPacket,
+  ScreenCaptureReplyD2HPacket: () => ScreenCaptureReplyD2HPacket,
+  ScreenCaptureH2DPacket: () => ScreenCaptureH2DPacket,
+  ReadLogPageReplyD2HPacket: () => ReadLogPageReplyD2HPacket,
+  ReadLogPageH2DPacket: () => ReadLogPageH2DPacket,
+  ReadKeyValueReplyD2HPacket: () => ReadKeyValueReplyD2HPacket,
+  ReadKeyValueH2DPacket: () => ReadKeyValueH2DPacket,
+  ReadFileReplyD2HPacket: () => ReadFileReplyD2HPacket,
+  ReadFileH2DPacket: () => ReadFileH2DPacket,
+  Query1ReplyD2HPacket: () => Query1ReplyD2HPacket,
+  Query1H2DPacket: () => Query1H2DPacket,
+  PacketEncoder: () => PacketEncoder,
+  Packet: () => Packet,
+  MatchStatusReplyD2HPacket: () => MatchStatusReplyD2HPacket,
+  MatchModeReplyD2HPacket: () => MatchModeReplyD2HPacket,
+  LoadFileActionReplyD2HPacket: () => LoadFileActionReplyD2HPacket,
+  LoadFileActionH2DPacket: () => LoadFileActionH2DPacket,
+  LinkFileReplyD2HPacket: () => LinkFileReplyD2HPacket,
+  LinkFileH2DPacket: () => LinkFileH2DPacket,
+  InitFileTransferReplyD2HPacket: () => InitFileTransferReplyD2HPacket,
+  InitFileTransferH2DPacket: () => InitFileTransferH2DPacket,
+  HostBoundPacket: () => HostBoundPacket,
+  GetUserDataReplyD2HPacket: () => GetUserDataReplyD2HPacket,
+  GetUserDataH2DPacket: () => GetUserDataH2DPacket,
+  GetSystemStatusReplyD2HPacket: () => GetSystemStatusReplyD2HPacket,
+  GetSystemStatusH2DPacket: () => GetSystemStatusH2DPacket,
+  GetSystemFlagsReplyD2HPacket: () => GetSystemFlagsReplyD2HPacket,
+  GetSystemFlagsH2DPacket: () => GetSystemFlagsH2DPacket,
+  GetSlot5to8InfoReplyD2HPacket: () => GetSlot5to8InfoReplyD2HPacket,
+  GetSlot5to8InfoH2DPacket: () => GetSlot5to8InfoH2DPacket,
+  GetSlot1to4InfoReplyD2HPacket: () => GetSlot1to4InfoReplyD2HPacket,
+  GetSlot1to4InfoH2DPacket: () => GetSlot1to4InfoH2DPacket,
+  GetRadioStatusReplyD2HPacket: () => GetRadioStatusReplyD2HPacket,
+  GetRadioStatusH2DPacket: () => GetRadioStatusH2DPacket,
+  GetRadioModeH2DPacket: () => GetRadioModeH2DPacket,
+  GetProgramSlotInfoReplyD2HPacket: () => GetProgramSlotInfoReplyD2HPacket,
+  GetProgramSlotInfoH2DPacket: () => GetProgramSlotInfoH2DPacket,
+  GetMatchStatusH2DPacket: () => GetMatchStatusH2DPacket,
+  GetLogCountReplyD2HPacket: () => GetLogCountReplyD2HPacket,
+  GetLogCountH2DPacket: () => GetLogCountH2DPacket,
+  GetFileMetadataReplyD2HPacket: () => GetFileMetadataReplyD2HPacket,
+  GetFileMetadataH2DPacket: () => GetFileMetadataH2DPacket,
+  GetFdtStatusReplyD2HPacket: () => GetFdtStatusReplyD2HPacket,
+  GetFdtStatusH2DPacket: () => GetFdtStatusH2DPacket,
+  GetDirectoryFileCountReplyD2HPacket: () => GetDirectoryFileCountReplyD2HPacket,
+  GetDirectoryFileCountH2DPacket: () => GetDirectoryFileCountH2DPacket,
+  GetDirectoryEntryReplyD2HPacket: () => GetDirectoryEntryReplyD2HPacket,
+  GetDirectoryEntryH2DPacket: () => GetDirectoryEntryH2DPacket,
+  GetDeviceStatusReplyD2HPacket: () => GetDeviceStatusReplyD2HPacket,
+  GetDeviceStatusH2DPacket: () => GetDeviceStatusH2DPacket,
+  FileFormatReplyD2HPacket: () => FileFormatReplyD2HPacket,
+  FileFormatH2DPacket: () => FileFormatH2DPacket,
+  FileControlReplyD2HPacket: () => FileControlReplyD2HPacket,
+  FileControlH2DPacket: () => FileControlH2DPacket,
+  FileClearUpReplyD2HPacket: () => FileClearUpReplyD2HPacket,
+  FileClearUpH2DPacket: () => FileClearUpH2DPacket,
+  FactoryStatusReplyD2HPacket: () => FactoryStatusReplyD2HPacket,
+  FactoryStatusH2DPacket: () => FactoryStatusH2DPacket,
+  FactoryEnableReplyD2HPacket: () => FactoryEnableReplyD2HPacket,
+  FactoryEnableH2DPacket: () => FactoryEnableH2DPacket,
+  ExitFileTransferReplyD2HPacket: () => ExitFileTransferReplyD2HPacket,
+  ExitFileTransferH2DPacket: () => ExitFileTransferH2DPacket,
+  EraseFileReplyD2HPacket: () => EraseFileReplyD2HPacket,
+  EraseFileH2DPacket: () => EraseFileH2DPacket,
+  EnableDashReplyD2HPacket: () => EnableDashReplyD2HPacket,
+  EnableDashH2DPacket: () => EnableDashH2DPacket,
+  DisableDashReplyD2HPacket: () => DisableDashReplyD2HPacket,
+  DisableDashH2DPacket: () => DisableDashH2DPacket,
+  DeviceBoundPacket: () => DeviceBoundPacket
+});
+
+// ../serial/src/VexFirmwareVersion.ts
+class VexFirmwareVersion {
+  major;
+  minor;
+  build;
+  beta;
+  constructor(major, minor, build2, beta) {
+    this.major = major;
+    this.minor = minor;
+    this.build = build2;
+    this.beta = beta;
+  }
+  static fromString(version) {
+    const parts = version.toLowerCase().replace(/b/g, "").split(".").map((x) => parseInt(x, 10));
+    while (parts.length < 4) {
+      parts.push(0);
+    }
+    return new VexFirmwareVersion(parts[0], parts[1], parts[2], parts[3]);
+  }
+  static fromUint8Array(data, offset = 0, reverse = false) {
+    return new VexFirmwareVersion(data[offset + (reverse ? 3 : 0)], data[offset + (reverse ? 2 : 1)], data[offset + (reverse ? 1 : 2)], data[offset + (reverse ? 0 : 3)]);
+  }
+  static allZero() {
+    return new VexFirmwareVersion(0, 0, 0, 0);
+  }
+  static fromCatalogString(version) {
+    return VexFirmwareVersion.fromString(version.replace(/_/g, "."));
+  }
+  isBeta() {
+    return this.beta !== 0;
+  }
+  toUint8Array(reverse = false) {
+    const data = new Uint8Array(4);
+    data[reverse ? 3 : 0] = this.major;
+    data[reverse ? 2 : 1] = this.minor;
+    data[reverse ? 1 : 2] = this.build;
+    data[reverse ? 0 : 3] = this.beta;
+    return data;
+  }
+  toUserString() {
+    return `${this.major}.${this.minor}.${this.build}`;
+  }
+  toInternalString() {
+    return `${this.toUserString()}.b${this.beta}`;
+  }
+  compare(that) {
+    const majorComp = this.major - that.major;
+    const minorComp = this.minor - that.minor;
+    const buildComp = this.build - that.build;
+    const betaComp = this.beta - that.beta;
+    if (majorComp !== 0) {
+      return majorComp;
+    } else if (minorComp !== 0) {
+      return minorComp;
+    } else if (buildComp !== 0) {
+      return buildComp;
+    } else if (betaComp !== 0) {
+      return betaComp;
+    }
+    return 0;
+  }
+}
+
+// ../serial/src/VexPacketView.ts
+class PacketView extends DataView {
+  position = 0;
+  littleEndianDefault = true;
+  constructor(buffer, offset = 0, length = buffer.byteLength - offset) {
+    super(buffer, offset, length);
+  }
+  static fromPacket(packet) {
+    const view = new PacketView(packet.data.buffer, packet.data.byteOffset);
+    view.position = packet.ackIndex + 1;
+    return view;
+  }
+  nextInt8() {
+    const result = this.getInt8(this.position);
+    this.position += 1;
+    return result;
+  }
+  nextUint8() {
+    const result = this.getUint8(this.position);
+    this.position += 1;
+    return result;
+  }
+  nextInt16(littleEndian = this.littleEndianDefault) {
+    const result = this.getInt16(this.position, littleEndian);
+    this.position += 2;
+    return result;
+  }
+  nextUint16(littleEndian = this.littleEndianDefault) {
+    const result = this.getUint16(this.position, littleEndian);
+    this.position += 2;
+    return result;
+  }
+  nextInt32(littleEndian = this.littleEndianDefault) {
+    const result = this.getInt32(this.position, littleEndian);
+    this.position += 4;
+    return result;
+  }
+  nextUint32(littleEndian = this.littleEndianDefault) {
+    const result = this.getUint32(this.position, littleEndian);
+    this.position += 4;
+    return result;
+  }
+  nextString(length) {
+    let result = "";
+    for (let i = 0;i < length; i++) {
+      result += String.fromCharCode(this.nextUint8());
+    }
+    return result;
+  }
+  nextNTBS(length) {
+    let result = "";
+    const lastPosition = this.position;
+    for (let i = 0;i < length; i++) {
+      if (this.byteLength <= this.position)
+        break;
+      const g = this.nextUint8();
+      if (g === 0)
+        break;
+      result += String.fromCharCode(g);
+    }
+    this.position = lastPosition + length;
+    return result;
+  }
+  nextVarNTBS(length) {
+    let result = "";
+    for (let i = 0;i < length; i++) {
+      if (this.byteLength <= this.position)
+        break;
+      const g = this.nextUint8();
+      if (g === 0)
+        break;
+      result += String.fromCharCode(g);
+    }
+    return result;
+  }
+  nextVersion(reverse = false) {
+    const result = VexFirmwareVersion.fromUint8Array(new Uint8Array(this.buffer), this.position, reverse);
+    this.position += 4;
+    return result;
+  }
+}
+
+// ../serial/src/VexCRC.ts
+var CRC16TABLE = [
+  0,
+  4129,
+  8258,
+  12387,
+  16516,
+  20645,
+  24774,
+  28903,
+  33032,
+  37161,
+  41290,
+  45419,
+  49548,
+  53677,
+  57806,
+  61935,
+  4657,
+  528,
+  12915,
+  8786,
+  21173,
+  17044,
+  29431,
+  25302,
+  37689,
+  33560,
+  45947,
+  41818,
+  54205,
+  50076,
+  62463,
+  58334,
+  9314,
+  13379,
+  1056,
+  5121,
+  25830,
+  29895,
+  17572,
+  21637,
+  42346,
+  46411,
+  34088,
+  38153,
+  58862,
+  62927,
+  50604,
+  54669,
+  13907,
+  9842,
+  5649,
+  1584,
+  30423,
+  26358,
+  22165,
+  18100,
+  46939,
+  42874,
+  38681,
+  34616,
+  63455,
+  59390,
+  55197,
+  51132,
+  18628,
+  22757,
+  26758,
+  30887,
+  2112,
+  6241,
+  10242,
+  14371,
+  51660,
+  55789,
+  59790,
+  63919,
+  35144,
+  39273,
+  43274,
+  47403,
+  23285,
+  19156,
+  31415,
+  27286,
+  6769,
+  2640,
+  14899,
+  10770,
+  56317,
+  52188,
+  64447,
+  60318,
+  39801,
+  35672,
+  47931,
+  43802,
+  27814,
+  31879,
+  19684,
+  23749,
+  11298,
+  15363,
+  3168,
+  7233,
+  60846,
+  64911,
+  52716,
+  56781,
+  44330,
+  48395,
+  36200,
+  40265,
+  32407,
+  28342,
+  24277,
+  20212,
+  15891,
+  11826,
+  7761,
+  3696,
+  65439,
+  61374,
+  57309,
+  53244,
+  48923,
+  44858,
+  40793,
+  36728,
+  37256,
+  33193,
+  45514,
+  41451,
+  53516,
+  49453,
+  61774,
+  57711,
+  4224,
+  161,
+  12482,
+  8419,
+  20484,
+  16421,
+  28742,
+  24679,
+  33721,
+  37784,
+  41979,
+  46042,
+  49981,
+  54044,
+  58239,
+  62302,
+  689,
+  4752,
+  8947,
+  13010,
+  16949,
+  21012,
+  25207,
+  29270,
+  46570,
+  42443,
+  38312,
+  34185,
+  62830,
+  58703,
+  54572,
+  50445,
+  13538,
+  9411,
+  5280,
+  1153,
+  29798,
+  25671,
+  21540,
+  17413,
+  42971,
+  47098,
+  34713,
+  38840,
+  59231,
+  63358,
+  50973,
+  55100,
+  9939,
+  14066,
+  1681,
+  5808,
+  26199,
+  30326,
+  17941,
+  22068,
+  55628,
+  51565,
+  63758,
+  59695,
+  39368,
+  35305,
+  47498,
+  43435,
+  22596,
+  18533,
+  30726,
+  26663,
+  6336,
+  2273,
+  14466,
+  10403,
+  52093,
+  56156,
+  60223,
+  64286,
+  35833,
+  39896,
+  43963,
+  48026,
+  19061,
+  23124,
+  27191,
+  31254,
+  2801,
+  6864,
+  10931,
+  14994,
+  64814,
+  60687,
+  56684,
+  52557,
+  48554,
+  44427,
+  40424,
+  36297,
+  31782,
+  27655,
+  23652,
+  19525,
+  15522,
+  11395,
+  7392,
+  3265,
+  61215,
+  65342,
+  53085,
+  57212,
+  44955,
+  49082,
+  36825,
+  40952,
+  28183,
+  32310,
+  20053,
+  24180,
+  11923,
+  16050,
+  3793,
+  7920
+];
+
+class CrcGenerator {
+  crc16Table;
+  crc32Table;
+  static POLYNOMIAL_CRC32 = 79764919;
+  static POLYNOMIAL_CRC16 = 4129;
+  constructor() {
+    this.crc32Table = new Uint32Array(256);
+    this.crc32GenTable();
+  }
+  crc16(buf, initValue) {
+    const numberOfBytes = buf.byteLength;
+    let accumulator = initValue;
+    let i;
+    let j;
+    for (j = 0;j < numberOfBytes; j++) {
+      i = (accumulator >>> 8 ^ buf[j]) & 255;
+      accumulator = (accumulator << 8 ^ CRC16TABLE[i]) >>> 0;
+    }
+    return (accumulator & 65535) >>> 0;
+  }
+  crc32GenTable() {
+    let i;
+    let j;
+    let crcAccumulator;
+    for (i = 0;i < 256; i++) {
+      crcAccumulator = i << 24;
+      for (j = 0;j < 8; j++) {
+        if ((crcAccumulator & 2147483648) !== 0)
+          crcAccumulator = crcAccumulator << 1 ^ CrcGenerator.POLYNOMIAL_CRC32;
+        else
+          crcAccumulator = crcAccumulator << 1;
+      }
+      this.crc32Table[i] = crcAccumulator;
+    }
+  }
+  crc32(buf, initValue) {
+    const numberOfBytes = buf.byteLength;
+    let crcAccumulator = initValue;
+    let i;
+    let j;
+    for (j = 0;j < numberOfBytes; j++) {
+      i = (crcAccumulator >>> 24 ^ buf[j]) & 255;
+      crcAccumulator = (crcAccumulator << 8 ^ this.crc32Table[i]) >>> 0;
+    }
+    return (crcAccumulator & 4294967295) >>> 0;
+  }
+}
+
+// ../serial/src/VexPacket.ts
+class PacketEncoder {
+  static HEADERS_LENGTH = 4;
+  static HEADER_TO_DEVICE = [201, 54, 184, 71];
+  static HEADER_TO_HOST = [170, 85];
+  static J2000_EPOCH = 946684800;
+  vexVersion;
+  crcgen;
+  allPacketsTable = {};
+  static getInstance() {
+    if (Packet.ENCODER === undefined) {
+      Packet.ENCODER = new PacketEncoder;
+    }
+    return Packet.ENCODER;
+  }
+  constructor() {
+    this.vexVersion = 0;
+    this.crcgen = new CrcGenerator;
+    Object.values(exports_VexPacket).forEach((packet) => {
+      if (packet.prototype instanceof HostBoundPacket) {
+        this.allPacketsTable[packet.COMMAND_ID + " " + packet.COMMAND_EXTENDED_ID] = packet;
+      }
+    });
+  }
+  createHeader(buf) {
+    if (buf === undefined || buf.byteLength < PacketEncoder.HEADERS_LENGTH) {
+      buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH);
+    }
+    const h = new Uint8Array(buf);
+    h.set(PacketEncoder.HEADER_TO_DEVICE);
+    return h;
+  }
+  cdcCommand(cmd) {
+    const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 1);
+    const h = this.createHeader(buf);
+    h.set([cmd], PacketEncoder.HEADERS_LENGTH);
+    return h;
+  }
+  cdcCommandWithData(cmd, data) {
+    const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 2 + data.length);
+    const h = this.createHeader(buf);
+    h.set([cmd, data.length], PacketEncoder.HEADERS_LENGTH);
+    h.set(data, PacketEncoder.HEADERS_LENGTH + 2);
+    return h;
+  }
+  cdc2Command(cmd, ext) {
+    const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 5);
+    const h = this.createHeader(buf);
+    h.set([cmd, ext, 0], PacketEncoder.HEADERS_LENGTH);
+    const crc = this.crcgen.crc16(h.subarray(0, buf.byteLength - 2), 0) >>> 0;
+    h.set([crc >>> 8, crc & 255], buf.byteLength - 2);
+    return h;
+  }
+  cdc2CommandBufferLength(data) {
+    let length = PacketEncoder.HEADERS_LENGTH + data.length + 3 + 2;
+    if (data.length > 127)
+      length += 1;
+    return length;
+  }
+  cdc2CommandWithData(cmd, ext, data) {
+    const buf = new ArrayBuffer(this.cdc2CommandBufferLength(data));
+    const h = this.createHeader(buf);
+    if (data.length < 128) {
+      h.set([cmd, ext, data.length], PacketEncoder.HEADERS_LENGTH);
+      h.set(data, PacketEncoder.HEADERS_LENGTH + 3);
+    } else {
+      const lengthMsb = (data.length >>> 8 | 128) >>> 0;
+      const lengthLsb = (data.length & 255) >>> 0;
+      h.set([cmd, ext, lengthMsb, lengthLsb], PacketEncoder.HEADERS_LENGTH);
+      h.set(data, PacketEncoder.HEADERS_LENGTH + 4);
+    }
+    const crc = this.crcgen.crc16(h.subarray(0, buf.byteLength - 2), 0);
+    h.set([crc >>> 8, crc & 255], buf.byteLength - 2);
+    return h;
+  }
+  validateHeader(data) {
+    return !(data[0] !== PacketEncoder.HEADER_TO_HOST[0] || data[1] !== PacketEncoder.HEADER_TO_HOST[1]);
+  }
+  validateMessageCdc(data) {
+    const message = data.subarray(0, data.byteLength - 2);
+    const lastTwoBytes = (data[data.byteLength - 2] << 8) + data[data.byteLength - 1];
+    return this.crcgen.crc16(message, 0) === lastTwoBytes;
+  }
+  getPayloadSize(data) {
+    let t = 0;
+    let a = data[3];
+    if ((128 & a) !== 0) {
+      t = 127 & a;
+      a = data[4];
+    }
+    return (t << 8) + a;
+  }
+}
+
+class Packet {
+  data;
+  static ENCODER;
+  constructor(rawData) {
+    this.data = rawData instanceof ArrayBuffer ? new Uint8Array(rawData) : rawData;
+  }
+}
+
+class DeviceBoundPacket extends Packet {
+  constructor(payload) {
+    super(new Uint8Array);
+    const me = this.__proto__.constructor;
+    if (me.COMMAND_EXTENDED_ID === undefined) {
+      if (payload === undefined) {
+        this.data = Packet.ENCODER.cdcCommand(me.COMMAND_ID);
+      } else {
+        this.data = Packet.ENCODER.cdcCommandWithData(me.COMMAND_ID, payload);
+      }
+    } else {
+      if (payload === undefined) {
+        this.data = Packet.ENCODER.cdc2Command(me.COMMAND_ID, me.COMMAND_EXTENDED_ID);
+      } else {
+        this.data = Packet.ENCODER.cdc2CommandWithData(me.COMMAND_ID, me.COMMAND_EXTENDED_ID, payload);
+      }
+    }
+  }
+}
+
+class Query1H2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 33;
+  static COMMAND_EXTENDED_ID = undefined;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class SystemVersionH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 164;
+  static COMMAND_EXTENDED_ID = undefined;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class UpdateMatchModeH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 88;
+  static COMMAND_EXTENDED_ID = 193;
+  constructor(mode, matchClock) {
+    let bit1;
+    switch (mode) {
+      case "autonomous":
+        bit1 = 10;
+        break;
+      case "driver":
+        bit1 = 8;
+        break;
+      case "disabled":
+        bit1 = 11;
+    }
+    const payload = new Uint8Array(5);
+    const view = new DataView(payload.buffer);
+    payload[0] = (15 & bit1) >>> 0;
+    view.setUint32(1, matchClock, true);
+    super(payload);
+  }
+}
+
+class GetMatchStatusH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 88;
+  static COMMAND_EXTENDED_ID = 194;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class GetRadioModeH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 88;
+  static COMMAND_EXTENDED_ID = 65;
+  constructor(mode) {
+    const payload = new Uint8Array(1);
+    payload[0] = mode;
+    super(payload);
+  }
+}
+
+class FileControlH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 16;
+  constructor(a, b) {
+    const payload = new Uint8Array(2);
+    payload.set([a, b], 0);
+    super(payload);
+  }
+}
+
+class InitFileTransferH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 17;
+  constructor(operation, target, vendor, options, binary, addr, name, type, version = new VexFirmwareVersion(1, 0, 0, 0)) {
+    const payload = new Uint8Array(52);
+    const view = new DataView(payload.buffer);
+    view.setUint8(0, operation);
+    view.setUint8(1, target);
+    view.setUint8(2, vendor);
+    view.setUint8(3, options);
+    view.setUint32(4, binary.length, true);
+    view.setUint32(8, addr, true);
+    view.setUint32(12, operation === 1 /* WRITE */ ? Packet.ENCODER.crcgen.crc32(binary, 0) : 0, true);
+    const re = /(?:\.([^.]+))?$/;
+    const reResult = re.exec(name);
+    let ext = reResult != null ? reResult[1] : undefined;
+    ext ??= "";
+    ext = ext === "gz" ? "bin" : ext;
+    payload.set(new TextEncoder().encode(type ?? ext), 16);
+    const timestamp = (Date.now() / 1000 >>> 0) - PacketEncoder.J2000_EPOCH;
+    view.setUint32(20, timestamp, true);
+    payload.set(version.toUint8Array(), 24);
+    const nameEncoded = new TextEncoder().encode(name);
+    let offset = nameEncoded.length - 23;
+    if (offset < 0)
+      offset = 0;
+    payload.set(nameEncoded.subarray(offset, offset + 23), 28);
+    view.setUint8(51, 0);
+    super(payload);
+  }
+}
+
+class ExitFileTransferH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 18;
+  constructor(action) {
+    const payload = new Uint8Array(1);
+    payload[0] = action;
+    super(payload);
+  }
+}
+
+class WriteFileH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 19;
+  constructor(addr, buf) {
+    const payload = new Uint8Array(4 + buf.length);
+    const view = new DataView(payload.buffer);
+    view.setUint32(0, addr, true);
+    payload.set(buf, 4);
+    super(payload);
+  }
+}
+
+class ReadFileH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 20;
+  constructor(addr, size) {
+    const payload = new Uint8Array(6);
+    const view = new DataView(payload.buffer);
+    view.setUint32(0, addr, true);
+    view.setUint16(4, size, true);
+    super(payload);
+  }
+}
+
+class LinkFileH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 21;
+  constructor(vendor, fileName, options) {
+    const str = new TextEncoder().encode(fileName);
+    const payload = new Uint8Array(26);
+    payload.set([vendor, options], 0);
+    payload.set(str.subarray(0, 23), 2);
+    super(payload);
+  }
+}
+
+class GetDirectoryFileCountH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 22;
+  constructor(vendor) {
+    const payload = new Uint8Array(2);
+    payload.set([vendor, 0], 0);
+    super(payload);
+  }
+}
+
+class GetDirectoryEntryH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 23;
+  constructor(index) {
+    const payload = new Uint8Array(2);
+    payload.set([index, 0], 0);
+    super(payload);
+  }
+}
+
+class LoadFileActionH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 24;
+  constructor(vendor, actionId, fileNameOrSlotNumber) {
+    let fileName;
+    if (typeof fileNameOrSlotNumber === "string") {
+      fileName = fileNameOrSlotNumber;
+    } else {
+      fileName = "___s_" + (fileNameOrSlotNumber - 1) + ".bin";
+    }
+    const encodedName = new TextEncoder().encode(fileName);
+    const payload = new Uint8Array(26);
+    payload.set([vendor, actionId], 0);
+    payload.set(encodedName.subarray(0, 23), 2);
+    super(payload);
+  }
+}
+
+class GetFileMetadataH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 25;
+  constructor(vendor, fileName, options) {
+    const encodedName = new TextEncoder().encode(fileName);
+    const payload = new Uint8Array(26);
+    payload.set([vendor, options], 0);
+    payload.set(encodedName.subarray(0, 23), 2);
+    super(payload);
+  }
+}
+
+class SetFileMetadataH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 26;
+  constructor(vendor, fileName, fileInfo, options) {
+    const encodedName = new TextEncoder().encode(fileName);
+    const encodedType = new TextEncoder().encode(fileInfo.type);
+    const payload = new Uint8Array(42);
+    const view = new DataView(payload.buffer);
+    view.setUint8(0, vendor);
+    view.setUint8(1, options);
+    view.setUint32(2, fileInfo.loadAddress, true);
+    payload.set(encodedType.subarray(0, 4), 6);
+    const timestamp = fileInfo.timestamp - PacketEncoder.J2000_EPOCH + 100;
+    view.setUint32(10, timestamp, true);
+    payload.set(fileInfo.version.toUint8Array(), 14);
+    payload.set(encodedName.subarray(0, 23), 18);
+    super(payload);
+  }
+}
+
+class EraseFileH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 27;
+  constructor(vendor, fileName) {
+    const encodedName = new TextEncoder().encode(fileName);
+    const payload = new Uint8Array(26);
+    payload.set([vendor, 128], 0);
+    payload.set(encodedName.subarray(0, 23), 2);
+    super(payload);
+  }
+}
+
+class GetProgramSlotInfoH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 28;
+  constructor(vendor, fileName) {
+    const encodedName = new TextEncoder().encode(fileName);
+    const payload = new Uint8Array(26);
+    payload.set([vendor, 0], 0);
+    payload.set(encodedName.subarray(0, 23), 2);
+    super(payload);
+  }
+}
+
+class FileClearUpH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 30;
+  constructor(vendor) {
+    const payload = new Uint8Array(2);
+    payload.set([vendor, 0], 0);
+    super(payload);
+  }
+}
+
+class FileFormatH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 31;
+  constructor() {
+    const payload = new Uint8Array(4);
+    payload.set([68, 67, 66, 65], 0);
+    super(payload);
+  }
+}
+
+class GetSystemFlagsH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 32;
+}
+
+class GetDeviceStatusH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 33;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class GetSystemStatusH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 34;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class GetFdtStatusH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 35;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class GetLogCountH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 36;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class ReadLogPageH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 37;
+  constructor(offset, count) {
+    const payload = new Uint8Array(8);
+    const view = new DataView(payload.buffer);
+    view.setUint32(0, offset, true);
+    view.setUint32(4, count, true);
+    super(payload);
+  }
+}
+
+class GetRadioStatusH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 38;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class GetUserDataH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 39;
+  constructor(e) {
+    let len = e?.length ?? 0;
+    if (len > 244)
+      len = 244;
+    const payload = new Uint8Array(2 + len);
+    payload[0] = 1;
+    payload[1] = len;
+    payload.set(e ?? new Uint8Array(0), 2);
+    super(payload);
+  }
+}
+
+class ScreenCaptureH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 40;
+  constructor(e) {
+    const payload = new Uint8Array(1);
+    payload[0] = e;
+    super(payload);
+  }
+}
+
+class SendDashTouchH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 42;
+  constructor(x, y, press) {
+    const payload = new Uint8Array(6);
+    const view = new DataView(payload.buffer);
+    view.setUint16(0, x, true);
+    view.setUint16(2, y, true);
+    view.setUint16(4, press ? 1 : 0, true);
+    super(payload);
+  }
+}
+
+class SelectDashH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 43;
+  constructor(screen, port) {
+    const payload = new Uint8Array(2);
+    payload[0] = screen;
+    payload[1] = port;
+    super(payload);
+  }
+}
+
+class EnableDashH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 44;
+  constructor(unknown1) {
+    if (unknown1 === undefined) {
+      super(undefined);
+    } else {
+      const payload = new Uint8Array(1);
+      payload[0] = unknown1;
+      super(payload);
+    }
+  }
+}
+
+class DisableDashH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 45;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class ReadKeyValueH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 46;
+  constructor(key) {
+    const payload = new Uint8Array(32);
+    payload.set(new TextEncoder().encode(key), 0);
+    super(payload);
+  }
+}
+
+class WriteKeyValueH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 47;
+  constructor(key, value) {
+    let strk = new TextEncoder().encode(key);
+    const strv = new TextEncoder().encode(value);
+    if (strk.byteLength > 31)
+      strk = strk.subarray(0, 31);
+    const payload = new Uint8Array(strk.length + strv.length + 20);
+    payload.set(strk, 0);
+    payload.set(strv, strk.length + 1);
+    super(payload);
+  }
+}
+
+class GetSlot1to4InfoH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 49;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class GetSlot5to8InfoH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 50;
+  constructor() {
+    super(undefined);
+  }
+}
+
+class FactoryStatusH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 241;
+}
+
+class FactoryEnableH2DPacket extends DeviceBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 255;
+  constructor() {
+    const payload = new Uint8Array(4);
+    payload.set([77, 76, 75, 74], 0);
+    super(payload);
+  }
+}
+
+class HostBoundPacket extends Packet {
+  ack = 255 /* CDC2_NACK */;
+  payloadSize;
+  ackIndex;
+  constructor(data) {
+    super(data);
+    this.payloadSize = Packet.ENCODER.getPayloadSize(this.data);
+    const n = this.payloadSize > 128 ? 5 : 4;
+    this.ack = this.data[this.ackIndex = n + 1];
+  }
+  static isValidPacket(data, n) {
+    const ack = data[n + 1];
+    return ack === 118 /* CDC2_ACK */ || ack === 167;
+  }
+}
+
+class Query1ReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 33;
+  static COMMAND_EXTENDED_ID = undefined;
+  joystickFlag1;
+  joystickFlag2;
+  brainFlag1;
+  brainFlag2;
+  bootloadFlag1;
+  bootloadFlag2;
+  constructor(data) {
+    super(data);
+    this.joystickFlag1 = this.data[4];
+    this.joystickFlag2 = this.data[5];
+    this.brainFlag1 = this.data[6];
+    this.brainFlag2 = this.data[7];
+    this.bootloadFlag1 = this.data[10];
+    this.bootloadFlag2 = this.data[11];
+  }
+}
+
+class SystemVersionReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 164;
+  static COMMAND_EXTENDED_ID = undefined;
+  version;
+  hardware;
+  constructor(data) {
+    super(data);
+    this.version = new VexFirmwareVersion(this.data[4], this.data[5], this.data[6], this.data[8]);
+    this.hardware = this.data[7];
+  }
+}
+
+class MatchModeReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 88;
+  static COMMAND_EXTENDED_ID = 193;
+  modebit;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.modebit = dataView.nextUint8();
+  }
+}
+
+class MatchStatusReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 88;
+  static COMMAND_EXTENDED_ID = 194;
+  rssi;
+  systemStatusBits;
+  radioStatusBits;
+  fieldStatusBits;
+  matchClock;
+  brainBatteryPercent;
+  controllerBatteryPercent;
+  partnerControllerBatteryPercent;
+  pad;
+  buttons;
+  activeProgram;
+  radioType;
+  radioChannel;
+  radioSlot;
+  robotName;
+  controllerFlags;
+  rxSignalQuality;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    const n = this.ackIndex;
+    this.rssi = dataView.nextInt8();
+    this.systemStatusBits = dataView.nextUint16();
+    this.radioStatusBits = dataView.nextUint16();
+    this.fieldStatusBits = dataView.nextUint8();
+    this.matchClock = dataView.nextUint8();
+    this.brainBatteryPercent = dataView.nextUint8();
+    this.controllerBatteryPercent = dataView.nextUint8();
+    this.partnerControllerBatteryPercent = dataView.nextUint8();
+    this.pad = dataView.nextUint8();
+    this.buttons = dataView.nextUint16();
+    this.activeProgram = dataView.nextUint8();
+    this.radioType = dataView.nextUint8();
+    this.radioChannel = dataView.nextUint8();
+    this.radioSlot = dataView.nextUint8();
+    this.robotName = dataView.nextNTBS(10);
+    this.controllerFlags = dataView.getUint8(n + 28);
+    this.rxSignalQuality = dataView.getUint8(n + 29);
+    let rawStr = new TextDecoder("UTF-8").decode(data.slice(n + 18, n + this.payloadSize + 28));
+    const endIdx = rawStr.indexOf("\x00");
+    if (endIdx > -1) {
+      rawStr = rawStr.substr(0, endIdx);
+    }
+    this.robotName = rawStr;
+  }
+}
+
+class FileControlReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 16;
+}
+
+class InitFileTransferReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 17;
+  windowSize;
+  fileSize;
+  crc32;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.windowSize = dataView.nextUint16();
+    this.fileSize = dataView.nextUint32();
+    this.crc32 = dataView.nextUint32();
+  }
+}
+
+class ExitFileTransferReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 18;
+}
+
+class WriteFileReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 19;
+}
+
+class ReadFileReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 20;
+  addr;
+  length;
+  buf;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    const n = this.ackIndex;
+    this.addr = dataView.getUint32(n, true);
+    this.length = this.payloadSize - 7;
+    this.buf = data.slice(n + 4, n + 4 + this.length);
+  }
+  static isValidPacket(data, n) {
+    return data[4] === 4 ? data[n + 1] === 118 /* CDC2_ACK */ : true;
+  }
+}
+
+class LinkFileReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 21;
+}
+
+class GetDirectoryFileCountReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 22;
+  count;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.count = dataView.nextUint16();
+  }
+}
+
+class GetDirectoryEntryReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 23;
+  file;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    if (this.payloadSize > 4) {
+      this.file = {
+        index: dataView.nextUint8(),
+        size: dataView.nextUint32(),
+        loadAddress: dataView.nextUint32(),
+        crc32: dataView.nextUint32(),
+        type: dataView.nextString(4),
+        timestamp: dataView.nextUint32() + PacketEncoder.J2000_EPOCH,
+        version: dataView.nextVersion(),
+        filename: dataView.nextNTBS(32)
+      };
+    }
+  }
+}
+
+class LoadFileActionReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 24;
+}
+
+class GetFileMetadataReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 25;
+  file;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    dataView.nextUint8();
+    if (this.payloadSize > 4) {
+      this.file = {
+        size: dataView.nextUint32(),
+        loadAddress: dataView.nextUint32(),
+        crc32: dataView.nextUint32(),
+        type: dataView.nextString(4),
+        timestamp: dataView.nextUint32() + PacketEncoder.J2000_EPOCH,
+        version: dataView.nextVersion()
+      };
+    }
+  }
+}
+
+class SetFileMetadataReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 26;
+}
+
+class EraseFileReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 27;
+}
+
+class GetProgramSlotInfoReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 28;
+  requestedSlot;
+  slot;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.slot = dataView.nextUint8();
+    this.requestedSlot = dataView.nextUint8();
+  }
+}
+
+class FileClearUpReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 30;
+}
+
+class FileFormatReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 31;
+}
+
+class GetSystemFlagsReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 32;
+  flags;
+  radioSearching;
+  radioQuality;
+  controllerBatteryPercent;
+  partnerControllerBatteryPercent;
+  battery;
+  currentProgram;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.radioSearching = false;
+    this.currentProgram = 0;
+    this.flags = dataView.nextUint32();
+    const hasPartner = (8192 & this.flags) !== 0;
+    const hasRadio = (1536 & this.flags) === 1536;
+    const byte1 = dataView.nextUint8();
+    const byte2 = dataView.nextUint8();
+    if (this.payloadSize === 11) {
+      this.battery = 8 * (byte1 & 15);
+      if ((this.flags & 256) !== 0 || hasRadio)
+        this.controllerBatteryPercent = 8 * (byte1 >> 4 & 15);
+      if (hasRadio)
+        this.radioQuality = 8 * (byte2 & 15);
+      this.radioSearching = (this.flags & 1536) === 512;
+      if (hasPartner)
+        this.partnerControllerBatteryPercent = 8 * (byte2 >> 4 & 15);
+      this.currentProgram = dataView.nextUint8();
+      if (this.battery != null && this.battery > 100)
+        this.battery = 100;
+      if (this.controllerBatteryPercent != null && this.controllerBatteryPercent > 100)
+        this.controllerBatteryPercent = 100;
+      if (this.radioQuality != null && this.radioQuality > 100)
+        this.radioQuality = 100;
+      if (this.partnerControllerBatteryPercent != null && this.partnerControllerBatteryPercent > 100)
+        this.partnerControllerBatteryPercent = 100;
+    }
+  }
+}
+
+class GetDeviceStatusReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 33;
+  count;
+  devices;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.count = dataView.nextUint8();
+    this.devices = [];
+    for (let i = 0;i < this.count; i++) {
+      this.devices.push({
+        port: dataView.nextUint8(),
+        type: dataView.nextUint8(),
+        status: dataView.nextUint8(),
+        betaversion: dataView.nextUint8(),
+        version: dataView.nextUint16(),
+        bootversion: dataView.nextUint16()
+      });
+    }
+  }
+}
+
+class GetSystemStatusReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 34;
+  systemVersion;
+  cpu0Version;
+  cpu1Version;
+  nxpVersion;
+  touchVersion;
+  uniqueId;
+  sysflags;
+  eventBrain;
+  romBootloaderActive;
+  ramBootloaderActive;
+  goldenVersion;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    dataView.nextUint8();
+    this.systemVersion = dataView.nextVersion();
+    this.cpu0Version = dataView.nextVersion();
+    this.cpu1Version = dataView.nextVersion();
+    this.touchVersion = dataView.nextVersion(true);
+    this.uniqueId = 1234;
+    this.sysflags = [0, 0, 0, 0, 0, 0, 0];
+    this.goldenVersion = VexFirmwareVersion.allZero();
+    this.nxpVersion = VexFirmwareVersion.allZero();
+    this.eventBrain = false;
+    this.romBootloaderActive = false;
+    this.ramBootloaderActive = false;
+    if (this.payloadSize > 25) {
+      this.uniqueId = dataView.nextUint32();
+      this.sysflags = [
+        dataView.nextUint8(),
+        dataView.nextUint8(),
+        dataView.nextUint8(),
+        dataView.nextUint8(),
+        dataView.nextUint8(),
+        0,
+        dataView.nextUint8()
+      ];
+      this.eventBrain = (1 & this.sysflags[6]) !== 0;
+      this.romBootloaderActive = (2 & this.sysflags[6]) !== 0;
+      this.ramBootloaderActive = (4 & this.sysflags[6]) !== 0;
+      dataView.nextUint16();
+      this.goldenVersion = dataView.nextVersion();
+    }
+    if (this.payloadSize > 37) {
+      this.nxpVersion = dataView.nextVersion();
+    }
+  }
+}
+
+class GetFdtStatusReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 35;
+  count;
+  status;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.count = dataView.nextUint8();
+    this.status = [];
+    for (let i = 0;i < this.count; i++) {
+      this.status.push({
+        index: dataView.nextUint8(),
+        type: dataView.nextUint8(),
+        status: dataView.nextUint8(),
+        betaversion: dataView.nextUint8(),
+        version: dataView.nextUint16(),
+        bootversion: dataView.nextUint16()
+      });
+    }
+  }
+}
+
+class GetLogCountReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 36;
+  count;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    dataView.nextUint8();
+    this.count = dataView.nextUint32();
+  }
+}
+
+class ReadLogPageReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 37;
+  offset;
+  count;
+  entries;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    const n = this.ackIndex;
+    const size = dataView.nextUint8();
+    this.offset = dataView.nextUint32();
+    this.count = dataView.nextUint16();
+    this.entries = [];
+    let j = n + 8;
+    for (let i = 0;i < this.count; i++) {
+      this.entries.push({
+        code: dataView.getUint8(j),
+        type: dataView.getUint8(j + 1),
+        desc: dataView.getUint8(j + 2),
+        spare: dataView.getUint8(j + 3),
+        time: dataView.getUint32(j + 4, true)
+      });
+      j += size;
+    }
+  }
+}
+
+class GetRadioStatusReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 38;
+  device;
+  quality;
+  strength;
+  channel;
+  timeslot;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    const n = this.ackIndex;
+    this.device = dataView.nextUint8();
+    this.quality = dataView.nextUint16();
+    this.strength = dataView.nextInt16();
+    this.channel = this.data[n + 6];
+    this.timeslot = this.data[n + 7];
+  }
+}
+
+class GetUserDataReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 39;
+}
+
+class ScreenCaptureReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 40;
+}
+
+class SendDashTouchReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 42;
+}
+
+class SelectDashReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 43;
+}
+
+class EnableDashReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 44;
+}
+
+class DisableDashReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 45;
+}
+
+class ReadKeyValueReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 46;
+  value;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.value = dataView.nextVarNTBS(255);
+  }
+}
+
+class WriteKeyValueReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 47;
+}
+
+class GetSlot1to4InfoReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 49;
+  slotFlags;
+  slots;
+  constructor(data, start = 1) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.slotFlags = dataView.nextUint8();
+    this.slots = [];
+    for (let i = 0;i < 4; i++) {
+      const hasData = (this.slotFlags & Math.pow(2, start - 1 + i)) !== 0;
+      if (!hasData)
+        continue;
+      const iconNum = dataView.nextUint16();
+      const nameLen = dataView.nextUint8();
+      const name = dataView.nextString(nameLen);
+      this.slots.push({
+        slot: start + i,
+        icon: iconNum,
+        name
+      });
+    }
+  }
+}
+
+class GetSlot5to8InfoReplyD2HPacket extends GetSlot1to4InfoReplyD2HPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 50;
+  slotStartIndex = 5;
+  constructor(data) {
+    super(data, 5);
+  }
+}
+
+class FactoryStatusReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 241;
+  status;
+  percent;
+  constructor(data) {
+    super(data);
+    const dataView = PacketView.fromPacket(this);
+    this.status = dataView.nextUint8();
+    this.percent = dataView.nextUint8();
+  }
+}
+
+class FactoryEnableReplyD2HPacket extends HostBoundPacket {
+  static COMMAND_ID = 86;
+  static COMMAND_EXTENDED_ID = 255;
+}
+
+// ../serial/src/VexConnection.ts
+var thePacketEncoder = PacketEncoder.getInstance();
+
+class VexSerialConnection extends VexEventTarget {
+  filters = [{ usbVendorId: 10376 }];
+  writer;
+  reader;
+  port;
+  serial;
+  callbacksQueue = [];
+  get isConnected() {
+    return this.port !== undefined && this.reader !== undefined && this.writer !== undefined;
+  }
+  constructor(serial) {
+    super();
+    this.serial = serial;
+  }
+  async close() {
+    if (!this.isConnected)
+      return;
+    try {
+      await this.writer?.close();
+      this.writer = undefined;
+    } catch (e) {}
+    try {
+      await this.reader?.cancel();
+      try {
+        while (this.reader != null) {
+          const { done } = await this.reader.read();
+          if (done)
+            break;
+        }
+      } catch (e) {}
+      this.reader = undefined;
+    } catch (e) {}
+    try {
+      await new Promise((resolve) => setTimeout(resolve, 1));
+      await this.port?.close();
+      this.port = undefined;
+    } catch (e) {
+      console.warn("Close port error.", e);
+    } finally {
+      this.emit("disconnected", undefined);
+    }
+  }
+  async open(use = 0, askUser = true) {
+    if (this.port !== undefined)
+      throw new Error("Already connected.");
+    let port;
+    if (use !== undefined) {
+      const ports = (await this.serial.getPorts()).filter((p) => {
+        const info = p.getInfo();
+        return this.filters.find((f) => (f.usbVendorId === undefined || f.usbVendorId === info.usbVendorId) && (f.usbProductId === undefined || f.usbProductId === info.usbProductId));
+      }).filter((e) => e.readable !== null);
+      port = ports[use];
+    }
+    if (port == null && askUser) {
+      try {
+        port = await this.serial.requestPort({ filters: this.filters });
+      } catch (e) {
+        console.warn("No valid port selected.");
+      }
+    }
+    if (port == null)
+      return;
+    if (port.readable != null)
+      return false;
+    try {
+      await port.open({ baudRate: 115200 });
+      this.port = port;
+      this.port.addEventListener("disconnect", () => {
+        this.close();
+      });
+      this.emit("connected", undefined);
+      this.writer = this.port.writable.getWriter();
+      this.reader = this.port.readable.getReader();
+      this.startReader();
+      return true;
+    } catch (e) {
+      return false;
+    }
+  }
+  writeData(rawData, resolve, timeout = 1000) {
+    this.writeDataAsync(rawData, timeout).then(resolve);
+  }
+  async writeDataAsync(rawData, timeout = 1000) {
+    return await new Promise((resolve) => {
+      if (this.writer === undefined) {
+        resolve(255 /* CDC2_NACK */);
+        return;
+      }
+      const data = rawData instanceof DeviceBoundPacket ? rawData.data : rawData;
+      const cb = {
+        callback: resolve,
+        timeout: setTimeout(() => {
+          this.callbacksQueue.shift()?.callback(256 /* TIMEOUT */);
+        }, timeout),
+        wantedCommandId: rawData instanceof DeviceBoundPacket ? rawData.constructor.COMMAND_ID : undefined,
+        wantedCommandExId: rawData instanceof DeviceBoundPacket ? rawData.constructor.COMMAND_EXTENDED_ID : undefined
+      };
+      this.callbacksQueue.push(cb);
+      this.writer.write(data).then(() => {
+        logData(data, 100);
+      }).catch(() => {
+        this.callbacksQueue.splice(this.callbacksQueue.indexOf(cb), 1);
+        resolve(257 /* WRITE_ERROR */);
+      });
+    });
+  }
+  async readData(cache, expectedSize) {
+    if (this.reader == null)
+      throw new Error("No reader");
+    while (cache.byteLength < expectedSize) {
+      const { value: readData, done: isDone } = await this.reader.read();
+      if (isDone)
+        throw new Error("No data");
+      cache = binaryArrayJoin(cache, readData);
+    }
+    return cache;
+  }
+  async startReader() {
+    let cache = new Uint8Array([]);
+    let sliceIdx = 0;
+    for (;; )
+      try {
+        cache = await this.readData(cache, 5);
+        sliceIdx = 0;
+        if (!thePacketEncoder.validateHeader(cache))
+          throw new Error("Invalid header");
+        const payloadExpectedSize = thePacketEncoder.getPayloadSize(cache);
+        const n = payloadExpectedSize > 128 ? 5 : 4;
+        const totalSize = n + payloadExpectedSize;
+        cache = await this.readData(cache, totalSize);
+        sliceIdx = totalSize;
+        const cmdId = cache[2];
+        const hasExtId = cmdId === 88 || cmdId === 86;
+        const cmdExId = hasExtId ? cache[n] : undefined;
+        const ack = cache[n + 1];
+        if (hasExtId) {
+          if (!thePacketEncoder.validateMessageCdc(cache))
+            throw new Error("Invalid message CDC");
+        }
+        let callbackInfo;
+        let wantedCmdId;
+        let wantedCmdExId;
+        let tryIdx = 0;
+        while ((callbackInfo = this.callbacksQueue[tryIdx++]) !== null) {
+          wantedCmdId = callbackInfo?.wantedCommandId;
+          wantedCmdExId = callbackInfo?.wantedCommandExId;
+          if (wantedCmdId !== undefined && wantedCmdId !== cmdId || wantedCmdExId !== undefined && wantedCmdExId !== cmdExId) {
+            continue;
+          }
+          break;
+        }
+        if (callbackInfo === undefined) {
+          console.warn("Unexpected command", cmdId, cmdExId, ack);
+          continue;
+        }
+        const data = cache.slice(0, sliceIdx);
+        const PackageType = thePacketEncoder.allPacketsTable[wantedCmdId + " " + wantedCmdExId];
+        if (wantedCmdId === undefined && wantedCmdExId === undefined || PackageType === undefined) {
+          callbackInfo.callback(data);
+        } else {
+          if (!hasExtId || PackageType.isValidPacket(data, n)) {
+            callbackInfo.callback(new PackageType(data));
+          } else {
+            console.warn("ack", ack);
+            callbackInfo.callback(ack);
+          }
+        }
+        clearTimeout(callbackInfo.timeout);
+        this.callbacksQueue.splice(tryIdx - 1, 1);
+      } catch (e) {
+        if (!(e instanceof Error && e.message === "No data")) {
+          console.warn("Read error.", e, cache);
+        }
+        await this.close();
+        break;
+      } finally {
+        cache = cache.slice(sliceIdx);
+      }
+  }
+  async query1() {
+    const result = await this.writeDataAsync(new Query1H2DPacket, 100);
+    return result instanceof Query1ReplyD2HPacket ? result : null;
+  }
+  async getSystemVersion() {
+    const result = await this.writeDataAsync(new SystemVersionH2DPacket);
+    return result instanceof SystemVersionReplyD2HPacket ? result.version : null;
+  }
+}
+
+class V5SerialConnection extends VexSerialConnection {
+  filters = [
+    { usbVendorId: 10376, usbProductId: 1281 /* V5_BRAIN */ },
+    { usbVendorId: 10376, usbProductId: 1282 /* V5_BRAIN_DFU */ },
+    { usbVendorId: 10376, usbProductId: 1283 /* V5_CONTROLLER */ }
+  ];
+  async getDeviceStatus() {
+    const result = await this.writeDataAsync(new GetDeviceStatusH2DPacket);
+    return result instanceof GetDeviceStatusReplyD2HPacket ? result : null;
+  }
+  async getRadioStatus() {
+    const result = await this.writeDataAsync(new GetRadioStatusH2DPacket);
+    return result instanceof GetRadioStatusReplyD2HPacket ? result : null;
+  }
+  async getSystemFlags() {
+    const result = await this.writeDataAsync(new GetSystemFlagsH2DPacket);
+    return result instanceof GetSystemFlagsReplyD2HPacket ? result : null;
+  }
+  async getSystemStatus(timeout = 1000) {
+    const result = await this.writeDataAsync(new GetSystemStatusH2DPacket, timeout);
+    return result instanceof GetSystemStatusReplyD2HPacket ? result : null;
+  }
+  async getMatchStatus() {
+    const result = await this.writeDataAsync(new GetMatchStatusH2DPacket);
+    return result instanceof MatchStatusReplyD2HPacket ? result : null;
+  }
+  async uploadProgramToDevice(iniConfig, binFileBuf, coldFileBuf, progressCallback) {
+    const iniFileBuffer = new TextEncoder().encode(iniConfig.createIni());
+    const basename = iniConfig.baseName;
+    const iniRequest = {
+      filename: basename + ".ini",
+      buf: iniFileBuffer,
+      downloadTarget: 1 /* FILE_TARGET_QSPI */,
+      vendor: 1 /* USER */,
+      autoRun: false
+    };
+    const r1 = await this.uploadFileToDevice(iniRequest, (current, total) => {
+      progressCallback("INI", current, total);
+    });
+    if (!r1)
+      return false;
+    const coldRequest = coldFileBuf !== undefined ? {
+      filename: basename + "_lib.bin",
+      buf: coldFileBuf,
+      downloadTarget: 1 /* FILE_TARGET_QSPI */,
+      vendor: 24 /* DEV2 */,
+      autoRun: false
+    } : undefined;
+    if (coldRequest != null) {
+      const r2 = await this.uploadFileToDevice(coldRequest, (current, total) => {
+        progressCallback("COLD", current, total);
+      });
+      if (!r2)
+        return;
+    }
+    const binRequest = {
+      filename: basename + ".bin",
+      buf: binFileBuf,
+      downloadTarget: 1 /* FILE_TARGET_QSPI */,
+      vendor: 1 /* USER */,
+      loadAddress: coldFileBuf != null ? 125829120 : undefined,
+      autoRun: iniConfig.autorun,
+      linkedFile: coldRequest
+    };
+    const r3 = await this.uploadFileToDevice(binRequest, (current, total) => {
+      progressCallback("BIN", current, total);
+    });
+    return r3;
+  }
+  async downloadFileToHost(request, downloadTarget = 1 /* FILE_TARGET_QSPI */, progressCallback) {
+    const { filename, vendor, loadAddress, size } = request;
+    let nextAddress = loadAddress ?? USER_FLASH_USR_CODE_START;
+    const p1 = await this.writeDataAsync(new InitFileTransferH2DPacket(2 /* READ */, downloadTarget, vendor, 0 /* NONE */, new Uint8Array, nextAddress, filename, ""));
+    if (!(p1 instanceof InitFileTransferReplyD2HPacket))
+      throw new Error("InitFileTransferH2DPacket failed");
+    const fileSize = size ?? p1.fileSize;
+    const bufferChunkSize = p1.windowSize > 0 && p1.windowSize <= USER_PROG_CHUNK_SIZE ? p1.windowSize : USER_PROG_CHUNK_SIZE;
+    let bufferOffset = 0;
+    let fileBuf = new Uint8Array(fileSize + bufferChunkSize);
+    let lastBlock = false;
+    while (!lastBlock) {
+      if (fileSize <= bufferOffset + bufferChunkSize) {
+        lastBlock = true;
+      }
+      const p2 = await this.writeDataAsync(new ReadFileH2DPacket(nextAddress, bufferChunkSize), 3000);
+      if (!(p2 instanceof ReadFileReplyD2HPacket))
+        throw new Error("ReadFileReplyD2HPacket failed");
+      fileBuf.set(new Uint8Array(p2.buf), bufferOffset);
+      if (progressCallback != null)
+        progressCallback(bufferOffset, fileSize);
+      bufferOffset += bufferChunkSize;
+      nextAddress += bufferChunkSize;
+    }
+    await this.writeDataAsync(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */), 30000);
+    fileBuf = fileBuf.slice(0, fileSize);
+    return fileBuf;
+  }
+  async uploadFileToDevice(request, progressCallback) {
+    let {
+      filename,
+      buf,
+      downloadTarget,
+      vendor,
+      loadAddress,
+      exttype,
+      autoRun,
+      linkedFile
+    } = request;
+    if (buf === undefined) {
+      return false;
+    }
+    downloadTarget = downloadTarget ?? 1 /* FILE_TARGET_QSPI */;
+    vendor = vendor ?? 1 /* USER */;
+    let nextAddress = loadAddress ?? USER_FLASH_USR_CODE_START;
+    console.log("init file transfer", filename);
+    const p1 = await this.writeDataAsync(new InitFileTransferH2DPacket(1 /* WRITE */, downloadTarget, vendor, 1 /* OVERWRITE */, buf, nextAddress, filename, exttype));
+    if (!(p1 instanceof InitFileTransferReplyD2HPacket))
+      throw new Error("InitFileTransferH2DPacket failed");
+    console.log(p1);
+    if (linkedFile !== undefined) {
+      const p3 = await this.writeDataAsync(new LinkFileH2DPacket(linkedFile.vendor ?? 1 /* USER */, linkedFile.filename, 0), 1e4);
+      if (!(p3 instanceof LinkFileReplyD2HPacket))
+        throw new Error("LinkFileH2DPacket failed");
+    }
+    const bufferChunkSize = p1.windowSize > 0 && p1.windowSize <= USER_PROG_CHUNK_SIZE ? p1.windowSize : USER_PROG_CHUNK_SIZE;
+    let bufferOffset = 0;
+    let lastBlock = false;
+    let transferFailed = true;
+    let exitReply;
+    try {
+      while (!lastBlock) {
+        let tmpbuf;
+        if (buf.byteLength - bufferOffset > bufferChunkSize) {
+          tmpbuf = buf.subarray(bufferOffset, bufferOffset + bufferChunkSize);
+        } else {
+          const length = (buf.byteLength - bufferOffset + 3) / 4 >>> 0;
+          tmpbuf = new Uint8Array(length * 4);
+          tmpbuf.set(buf.subarray(bufferOffset, buf.byteLength));
+          lastBlock = true;
+        }
+        const p2 = await this.writeDataAsync(new WriteFileH2DPacket(nextAddress, tmpbuf), 3000);
+        if (!(p2 instanceof WriteFileReplyD2HPacket))
+          throw new Error("WriteFileReplyD2HPacket failed");
+        if (progressCallback != null)
+          progressCallback(bufferOffset, buf.byteLength);
+        bufferOffset += bufferChunkSize;
+        nextAddress += bufferChunkSize;
+      }
+      transferFailed = false;
+    } finally {
+      exitReply = await this.writeDataAsync(new ExitFileTransferH2DPacket(transferFailed ? 3 /* EXIT_HALT */ : autoRun ? 1 /* EXIT_RUN */ : 3 /* EXIT_HALT */), 30000);
+    }
+    return exitReply instanceof ExitFileTransferReplyD2HPacket;
+  }
+  async setMatchMode(mode) {
+    const result = await this.writeDataAsync(new UpdateMatchModeH2DPacket(mode, 0));
+    return result instanceof MatchModeReplyD2HPacket ? result : null;
+  }
+  async loadProgram(value) {
+    const result = await this.writeDataAsync(new LoadFileActionH2DPacket(1 /* USER */, 0 /* RUN */, value));
+    return result instanceof LoadFileActionReplyD2HPacket ? result : null;
+  }
+  async stopProgram() {
+    const result = await this.writeDataAsync(new LoadFileActionH2DPacket(1 /* USER */, 128 /* STOP */, ""));
+    return result instanceof LoadFileActionReplyD2HPacket ? result : null;
+  }
+  async mockTouch(x, y, press) {
+    const result = await this.writeDataAsync(new SendDashTouchH2DPacket(x, y, press));
+    return result instanceof SendDashTouchReplyD2HPacket ? result : null;
+  }
+  async openScreen(screen, port) {
+    const result = await this.writeDataAsync(new SelectDashH2DPacket(screen, port));
+    return result instanceof SendDashTouchReplyD2HPacket ? result : null;
+  }
+}
+function logData(data, limitedSize) {
+  if (data === undefined)
+    return;
+  limitedSize ||= data.length;
+  let a = "";
+  for (let n = 0;n < data.length && n < limitedSize; n++)
+    a += ("00" + data[n].toString(16)).substr(-2, 2) + " ";
+  limitedSize < data.length && (a += " ... ");
+}
+function binaryArrayJoin(left, right) {
+  const leftSize = left != null ? left.byteLength : 0;
+  const rightSize = right != null ? right.byteLength : 0;
+  const all = new Uint8Array(leftSize + rightSize);
+  return all.length === 0 ? new Uint8Array : (left != null && all.set(new Uint8Array(left), 0), right != null && all.set(new Uint8Array(right), leftSize), all);
+}
+// ../serial/src/VexDevice.ts
+async function downloadFileFromInternet(link) {
+  return await new Promise((resolve, reject) => {
+    const oReq = new XMLHttpRequest;
+    oReq.open("GET", link, true);
+    oReq.responseType = "arraybuffer";
+    oReq.onload = function(_oEvent) {
+      const arrayBuffer = oReq.response;
+      resolve(arrayBuffer);
+    };
+    oReq.onerror = function(oEvent) {
+      reject(oEvent);
+    };
+    oReq.send(null);
+  });
+}
+async function sleepUntilAsync(f, timeout, interval = 20) {
+  return await new Promise((resolve) => {
+    let lastTime = new Date().getTime();
+    let stopped = false;
+    const stopper = setTimeout(() => {
+      stopped = true;
+      resolve(false);
+    }, timeout);
+    const checker = (val) => {
+      if (stopped)
+        return;
+      if (val) {
+        clearTimeout(stopper);
+        resolve(true);
+      } else if (new Date().getTime() - lastTime > interval) {
+        lastTime = new Date().getTime();
+        f().then(checker);
+      } else
+        setTimeout(() => {
+          lastTime = new Date().getTime();
+          f().then(checker);
+        }, new Date().getTime() - lastTime);
+    };
+    f().then(checker);
+  });
+}
+async function sleepUntil(f, timeout, interval = 20) {
+  return await new Promise((resolve) => {
+    const timeWas = new Date().getTime();
+    const wait = setInterval(function() {
+      if (f()) {
+        clearInterval(wait);
+        resolve(true);
+      } else if (new Date().getTime() - timeWas > timeout) {
+        clearInterval(wait);
+        resolve(false);
+      }
+    }, interval);
+  });
+}
+async function sleep(ms) {
+  return await new Promise((resolve) => setTimeout(resolve, ms));
+}
+
+class VexSerialDevice extends VexEventTarget {
+  connection;
+  defaultSerial;
+  get isConnected() {
+    return this.connection != null ? this.connection.isConnected : false;
+  }
+  get deviceType() {
+    return this.isConnected ? this.connection?.port?.getInfo().usbProductId : undefined;
+  }
+  constructor(defaultSerial) {
+    super();
+    this.defaultSerial = defaultSerial;
+  }
+}
+
+class V5SerialDeviceState {
+  _instance;
+  _isFileTransferring = false;
+  brain = {
+    activeProgram: 0,
+    battery: {
+      batteryPercent: 0,
+      isCharging: false
+    },
+    button: {
+      isPressed: false,
+      isDoublePressed: false
+    },
+    cpu0Version: VexFirmwareVersion.allZero(),
+    cpu1Version: VexFirmwareVersion.allZero(),
+    isAvailable: false,
+    settings: {
+      isScreenReversed: false,
+      isWhiteTheme: false,
+      usingLanguage: 0
+    },
+    systemVersion: VexFirmwareVersion.allZero(),
+    uniqueId: 0
+  };
+  controllers = [
+    {
+      battery: 0,
+      isAvailable: false,
+      isCharging: false
+    },
+    {
+      battery: 0,
+      isAvailable: false
+    }
+  ];
+  devices = [];
+  isFieldControllerConnected = false;
+  matchMode = "disabled";
+  radio = {
+    channel: 0,
+    isAvailable: false,
+    isConnected: false,
+    isVexNet: false,
+    isRadioData: false,
+    latency: 0,
+    signalQuality: 0,
+    signalStrength: 0
+  };
+  constructor(instance) {
+    this._instance = instance;
+  }
+}
+
+class V5Brain {
+  state;
+  constructor(state) {
+    this.state = state;
+  }
+  get isRunningProgram() {
+    return this.activeProgram !== 0;
+  }
+  get activeProgram() {
+    return this.state.brain.activeProgram;
+  }
+  set activeProgram(value) {
+    (async () => {
+      if (this.state.brain.activeProgram === value)
+        return;
+      const conn = this.state._instance.connection;
+      if (conn == null)
+        return;
+      const fn = value === 0 ? await conn.stopProgram() : await conn.loadProgram(value);
+      if (fn != null)
+        this.state.brain.activeProgram = value;
+    })();
+  }
+  get battery() {
+    return new V5Battery(this.state);
+  }
+  get button() {
+    return new V5BrainButton(this.state);
+  }
+  get cpu0Version() {
+    return this.state.brain.cpu0Version;
+  }
+  get cpu1Version() {
+    return this.state.brain.cpu1Version;
+  }
+  get isAvailable() {
+    return this.state.brain.isAvailable;
+  }
+  get settings() {
+    return new V5BrainSettings(this.state);
+  }
+  get systemVersion() {
+    return this.state.brain.systemVersion;
+  }
+  get uniqueId() {
+    return this.state.brain.uniqueId;
+  }
+  async getValue(key) {
+    const result = await this.state._instance.connection?.writeDataAsync(new ReadKeyValueH2DPacket(key));
+    return result instanceof ReadKeyValueReplyD2HPacket ? result.value : undefined;
+  }
+  async setValue(key, value) {
+    const result = await this.state._instance.connection?.writeDataAsync(new WriteKeyValueH2DPacket(key, value));
+    return result instanceof WriteKeyValueReplyD2HPacket;
+  }
+  async listFiles(vendor = 1 /* USER */) {
+    const conn = this.state._instance.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    const result = await conn.writeDataAsync(new GetDirectoryFileCountH2DPacket(vendor));
+    if (!(result instanceof GetDirectoryFileCountReplyD2HPacket))
+      return;
+    const files = [];
+    for (let i = 0;i < result.count; i++) {
+      const result2 = await conn.writeDataAsync(new GetDirectoryEntryH2DPacket(i));
+      if (!(result2 instanceof GetDirectoryEntryReplyD2HPacket))
+        return;
+      if (result2.file != null) {
+        files.push({
+          filename: result2.file.filename,
+          vendor,
+          loadAddress: result2.file.loadAddress,
+          size: result2.file.size,
+          crc32: result2.file.crc32,
+          type: result2.file.type,
+          timestamp: result2.file.timestamp,
+          version: result2.file.version
+        });
+      }
+    }
+    return files;
+  }
+  async listProgram() {
+    const conn = this.state._instance.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    const files = await this.listFiles(1 /* USER */);
+    if (files === undefined)
+      return;
+    const programList = [];
+    const iniFiles = files.filter((file) => file?.filename.search(/.ini$/) > 0);
+    for (let i = 0;i < iniFiles.length; i++) {
+      const ini = iniFiles[i];
+      if (ini.size === 0)
+        continue;
+      const programName = /(.+?)(\.[^.]*$|$)/.exec(ini.filename)?.[1] ?? "";
+      const bin = files.filter((e) => e != null && e.filename === programName + ".bin")[0];
+      if (bin == null || bin.timestamp === 0 || bin.size === 0)
+        continue;
+      const n = new Date;
+      n.setTime(1000 * bin.timestamp);
+      const program2 = {
+        name: programName,
+        binfile: bin.filename,
+        size: ini.size + bin.size,
+        slot: -1,
+        time: n,
+        requestedSlot: -1
+      };
+      const result2 = await conn?.writeDataAsync(new GetProgramSlotInfoH2DPacket(1 /* USER */, program2.binfile));
+      if (result2 instanceof GetProgramSlotInfoReplyD2HPacket) {
+        program2.slot = result2.slot;
+        program2.requestedSlot = result2.requestedSlot;
+      }
+      programList.push(program2);
+    }
+    return programList;
+  }
+  async readFile(request, downloadTarget = 1 /* FILE_TARGET_QSPI */, progressCallback) {
+    const conn = this.state._instance.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    this.state._isFileTransferring = true;
+    let handle;
+    if (typeof request === "string") {
+      handle = { filename: request, vendor: 1 /* USER */ };
+    } else {
+      handle = request;
+    }
+    try {
+      return await conn.downloadFileToHost(handle, downloadTarget, progressCallback);
+    } catch (e) {
+      this.state._isFileTransferring = false;
+      throw e;
+    }
+  }
+  async removeFile(request) {
+    const conn = this.state._instance.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    let vendor, filename;
+    if (typeof request === "string") {
+      vendor = 1 /* USER */;
+      filename = request;
+    } else {
+      vendor = request.vendor;
+      filename = request.filename;
+    }
+    const result = await conn.writeDataAsync(new EraseFileH2DPacket(vendor, filename));
+    const result2 = await conn.writeDataAsync(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */));
+    if (!(result instanceof EraseFileReplyD2HPacket))
+      return false;
+    if (!(result2 instanceof ExitFileTransferReplyD2HPacket))
+      return false;
+    return true;
+  }
+  async removeAllFiles() {
+    const conn = this.state._instance.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    const result = await conn.writeDataAsync(new FileClearUpH2DPacket(1 /* USER */), 30000);
+    return result instanceof FileClearUpReplyD2HPacket;
+  }
+  async uploadFirmware(publicUrl = "https://content.vexrobotics.com/vexos/public/V5/", usingVersion, progressCallback) {
+    const device = this.state._instance;
+    const conn = device.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    const pcb = progressCallback ?? (() => {});
+    let vexos, bootBin, assertBin;
+    try {
+      if (usingVersion === undefined) {
+        pcb("FETCH CATALOG", 0, 1);
+        const catalog = await downloadFileFromInternet(publicUrl + "catalog.txt");
+        const latestVersion = new TextDecoder().decode(catalog);
+        usingVersion = latestVersion;
+        pcb("FETCH CATALOG", 1, 1);
+        console.log("fetched catalog.txt", latestVersion);
+      }
+      pcb("FETCH VEXOS", 0, 1);
+      vexos = await downloadFileFromInternet(publicUrl + usingVersion + ".vexos");
+      pcb("FETCH VEXOS", 1, 1);
+      pcb("UNZIP VEXOS", 0, 1);
+      const { unzip } = await import("unzipit");
+      const { entries } = await unzip(vexos);
+      bootBin = await entries[usingVersion + "/BOOT.bin"].arrayBuffer();
+      assertBin = await entries[usingVersion + "/assets.bin"].arrayBuffer();
+      pcb("UNZIP VEXOS", 1, 1);
+    } catch (e) {
+      return;
+    }
+    try {
+      this.state._isFileTransferring = true;
+      pcb("FACTORY ENB BOOT", 0, 0);
+      const result = await conn.writeDataAsync(new FactoryEnableH2DPacket);
+      if (!(result instanceof FactoryEnableReplyD2HPacket))
+        return false;
+      const bootWriteRequest = {
+        filename: "null.bin",
+        vendor: 1 /* USER */,
+        loadAddress: USER_FLASH_USR_CODE_START,
+        buf: new Uint8Array(bootBin),
+        downloadTarget: 14 /* FILE_TARGET_B1 */,
+        exttype: "bin",
+        autoRun: true,
+        linkedFile: undefined
+      };
+      const result2 = await conn.uploadFileToDevice(bootWriteRequest, (c, t) => {
+        pcb("UPLOAD BOOT", c, t);
+      });
+      if (!result2)
+        return false;
+      while (true) {
+        const result3 = await conn.writeDataAsync(new FactoryStatusH2DPacket, 1e4);
+        if (result3 instanceof FactoryStatusReplyD2HPacket) {
+          switch (result3.status) {
+            case 2:
+              pcb("ERASE BOOT", result3.percent, 100);
+              break;
+            case 3:
+              pcb("WRITE BOOT", result3.percent, 100);
+              break;
+            case 4:
+              pcb("VERIFY BOOT", result3.percent, 100);
+              break;
+            case 8:
+              pcb("FINISHING BOOT", result3.percent, 100);
+              break;
+          }
+          if (result3.status === 0 && result3.percent === 100)
+            break;
+        } else {
+          return false;
+        }
+        await sleep(500);
+      }
+      pcb("FACTORY ENB ASSERT", 0, 0);
+      const result5 = await conn.writeDataAsync(new FactoryEnableH2DPacket);
+      if (!(result5 instanceof FactoryEnableReplyD2HPacket))
+        return false;
+      const assertWriteRequest = {
+        filename: "null.bin",
+        vendor: 1 /* USER */,
+        loadAddress: USER_FLASH_USR_CODE_START,
+        buf: new Uint8Array(assertBin),
+        downloadTarget: 13 /* FILE_TARGET_A1 */,
+        exttype: "bin",
+        autoRun: true,
+        linkedFile: undefined
+      };
+      const result6 = await conn.uploadFileToDevice(assertWriteRequest, (c, t) => {
+        pcb("UPLOAD ASSERT", c, t);
+      });
+      if (!result6)
+        return false;
+      while (true) {
+        const result7 = await conn.writeDataAsync(new FactoryStatusH2DPacket, 1e4);
+        if (result7 instanceof FactoryStatusReplyD2HPacket) {
+          switch (result7.status) {
+            case 2:
+              pcb("ERASE ASSERT", result7.percent, 100);
+              break;
+            case 3:
+              pcb("WRITE ASSERT", result7.percent, 100);
+              break;
+            case 4:
+              pcb("VERIFY ASSERT", result7.percent, 100);
+              break;
+            case 8:
+              pcb("FINISHING ASSERT", result7.percent, 100);
+              break;
+          }
+          if (result7.status === 0 && result7.percent === 100)
+            break;
+        } else {
+          return false;
+        }
+        await sleep(500);
+      }
+    } catch (e) {
+      this.state._isFileTransferring = false;
+      throw e;
+    }
+    return true;
+  }
+  async uploadProgram(iniConfig, binFileBuf, coldFileBuf, progressCallback) {
+    const device = this.state._instance;
+    const conn = device.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    this.state._isFileTransferring = true;
+    try {
+      if (device.isV5Controller) {
+        await sleep(250);
+        if (!await device.refresh())
+          return;
+        console.log("Transferring to download channel");
+        const p1 = await device.radio.changeChannel(1 /* DOWNLOAD */);
+        if (!p1)
+          return false;
+        await sleep(250);
+        await sleepUntilAsync(async () => await conn?.getSystemStatus(150) != null, 1e4, 200);
+        console.log("Transferred to download channel");
+      }
+      const p2 = await conn.uploadProgramToDevice(iniConfig, binFileBuf, coldFileBuf, progressCallback);
+      if (!(p2 ?? false))
+        return false;
+      if (device.isV5Controller) {
+        if (!device.brain.isAvailable)
+          return false;
+        console.log("Transferring back to pit channel");
+        const p3 = await device.radio.changeChannel(0 /* PIT */);
+        if (!p3)
+          return false;
+        await sleep(250);
+        await sleepUntilAsync(async () => await conn?.getSystemStatus(150) != null, 1e4, 200);
+        console.log("All done");
+      }
+      return true;
+    } catch (e) {
+      this.state._isFileTransferring = false;
+      throw e;
+    }
+  }
+  async writeFile(request, progressCallback) {
+    this.state._isFileTransferring = true;
+    const conn = this.state._instance.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    try {
+      return await conn.uploadFileToDevice(request, progressCallback);
+    } catch (e) {
+      this.state._isFileTransferring = false;
+      throw e;
+    }
+  }
+  async captureScreen(progressCallback) {
+    const conn = this.state._instance.connection;
+    if (conn == null || !conn.isConnected)
+      return;
+    await new Promise((resolve) => {
+      conn.writeData(new ScreenCaptureH2DPacket(0), resolve);
+    });
+    const height = 272;
+    const width = 480;
+    const channels = 3;
+    const messageWidth = 512;
+    const messageChannels = 4;
+    let buf = await conn?.downloadFileToHost({
+      filename: "screen",
+      vendor: 15 /* SYS */,
+      loadAddress: 0,
+      size: messageWidth * height * messageChannels
+    }, 2 /* FILE_TARGET_CBUF */, progressCallback);
+    if (buf == null)
+      return;
+    buf = buf.filter((_byte, i) => i % (messageWidth * messageChannels) < width * messageChannels).filter((_byte, i) => (i + 1) % messageChannels !== 0);
+    for (let i = 0;i < buf.length; i += channels) {
+      const px = buf.slice(i, i + channels).reverse();
+      for (let j = 0;j < px.length; j++) {
+        buf[i + j] = px[j];
+      }
+    }
+    return buf;
+  }
+}
+
+class V5Battery {
+  state;
+  constructor(state) {
+    this.state = state;
+  }
+  get batteryPercent() {
+    return this.state.brain.battery.batteryPercent;
+  }
+  get isCharging() {
+    return this.state.brain.battery.isCharging;
+  }
+}
+
+class V5BrainButton {
+  state;
+  constructor(state) {
+    this.state = state;
+  }
+  get isPressed() {
+    return this.state.brain.button.isPressed;
+  }
+  get isDoublePressed() {
+    return this.state.brain.button.isDoublePressed;
+  }
+}
+
+class V5BrainSettings {
+  state;
+  constructor(state) {
+    this.state = state;
+  }
+  get isScreenReversed() {
+    return this.state.brain.settings.isScreenReversed;
+  }
+  get isWhiteTheme() {
+    return this.state.brain.settings.isWhiteTheme;
+  }
+  get usingLanguage() {
+    return this.state.brain.settings.usingLanguage;
+  }
+}
+
+class V5Controller {
+  state;
+  controllerIndex;
+  constructor(state, controllerIndex) {
+    this.state = state;
+    this.controllerIndex = controllerIndex;
+  }
+  get batteryPercent() {
+    return this.state.controllers[this.controllerIndex].battery;
+  }
+  get isMasterController() {
+    return this.controllerIndex === 0;
+  }
+  get isAvailable() {
+    return this.state.controllers[this.controllerIndex].isAvailable;
+  }
+  get isCharging() {
+    return this.state.controllers[this.controllerIndex].isCharging;
+  }
+}
+
+class V5SmartDevice {
+  state;
+  deviceIndex;
+  constructor(state, index) {
+    this.state = state;
+    this.deviceIndex = index;
+  }
+  getDeviceInfo() {
+    return this.state.devices[this.deviceIndex];
+  }
+  get isAvailable() {
+    return this.getDeviceInfo() !== undefined;
+  }
+  get port() {
+    return this.deviceIndex;
+  }
+  get type() {
+    return this.getDeviceInfo()?.type ?? 0 /* EMPTY */;
+  }
+  get version() {
+    return this.getDeviceInfo()?.version ?? 0;
+  }
+}
+
+class V5Radio {
+  state;
+  constructor(state) {
+    this.state = state;
+  }
+  get channel() {
+    return this.state.radio.channel;
+  }
+  get isAvailable() {
+    return this.state.radio.isAvailable;
+  }
+  get isConnected() {
+    return this.state.radio.isConnected;
+  }
+  get isVexNet() {
+    return this.state.radio.isVexNet;
+  }
+  get isRadioData() {
+    return this.state.radio.isRadioData;
+  }
+  get latency() {
+    return this.state.radio.latency;
+  }
+  async changeChannel(channel) {
+    const result = await this.state._instance.connection?.writeDataAsync(new FileControlH2DPacket(1, channel));
+    return result instanceof FileControlReplyD2HPacket;
+  }
+}
+
+class V5SerialDevice extends VexSerialDevice {
+  autoReconnect = true;
+  autoRefresh = true;
+  pauseRefreshOnFileTransfer = true;
+  _isReconnecting = false;
+  _refreshInterval;
+  state = new V5SerialDeviceState(this);
+  constructor(defaultSerial) {
+    super(defaultSerial);
+    let isLastRefreshComplete = true;
+    this._refreshInterval = setInterval(() => {
+      if (this.autoRefresh && isLastRefreshComplete) {
+        if (!this.isConnected) {
+          this.state.brain.isAvailable = false;
+          return;
+        }
+        if (!this.pauseRefreshOnFileTransfer || !this.state._isFileTransferring) {
+          isLastRefreshComplete = false;
+          this.refresh().finally(() => isLastRefreshComplete = true);
+        }
+      }
+    }, 200);
+  }
+  get isV5Controller() {
+    return this.deviceType === 1283 /* V5_CONTROLLER */;
+  }
+  get brain() {
+    return new V5Brain(this.state);
+  }
+  get controllers() {
+    return [new V5Controller(this.state, 0), new V5Controller(this.state, 1)];
+  }
+  get devices() {
+    const rtn = [];
+    for (let i = 1;i <= this.state.devices.length; i++) {
+      if (this.state.devices[i] != null)
+        rtn.push(new V5SmartDevice(this.state, i));
+    }
+    return rtn;
+  }
+  get isFieldControllerConnected() {
+    return this.state.isFieldControllerConnected;
+  }
+  get matchMode() {
+    return this.state.matchMode;
+  }
+  set matchMode(value) {
+    (async () => {
+      if (await this.connection?.setMatchMode(value) != null)
+        this.state.matchMode = value;
+    })();
+  }
+  get radio() {
+    return new V5Radio(this.state);
+  }
+  async mockTouch(x, y, press) {
+    return !(await this.connection?.mockTouch(x, y, press) == null);
+  }
+  async connect(conn) {
+    if (this.isConnected)
+      return true;
+    if (conn != null && !conn.isConnected) {
+      if (await conn.query1() === null)
+        return false;
+      this.connection = conn;
+    } else {
+      let tryIdx = 0;
+      while (true) {
+        const c = new V5SerialConnection(this.defaultSerial);
+        const result = await c.open(tryIdx++, true);
+        if (result === undefined)
+          return false;
+        if (!result) {
+          await c.close();
+          continue;
+        }
+        if (await c.query1() === null) {
+          await c.close();
+          continue;
+        }
+        this.connection = c;
+        break;
+      }
+    }
+    if (!this.isConnected)
+      return false;
+    await this.doAfterConnect();
+    return true;
+  }
+  async disconnect() {
+    await this.connection?.close();
+    this.connection = undefined;
+  }
+  async dispose() {
+    this.autoReconnect = false;
+    this.autoRefresh = false;
+    clearInterval(this._refreshInterval);
+    await this.disconnect();
+  }
+  async reconnect(timeout = 0) {
+    if (this.isConnected)
+      return true;
+    if (timeout < 0)
+      return false;
+    const endTime = new Date().getTime() + timeout;
+    if (this._isReconnecting) {
+      let successBeforeTimeout;
+      do {
+        successBeforeTimeout = await sleepUntil(() => !this._isReconnecting, timeout === 0 ? 1000 : timeout);
+      } while (timeout === 0 && !successBeforeTimeout);
+      if (this.isConnected)
+        return true;
+      if (!successBeforeTimeout)
+        return false;
+    }
+    this._isReconnecting = true;
+    while (timeout === 0 || new Date().getTime() < endTime) {
+      let tryIdx = 0;
+      while (true) {
+        const c = new V5SerialConnection(this.defaultSerial);
+        const result = await c.open(tryIdx++, false);
+        if (result === undefined)
+          break;
+        if (!result) {
+          await c.close();
+          continue;
+        }
+        const result2 = await c.getSystemStatus(200);
+        if (result2 === null) {
+          await c.close();
+          continue;
+        }
+        if (this.brain.uniqueId !== 0 && result2.uniqueId !== this.brain.uniqueId) {
+          await c.close();
+          continue;
+        }
+        this.connection = c;
+        break;
+      }
+      if (this.isConnected)
+        break;
+      const getPortCount = async () => (await this.defaultSerial.getPorts()).length;
+      const portsCount = await getPortCount();
+      await sleepUntilAsync(async () => await getPortCount() !== portsCount, 1000);
+    }
+    this._isReconnecting = false;
+    if (!this.isConnected)
+      return false;
+    this.doAfterConnect();
+    return true;
+  }
+  async doAfterConnect() {
+    if (this.connection == null)
+      return;
+    this.connection.on("disconnected", (_data) => {
+      if (this.autoReconnect)
+        this.reconnect();
+    });
+    await this.refresh();
+  }
+  async refresh() {
+    const ssPacket = await this.connection?.getSystemStatus();
+    if (ssPacket == null) {
+      this.state.brain.isAvailable = false;
+      return false;
+    }
+    this.state.brain.cpu0Version = ssPacket.cpu0Version;
+    this.state.brain.cpu1Version = ssPacket.cpu1Version;
+    this.state.brain.systemVersion = ssPacket.systemVersion;
+    const flags2 = ssPacket.sysflags[2];
+    this.state.controllers[0].isCharging = (flags2 & 128) !== 0;
+    this.state.matchMode = (flags2 & 32) !== 0 ? "disabled" : (flags2 & 64) !== 0 ? "autonomous" : "driver";
+    this.state.isFieldControllerConnected = (flags2 & 16) !== 0;
+    const flags4 = ssPacket.sysflags[4];
+    this.state.brain.settings.usingLanguage = (flags4 & 240) >> 4;
+    this.state.brain.settings.isWhiteTheme = (flags4 & 4) !== 0;
+    this.state.brain.settings.isScreenReversed = (flags4 & 1) === 0;
+    this.state.brain.uniqueId = ssPacket.uniqueId;
+    const sfPacket = await this.connection?.getSystemFlags();
+    if (sfPacket == null)
+      return false;
+    const flags5 = sfPacket.flags;
+    this.state.radio.isRadioData = (flags5 & Math.pow(2, 20)) !== 0;
+    this.state.brain.button.isDoublePressed = (flags5 & Math.pow(2, 18)) !== 0;
+    this.state.brain.battery.isCharging = (flags5 & Math.pow(2, 17)) !== 0;
+    this.state.brain.button.isPressed = (flags5 & Math.pow(2, 15)) !== 0;
+    this.state.radio.isVexNet = (flags5 & Math.pow(2, 14)) !== 0;
+    this.state.controllers[1].isAvailable = (flags5 & Math.pow(2, 13)) !== 0;
+    this.state.radio.isConnected = (flags5 & Math.pow(2, 10)) !== 0;
+    this.state.radio.isAvailable = (flags5 & Math.pow(2, 9)) !== 0;
+    this.state.brain.battery.batteryPercent = sfPacket.battery ?? 0;
+    this.state.controllers[0].isAvailable = this.state.radio.isConnected || this.state.controllers[0].isCharging;
+    this.state.controllers[0].battery = sfPacket.controllerBatteryPercent ?? 0;
+    this.state.controllers[1].battery = sfPacket.partnerControllerBatteryPercent ?? 0;
+    this.state.brain.activeProgram = sfPacket.currentProgram;
+    this.state.brain.isAvailable = !this.isV5Controller || this.state.radio.isConnected;
+    const rdPacket = await this.connection?.getRadioStatus();
+    if (rdPacket == null)
+      return false;
+    this.state.radio.channel = rdPacket.channel;
+    this.state.radio.latency = rdPacket.timeslot;
+    this.state.radio.signalQuality = rdPacket.quality;
+    this.state.radio.signalStrength = rdPacket.strength;
+    const dsPacket = await this.connection?.getDeviceStatus();
+    if (dsPacket == null)
+      return false;
+    let missingPorts = this.state.devices.map((d) => d?.port).filter((p) => p !== undefined);
+    for (let i = 0;i < dsPacket.devices.length; i++) {
+      const device = dsPacket.devices[i];
+      this.state.devices[device.port] = device;
+      missingPorts = missingPorts.filter((p) => p !== device.port);
+    }
+    missingPorts.forEach((port) => {
+      this.state.devices[port] = undefined;
+    });
+    return true;
+  }
+}
+// ../serial/src/VexIniConfig.ts
+class BaseIniBuilder {
+  str = "";
+  addLine(line) {
+    this.str += line + `
+`;
+  }
+  addComment(comment) {
+    this.addLine("; " + comment);
+    return this;
+  }
+  getContent() {
+    return this.str;
+  }
+}
+
+class IniSectionBuilder extends BaseIniBuilder {
+  name;
+  object;
+  keyTransform;
+  constructor(name, object, keyTransform = (k) => k.toString()) {
+    super();
+    this.name = name;
+    this.object = object;
+    this.keyTransform = keyTransform;
+  }
+  addSingleObjProperty(key, maxValueLength) {
+    if (this.object[key] == null || this.object[key].toString().length === 0)
+      return;
+    const formattedKey = this.keyTransform(key).padEnd(12).slice(0, 12);
+    const trimmedVal = this.object[key].toString().slice(0, maxValueLength);
+    this.addLine(`${formattedKey} = "${trimmedVal}"`);
+  }
+  addObjProperty(key, maxValueLength) {
+    const keys = Array.isArray(key) ? key : [key];
+    for (const k of keys) {
+      this.addSingleObjProperty(k, maxValueLength);
+    }
+    return this;
+  }
+  addAllObjProps(maxValueLength) {
+    const keys = Object.keys(this.object);
+    for (const k of keys) {
+      this.addSingleObjProperty(k, maxValueLength);
+    }
+    return this;
+  }
+}
+
+class IniFileBuilder extends BaseIniBuilder {
+  addSection(section) {
+    this.addLine(`[${section.name}]`);
+    this.str += section.getContent();
+    return this;
+  }
+}
+
+class ProgramIniConfig {
+  baseName = "slot_1";
+  autorun = false;
+  project = { version: "1", ide: "Unknown", file: "none" };
+  program = {
+    version: "1",
+    name: "program",
+    slot: 0,
+    icon: "default.bmp",
+    iconalt: "",
+    description: "",
+    date: "",
+    timezone: "0"
+  };
+  config = {};
+  controller1 = {};
+  controller2 = {};
+  constructor() {
+    this.config = {
+      22: "adi"
+    };
+  }
+  setProgramDate(date) {
+    const d = date;
+    this.program.date = d.toISOString();
+    const tzo = Math.abs(d.getTimezoneOffset());
+    const tzh = tzo / 60 >>> 0;
+    const tzm = tzo - tzh * 60;
+    this.program.timezone = (d.getTimezoneOffset() > 0 ? "-" : "+") + this.dec2(tzh) + ":" + this.dec2(tzm);
+  }
+  createIni() {
+    if (this.program.date.length === 0) {
+      this.setProgramDate(new Date);
+    }
+    return new IniFileBuilder().addComment("").addComment("VEX program ini file").addComment("Generated by Vex V5 Serial Protocol Library").addComment("").addSection(new IniSectionBuilder("project", this.project).addObjProperty("ide", 16)).addComment("").addSection(new IniSectionBuilder("program", this.program).addObjProperty("name", 32).addObjProperty("description", 256).addObjProperty("icon", 16).addObjProperty("iconalt", 16).addObjProperty("slot", 16)).addComment("").addSection(new IniSectionBuilder("config", this.config, (k) => "port_" + this.dec2(k)).addAllObjProps()).addComment("").addSection(new IniSectionBuilder("controller_1", this.controller1).addAllObjProps()).addComment("").addSection(new IniSectionBuilder("controller_2", this.controller2).addAllObjProps()).getContent();
+  }
+  dec2(value) {
+    const str = ("00" + value.toString(10)).substr(-2, 2);
+    return str.toUpperCase();
+  }
+}
+// ../../node_modules/.bun/bun-serialport@0.1.1/node_modules/bun-serialport/src/serialport.js
+import { EventEmitter } from "events";
+
+// ../../node_modules/.bun/bun-serialport@0.1.1/node_modules/bun-serialport/src/bindings/posix.js
+import { dlopen, FFIType, ptr, toArrayBuffer, CString } from "bun:ffi";
+
+// ../../node_modules/.bun/bun-serialport@0.1.1/node_modules/bun-serialport/src/bindings/constants.js
+import { platform } from "os";
+var IS_LINUX = platform() === "linux";
+var IS_DARWIN = platform() === "darwin";
+if (!IS_LINUX && !IS_DARWIN) {
+  throw new Error(`bun-serialport: unsupported platform "${platform()}"`);
+}
+var O_RDWR = 2;
+var O_NOCTTY = IS_LINUX ? 256 : 131072;
+var O_NONBLOCK = IS_LINUX ? 2048 : 4;
+var TCSADRAIN = 1;
+var TCSAFLUSH = 2;
+var TCIOFLUSH = IS_LINUX ? 2 : 3;
+var CSIZE = IS_LINUX ? 48 : 768;
+var CS5 = IS_LINUX ? 0 : 0;
+var CS6 = IS_LINUX ? 16 : 256;
+var CS7 = IS_LINUX ? 32 : 512;
+var CS8 = IS_LINUX ? 48 : 768;
+var CSTOPB = IS_LINUX ? 64 : 1024;
+var CREAD = IS_LINUX ? 128 : 2048;
+var PARENB = IS_LINUX ? 256 : 4096;
+var PARODD = IS_LINUX ? 512 : 8192;
+var CLOCAL = IS_LINUX ? 2048 : 32768;
+var CRTSCTS = IS_LINUX ? 2147483648 : 196608;
+var INPCK = IS_LINUX ? 16 : 16;
+var IXON = IS_LINUX ? 1024 : 512;
+var IXOFF = IS_LINUX ? 4096 : 1024;
+var VMIN = IS_LINUX ? 6 : 16;
+var VTIME = IS_LINUX ? 5 : 17;
+var NCCS = IS_LINUX ? 32 : 20;
+var TIOCMGET = IS_LINUX ? 21525 : 1074033770;
+var TIOCMBIS = IS_LINUX ? 21526 : 2147775596;
+var TIOCMBIC = IS_LINUX ? 21527 : 2147775595;
+var TIOCM_DTR = 2;
+var TIOCM_RTS = 4;
+var TIOCM_CTS = 32;
+var TIOCM_DSR = 256;
+var TIOCM_CD = 64;
+var TIOCM_RI = 128;
+var TERMIOS_SIZE = IS_LINUX ? 60 : 72;
+var TCFLAG_SIZE = IS_LINUX ? 4 : 8;
+var TERMIOS_OFFSETS = IS_LINUX ? { c_iflag: 0, c_oflag: 4, c_cflag: 8, c_lflag: 12, c_line: 16, c_cc: 17, c_ispeed: 52, c_ospeed: 56 } : { c_iflag: 0, c_oflag: 8, c_cflag: 16, c_lflag: 24, c_cc: 32, c_ispeed: 56, c_ospeed: 64 };
+var LINUX_BAUD_MAP = {
+  0: 0,
+  110: 3,
+  300: 7,
+  600: 8,
+  1200: 9,
+  2400: 11,
+  4800: 12,
+  9600: 13,
+  19200: 14,
+  38400: 15,
+  57600: 4097,
+  115200: 4098,
+  230400: 4099,
+  460800: 4100,
+  500000: 4101,
+  576000: 4102,
+  921600: 4103,
+  1e6: 4104,
+  1152000: 4105,
+  1500000: 4106,
+  2000000: 4107,
+  2500000: 4108,
+  3000000: 4109,
+  3500000: 4110,
+  4000000: 4111
+};
+function encodeBaudRate(rate) {
+  if (IS_DARWIN)
+    return rate;
+  const encoded = LINUX_BAUD_MAP[rate];
+  if (encoded === undefined)
+    throw new Error(`Unsupported baud rate: ${rate}`);
+  return encoded;
+}
+function dataBitsFlag(bits) {
+  switch (bits) {
+    case 5:
+      return CS5;
+    case 6:
+      return CS6;
+    case 7:
+      return CS7;
+    case 8:
+      return CS8;
+    default:
+      throw new Error(`Invalid data bits: ${bits}`);
+  }
+}
+
+// ../../node_modules/.bun/bun-serialport@0.1.1/node_modules/bun-serialport/src/bindings/posix.js
+import { platform as platform2 } from "os";
+var IS_LINUX2 = platform2() === "linux";
+var IS_DARWIN2 = platform2() === "darwin";
+var LIBC_PATH = IS_LINUX2 ? "libc.so.6" : "libSystem.B.dylib";
+var libc = dlopen(LIBC_PATH, {
+  open: { args: [FFIType.cstring, FFIType.i32], returns: FFIType.i32 },
+  close: { args: [FFIType.i32], returns: FFIType.i32 },
+  read: { args: [FFIType.i32, FFIType.ptr, FFIType.u64], returns: FFIType.i64 },
+  write: { args: [FFIType.i32, FFIType.ptr, FFIType.u64], returns: FFIType.i64 },
+  tcgetattr: { args: [FFIType.i32, FFIType.ptr], returns: FFIType.i32 },
+  tcsetattr: { args: [FFIType.i32, FFIType.i32, FFIType.ptr], returns: FFIType.i32 },
+  tcflush: { args: [FFIType.i32, FFIType.i32], returns: FFIType.i32 },
+  tcdrain: { args: [FFIType.i32], returns: FFIType.i32 },
+  cfsetispeed: { args: [FFIType.ptr, FFIType.u64], returns: FFIType.i32 },
+  cfsetospeed: { args: [FFIType.ptr, FFIType.u64], returns: FFIType.i32 },
+  fcntl: { args: [FFIType.i32, FFIType.i32, FFIType.i32], returns: FFIType.i32 },
+  ioctl: { args: [FFIType.i32, FFIType.u64, FFIType.ptr], returns: FFIType.i32 },
+  strerror: { args: [FFIType.i32], returns: FFIType.ptr }
+});
+var errnoLib = dlopen(LIBC_PATH, IS_LINUX2 ? { __errno_location: { args: [], returns: FFIType.ptr } } : { __error: { args: [], returns: FFIType.ptr } });
+function getErrno() {
+  const errPtr = IS_LINUX2 ? errnoLib.symbols.__errno_location() : errnoLib.symbols.__error();
+  const view = new DataView(toArrayBuffer(errPtr, 0, 4));
+  return view.getInt32(0, true);
+}
+function errnoError(syscall) {
+  const code = getErrno();
+  const msgPtr = libc.symbols.strerror(code);
+  const msg = msgPtr ? new CString(msgPtr) : `errno ${code}`;
+  const err = new Error(`${syscall}: ${msg}`);
+  err.code = code;
+  err.syscall = syscall;
+  return err;
+}
+function readFlag(buf, offset) {
+  if (TCFLAG_SIZE === 4) {
+    return buf.getUint32(offset, true);
+  }
+  return Number(buf.getBigUint64(offset, true));
+}
+function writeFlag(buf, offset, value) {
+  if (TCFLAG_SIZE === 4) {
+    buf.setUint32(offset, value >>> 0, true);
+  } else {
+    buf.setBigUint64(offset, BigInt(value >>> 0), true);
+  }
+}
+function writeSpeed(buf, offset, value) {
+  if (TCFLAG_SIZE === 4) {
+    buf.setUint32(offset, value >>> 0, true);
+  } else {
+    buf.setBigUint64(offset, BigInt(value), true);
+  }
+}
+function openPort(path, options) {
+  const {
+    baudRate = 9600,
+    dataBits = 8,
+    stopBits = 1,
+    parity = "none",
+    rtscts = false,
+    xon = false,
+    xoff = false
+  } = options;
+  const pathBuf = Buffer.from(path + "\x00", "utf-8");
+  const fd = libc.symbols.open(ptr(pathBuf), O_RDWR | O_NOCTTY | O_NONBLOCK);
+  if (fd < 0)
+    throw errnoError("open");
+  const termiosBuf = new ArrayBuffer(TERMIOS_SIZE);
+  const termiosBytes = new Uint8Array(termiosBuf);
+  const termiosView = new DataView(termiosBuf);
+  const termiosPtr = ptr(termiosBytes);
+  if (libc.symbols.tcgetattr(fd, termiosPtr) < 0) {
+    libc.symbols.close(fd);
+    throw errnoError("tcgetattr");
+  }
+  const off = TERMIOS_OFFSETS;
+  let cflag = readFlag(termiosView, off.c_cflag);
+  cflag &= ~CSIZE;
+  cflag |= dataBitsFlag(dataBits);
+  cflag |= CREAD | CLOCAL;
+  if (stopBits === 2)
+    cflag |= CSTOPB;
+  else
+    cflag &= ~CSTOPB;
+  if (parity === "none") {
+    cflag &= ~(PARENB | PARODD);
+  } else if (parity === "even") {
+    cflag |= PARENB;
+    cflag &= ~PARODD;
+  } else if (parity === "odd") {
+    cflag |= PARENB | PARODD;
+  }
+  if (rtscts)
+    cflag |= CRTSCTS;
+  else
+    cflag &= ~CRTSCTS;
+  writeFlag(termiosView, off.c_cflag, cflag);
+  let iflag = 0;
+  if (parity !== "none")
+    iflag |= INPCK;
+  if (xon)
+    iflag |= IXON;
+  if (xoff)
+    iflag |= IXOFF;
+  writeFlag(termiosView, off.c_iflag, iflag);
+  writeFlag(termiosView, off.c_oflag, 0);
+  writeFlag(termiosView, off.c_lflag, 0);
+  const ccOffset = off.c_cc;
+  for (let i = 0;i < NCCS; i++)
+    termiosBytes[ccOffset + i] = 0;
+  termiosBytes[ccOffset + VMIN] = 1;
+  termiosBytes[ccOffset + VTIME] = 0;
+  const baudCode = encodeBaudRate(baudRate);
+  if (IS_LINUX2) {
+    writeSpeed(termiosView, off.c_ispeed, baudCode);
+    writeSpeed(termiosView, off.c_ospeed, baudCode);
+  }
+  if (libc.symbols.cfsetispeed(termiosPtr, baudCode) < 0) {
+    libc.symbols.close(fd);
+    throw errnoError("cfsetispeed");
+  }
+  if (libc.symbols.cfsetospeed(termiosPtr, baudCode) < 0) {
+    libc.symbols.close(fd);
+    throw errnoError("cfsetospeed");
+  }
+  if (libc.symbols.tcsetattr(fd, TCSAFLUSH, termiosPtr) < 0) {
+    libc.symbols.close(fd);
+    throw errnoError("tcsetattr");
+  }
+  libc.symbols.tcflush(fd, TCIOFLUSH);
+  return fd;
+}
+function closePort(fd) {
+  if (libc.symbols.close(fd) < 0)
+    throw errnoError("close");
+}
+var MAX_EAGAIN_RETRIES = 1000;
+function writePort(fd, data) {
+  const buf = data instanceof Uint8Array ? data : Buffer.from(data, "utf-8");
+  let offset = 0;
+  let eagainCount = 0;
+  while (offset < buf.length) {
+    const slice = buf.subarray(offset);
+    const written = Number(libc.symbols.write(fd, ptr(slice), BigInt(slice.length)));
+    if (written < 0) {
+      const code = getErrno();
+      if (code === 11 || code === 35) {
+        if (++eagainCount > MAX_EAGAIN_RETRIES) {
+          throw new Error("write: device not accepting data (EAGAIN limit exceeded)");
+        }
+        continue;
+      }
+      throw errnoError("write");
+    }
+    eagainCount = 0;
+    offset += written;
+  }
+  return offset;
+}
+function readPort(fd, buffer) {
+  const n = Number(libc.symbols.read(fd, ptr(buffer), BigInt(buffer.length)));
+  if (n < 0) {
+    const code = getErrno();
+    if (code === 11 || code === 35)
+      return 0;
+    throw errnoError("read");
+  }
+  return n;
+}
+function updateBaudRate(fd, baudRate) {
+  const termiosBuf = new ArrayBuffer(TERMIOS_SIZE);
+  const termiosPtr = ptr(new Uint8Array(termiosBuf));
+  if (libc.symbols.tcgetattr(fd, termiosPtr) < 0)
+    throw errnoError("tcgetattr");
+  const baudCode = encodeBaudRate(baudRate);
+  if (libc.symbols.cfsetispeed(termiosPtr, baudCode) < 0)
+    throw errnoError("cfsetispeed");
+  if (libc.symbols.cfsetospeed(termiosPtr, baudCode) < 0)
+    throw errnoError("cfsetospeed");
+  if (IS_LINUX2) {
+    const view = new DataView(termiosBuf);
+    writeSpeed(view, TERMIOS_OFFSETS.c_ispeed, baudCode);
+    writeSpeed(view, TERMIOS_OFFSETS.c_ospeed, baudCode);
+  }
+  if (libc.symbols.tcsetattr(fd, TCSADRAIN, termiosPtr) < 0)
+    throw errnoError("tcsetattr");
+}
+function setModemLines(fd, flags) {
+  const { dtr, rts, brk } = flags;
+  const intBuf = new ArrayBuffer(4);
+  const intView = new DataView(intBuf);
+  const intPtr = ptr(new Uint8Array(intBuf));
+  let bitsToSet = 0;
+  let bitsToClear = 0;
+  if (dtr === true)
+    bitsToSet |= TIOCM_DTR;
+  if (dtr === false)
+    bitsToClear |= TIOCM_DTR;
+  if (rts === true)
+    bitsToSet |= TIOCM_RTS;
+  if (rts === false)
+    bitsToClear |= TIOCM_RTS;
+  if (bitsToSet) {
+    intView.setInt32(0, bitsToSet, true);
+    if (libc.symbols.ioctl(fd, TIOCMBIS, intPtr) < 0)
+      throw errnoError("ioctl TIOCMBIS");
+  }
+  if (bitsToClear) {
+    intView.setInt32(0, bitsToClear, true);
+    if (libc.symbols.ioctl(fd, TIOCMBIC, intPtr) < 0)
+      throw errnoError("ioctl TIOCMBIC");
+  }
+}
+function getModemLines(fd) {
+  const intBuf = new ArrayBuffer(4);
+  const intView = new DataView(intBuf);
+  const intPtr = ptr(new Uint8Array(intBuf));
+  if (libc.symbols.ioctl(fd, TIOCMGET, intPtr) < 0)
+    throw errnoError("ioctl TIOCMGET");
+  const bits = intView.getInt32(0, true);
+  return {
+    cts: !!(bits & TIOCM_CTS),
+    dsr: !!(bits & TIOCM_DSR),
+    dcd: !!(bits & TIOCM_CD),
+    ri: !!(bits & TIOCM_RI)
+  };
+}
+function flushPort(fd) {
+  if (libc.symbols.tcflush(fd, TCIOFLUSH) < 0)
+    throw errnoError("tcflush");
+}
+function drainPort(fd) {
+  if (libc.symbols.tcdrain(fd) < 0)
+    throw errnoError("tcdrain");
+}
+
+// ../../node_modules/.bun/bun-serialport@0.1.1/node_modules/bun-serialport/src/serialport.js
+var DEFAULT_READ_BUFFER_SIZE = 65536;
+var DEFAULT_READ_INTERVAL_MS = 1;
+
+class SerialPort extends EventEmitter {
+  #fd = -1;
+  #path;
+  #baudRate;
+  #options;
+  #isOpen = false;
+  #isClosing = false;
+  #readBuf;
+  #readInterval;
+  #readTimer = null;
+  constructor(options) {
+    super();
+    if (!options || !options.path)
+      throw new Error("options.path is required");
+    if (!options.baudRate)
+      throw new Error("options.baudRate is required");
+    this.#path = options.path;
+    this.#baudRate = options.baudRate;
+    this.#options = { ...options };
+    this.#readBuf = new Uint8Array(options.readBufferSize || DEFAULT_READ_BUFFER_SIZE);
+    this.#readInterval = options.readInterval || DEFAULT_READ_INTERVAL_MS;
+    if (options.autoOpen !== false) {
+      queueMicrotask(() => this.open().catch((err) => this.emit("error", err)));
+    }
+  }
+  get path() {
+    return this.#path;
+  }
+  get baudRate() {
+    return this.#baudRate;
+  }
+  get isOpen() {
+    return this.#isOpen && !this.#isClosing;
+  }
+  async open() {
+    if (this.#isOpen)
+      throw new Error("Port is already open");
+    try {
+      this.#fd = openPort(this.#path, this.#options);
+      this.#isOpen = true;
+      this.#isClosing = false;
+      this.#startReading();
+      this.emit("open");
+    } catch (err) {
+      this.#isOpen = false;
+      throw err;
+    }
+  }
+  async close() {
+    if (!this.#isOpen)
+      throw new Error("Port is not open");
+    if (this.#isClosing)
+      return;
+    this.#isClosing = true;
+    this.#stopReading();
+    try {
+      closePort(this.#fd);
+    } catch (err) {
+      this.#isClosing = false;
+      throw err;
+    }
+    this.#fd = -1;
+    this.#isOpen = false;
+    this.#isClosing = false;
+    this.emit("close");
+  }
+  async write(data) {
+    if (!this.#isOpen || this.#isClosing) {
+      throw new Error("Port is not open");
+    }
+    const buf = typeof data === "string" ? Buffer.from(data, "utf-8") : data;
+    return writePort(this.#fd, buf);
+  }
+  async update(options) {
+    if (!this.#isOpen)
+      throw new Error("Port is not open");
+    if (options.baudRate !== undefined) {
+      updateBaudRate(this.#fd, options.baudRate);
+      this.#baudRate = options.baudRate;
+    }
+  }
+  async set(flags) {
+    if (!this.#isOpen)
+      throw new Error("Port is not open");
+    setModemLines(this.#fd, flags);
+  }
+  async get() {
+    if (!this.#isOpen)
+      throw new Error("Port is not open");
+    return getModemLines(this.#fd);
+  }
+  async flush() {
+    if (!this.#isOpen)
+      throw new Error("Port is not open");
+    flushPort(this.#fd);
+  }
+  async drain() {
+    if (!this.#isOpen)
+      throw new Error("Port is not open");
+    drainPort(this.#fd);
+  }
+  pipe(parser) {
+    const handler = (chunk) => parser.push(chunk);
+    this.on("data", handler);
+    parser._unpipe = () => this.off("data", handler);
+    return parser;
+  }
+  unpipe(parser) {
+    if (parser && typeof parser._unpipe === "function") {
+      parser._unpipe();
+      parser._unpipe = undefined;
+    }
+  }
+  #startReading() {
+    this.#readTimer = setInterval(() => {
+      if (!this.#isOpen || this.#isClosing)
+        return;
+      try {
+        const n = readPort(this.#fd, this.#readBuf);
+        if (n > 0) {
+          const data = this.#readBuf.slice(0, n);
+          this.emit("data", data);
+        }
+      } catch (err) {
+        err.disconnected = true;
+        this.emit("error", err);
+        this.close().catch(() => {});
+      }
+    }, this.#readInterval);
+  }
+  #stopReading() {
+    if (this.#readTimer !== null) {
+      clearInterval(this.#readTimer);
+      this.#readTimer = null;
+    }
+  }
+}
+// ../../node_modules/.bun/bun-serialport@0.1.1/node_modules/bun-serialport/src/list.js
+import { platform as platform3 } from "os";
+import { readdir, readlink, access } from "fs/promises";
+import { join as join2 } from "path";
+var IS_LINUX3 = platform3() === "linux";
+async function exists2(path) {
+  try {
+    await access(path);
+    return true;
+  } catch {
+    return false;
+  }
+}
+async function readFileQuiet(path) {
+  try {
+    return (await Bun.file(path).text()).trim();
+  } catch {
+    return "";
+  }
+}
+async function listLinux() {
+  const ttys = await readdir("/sys/class/tty").catch(() => []);
+  const checks = ttys.map(async (name) => {
+    const sysPath = `/sys/class/tty/${name}`;
+    const devicePath = join2(sysPath, "device");
+    if (!await exists2(devicePath))
+      return null;
+    const devPath = `/dev/${name}`;
+    if (!await exists2(devPath))
+      return null;
+    return { name, devPath, devicePath };
+  });
+  const valid = (await Promise.all(checks)).filter(Boolean);
+  const ports = await Promise.all(valid.map(async ({ devPath, devicePath }) => {
+    const info = { path: devPath };
+    const subsystem = await readlink(join2(devicePath, "subsystem")).catch(() => "");
+    if (subsystem.includes("usb-serial") || subsystem.includes("usb")) {
+      const usbDevice = await findUsbParent(devicePath);
+      if (usbDevice) {
+        const [manufacturer, serialNumber, vendorId, productId, product] = await Promise.all([
+          readFileQuiet(join2(usbDevice, "manufacturer")),
+          readFileQuiet(join2(usbDevice, "serial")),
+          readFileQuiet(join2(usbDevice, "idVendor")),
+          readFileQuiet(join2(usbDevice, "idProduct")),
+          readFileQuiet(join2(usbDevice, "product"))
+        ]);
+        info.manufacturer = manufacturer;
+        info.serialNumber = serialNumber;
+        info.vendorId = vendorId;
+        info.productId = productId;
+        info.product = product;
+      }
+    }
+    return info;
+  }));
+  return ports;
+}
+async function findUsbParent(devicePath) {
+  let current = devicePath;
+  for (let i = 0;i < 10; i++) {
+    current = join2(current, "..");
+    if (await exists2(join2(current, "idVendor")))
+      return current;
+  }
+  return null;
+}
+async function listDarwin() {
+  const devFiles = await readdir("/dev").catch(() => []);
+  const seen = new Map;
+  for (const name of devFiles) {
+    if (!name.startsWith("cu.") && !name.startsWith("tty."))
+      continue;
+    if (name === "tty")
+      continue;
+    const isCu = name.startsWith("cu.");
+    const suffix = name.slice(isCu ? 3 : 4);
+    if (seen.has(suffix) && !isCu)
+      continue;
+    seen.set(suffix, { path: `/dev/${name}` });
+  }
+  return [...seen.values()];
+}
+async function list() {
+  return IS_LINUX3 ? listLinux() : listDarwin();
+}
+// src/adapter.ts
+import { readdir as readdir2, realpath, readlink as readlink2 } from "fs/promises";
+import { join as join3 } from "path";
+import { platform as platform4 } from "os";
+
+class WebSerialPortAdapter extends EventTarget {
+  onconnect = () => {};
+  ondisconnect = () => {};
+  _port = null;
+  _path;
+  _info;
+  _readable = null;
+  _writable = null;
+  _readerController = null;
+  constructor(path, info) {
+    super();
+    this._path = path;
+    this._info = info;
+  }
+  get readable() {
+    return this._readable;
+  }
+  get writable() {
+    return this._writable;
+  }
+  getInfo() {
+    return this._info;
+  }
+  async open(options) {
+    if (this._port)
+      throw new Error("Port already open");
+    this._port = new SerialPort({
+      path: this._path,
+      baudRate: options.baudRate,
+      autoOpen: false
+    });
+    await this._port.open();
+    this._readable = new ReadableStream({
+      start: (controller) => {
+        this._readerController = controller;
+        this._port?.on("data", (data) => {
+          controller.enqueue(data);
+        });
+        this._port?.on("error", (err) => {
+          controller.error(err);
+          this.close().catch(() => {});
+        });
+      },
+      cancel: () => {
+        this.close();
+      }
+    });
+    this._writable = new WritableStream({
+      write: async (chunk) => {
+        if (!this._port)
+          throw new Error("Port closed");
+        await this._port.write(chunk);
+      },
+      close: async () => {
+        await this.close();
+      }
+    });
+  }
+  async close() {
+    if (!this._port)
+      return;
+    const port = this._port;
+    this._port = null;
+    if (this._readerController) {
+      try {
+        this._readerController.close();
+      } catch (e) {}
+      this._readerController = null;
+    }
+    await port.close();
+    try {
+      port.removeAllListeners?.();
+    } catch (e) {}
+    this._readable = null;
+    this._writable = null;
+    this.dispatchEvent(new Event("disconnect"));
+  }
+  async forget() {
+    await this.close();
+  }
+}
+
+class WebSerialAdapter extends EventTarget {
+  onconnect = () => {};
+  ondisconnect = () => {};
+  async _listPortsLinux() {
+    const ttys = await readdir2("/sys/class/tty").catch(() => []);
+    const ports = [];
+    for (const name of ttys) {
+      const sysPath = `/sys/class/tty/${name}`;
+      const devicePath = join3(sysPath, "device");
+      try {
+        const realDevicePath = await realpath(devicePath);
+        const subsystem = await readlink2(join3(realDevicePath, "subsystem")).catch(() => "");
+        const info = { path: `/dev/${name}` };
+        if (subsystem.includes("usb")) {
+          let current = realDevicePath;
+          for (let i = 0;i < 5; i++) {
+            try {
+              const vendorId = await Bun.file(join3(current, "idVendor")).text().then((t) => t.trim());
+              const productId = await Bun.file(join3(current, "idProduct")).text().then((t) => t.trim());
+              info.vendorId = vendorId;
+              info.productId = productId;
+              break;
+            } catch (e) {
+              current = join3(current, "..");
+            }
+          }
+        }
+        ports.push(info);
+      } catch (e) {}
+    }
+    return ports;
+  }
+  async getPorts() {
+    const ports = platform4() === "linux" ? await this._listPortsLinux() : await list();
+    return ports.map((p) => new WebSerialPortAdapter(p.path, {
+      usbVendorId: p.vendorId ? parseInt(p.vendorId, 16) : undefined,
+      usbProductId: p.productId ? parseInt(p.productId, 16) : undefined
+    }));
+  }
+  async requestPort(options) {
+    const ports = await this.getPorts();
+    if (options?.filters && options.filters.length > 0) {
+      const filtered = ports.filter((p) => {
+        const info = p.getInfo();
+        return options.filters?.some((f) => (f.usbVendorId === undefined || f.usbVendorId === info.usbVendorId) && (f.usbProductId === undefined || f.usbProductId === info.usbProductId));
+      });
+      if (filtered.length > 0)
+        return filtered[0];
+      throw new Error("No port found matching filters");
+    }
+    if (ports.length > 0)
+      return ports[0];
+    throw new Error("No port found");
+  }
+}
+var serial = new WebSerialAdapter;
+
+// src/commands/upload.ts
+async function uploadProsProgram(path, options) {
+  const hotFile = Bun.file(join4(path, "bin", "hot.package.bin"));
+  const coldFile = Bun.file(join4(path, "bin", "cold.package.bin"));
+  if (!await hotFile.exists() || !await coldFile.exists()) {
+    console.error("no bin files found, run build first");
+    process.exit(1);
+  }
+  const device = new V5SerialDevice(serial);
+  device.autoRefresh = false;
+  const connected = await device.connect();
+  if (!connected) {
+    console.error("no v5 devices found");
+    await device.dispose();
+    process.exit(1);
+  }
+  const ini = new ProgramIniConfig;
+  const uploaded = await device.brain.uploadProgram(ini, Bun.gzipSync(await hotFile.bytes()), Bun.gzipSync(await coldFile.bytes()), (state, current, total) => console.log(state, (current / total * 100).toFixed(1) + "%"));
+  await device.dispose();
+  if (!uploaded) {
+    console.error("upload failed");
+    process.exit(1);
+  }
+}
+var upload = new Command("upload").alias("u").description("build a program for the vex v5 brain").argument("[path]", "path to the program", process.cwd()).option("-t, --type <type>", "type of the program").action(async (path, options) => {
+  if (!await exists3(path)) {
+    console.error(`path does not exist: ${path}`);
+    return;
+  }
+  const type = options.type ?? await detectProgramType(path);
+  switch (type) {
+    case "pros":
+      return uploadProsProgram(path, options);
+    case "unknown":
+      console.error("could not detect program type");
+      break;
+    default:
+      console.error(`unknown program type: ${type}`);
+      break;
+  }
+});
+
 // src/index.ts
-program.name("v5x").description("modern v5 development").version(package_default.version).addCommand(build);
+program.name("v5x").description("modern v5 development").version(package_default.version).addCommand(build).addCommand(upload);
 program.parse();