@v5x/serial 0.5.5 → 0.5.6

package/dist/index.js

@@ -200,6 +200,7 @@ var SelectDashScreen;
 // src/VexError.ts
 class VexSerialError extends Error {
   kind;
+  ackType = undefined;
   constructor(kind, message) {
     super(message);
     this.name = "VexSerialError";
@@ -222,9 +223,11 @@ class VexInvalidArgumentError extends VexSerialError {
 }
 
 class VexProtocolError extends VexSerialError {
-  constructor(message) {
+  ackType;
+  constructor(message, ackType) {
     super("protocol", message);
     this.name = "VexProtocolError";
+    this.ackType = ackType;
   }
 }
 
@@ -284,9 +287,19 @@ class VexEventEmitter {
     this.handlerMap.set(eventName, listeners);
   }
   emit(eventName, data) {
-    (this.handlerMap.get(eventName) ?? []).forEach((callback) => {
-      callback(data);
-    });
+    const errors = [];
+    for (const callback of [...this.handlerMap.get(eventName) ?? []]) {
+      try {
+        callback(data);
+      } catch (error) {
+        errors.push(error);
+      }
+    }
+    if (errors.length === 1)
+      throw errors[0];
+    if (errors.length > 1) {
+      throw new AggregateError(errors, `listeners for ${String(eventName)} failed`);
+    }
   }
   clearListeners() {
     this.handlerMap.clear();
@@ -299,17 +312,20 @@ class VexEventTarget {
     this.emitter = new VexEventEmitter;
   }
   emit(eventName, data) {
-    this.emitter.emit(String(eventName), data);
+    this.emitter.emit(this.normalizeEventName(eventName), data);
   }
   on(eventName, listener) {
-    this.emitter.on(String(eventName), listener);
+    this.emitter.on(this.normalizeEventName(eventName), listener);
   }
   remove(eventName, listener) {
-    this.emitter.remove(String(eventName), listener);
+    this.emitter.remove(this.normalizeEventName(eventName), listener);
   }
   clearListeners() {
     this.emitter.clearListeners();
   }
+  normalizeEventName(eventName) {
+    return String(eventName);
+  }
 }
 
 // ../../node_modules/.bun/neverthrow@8.2.0/node_modules/neverthrow/dist/index.es.js
@@ -775,42 +791,32 @@ class Packet {
 }
 
 class DeviceBoundPacket extends Packet {
+  static COMMAND_ID;
+  static COMMAND_EXTENDED_ID;
   get commandId() {
     return this.constructor.COMMAND_ID;
   }
   get commandExtendedId() {
     return this.constructor.COMMAND_EXTENDED_ID;
   }
-  static COMMAND_ID;
-  static COMMAND_EXTENDED_ID;
   constructor(payload) {
-    super(new Uint8Array);
-    const me = this.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);
-      }
-    }
+    const { COMMAND_ID: cmd, COMMAND_EXTENDED_ID: ext } = new.target;
+    const encoder = Packet.ENCODER;
+    super(ext === undefined ? payload === undefined ? encoder.cdcCommand(cmd) : encoder.cdcCommandWithData(cmd, payload) : payload === undefined ? encoder.cdc2Command(cmd, ext) : encoder.cdc2CommandWithData(cmd, ext, payload));
   }
 }
 
 class HostBoundPacket extends Packet {
-  ack = 255 /* CDC2_NACK */;
+  static COMMAND_ID;
+  static COMMAND_EXTENDED_ID;
+  ack;
   payloadSize;
   ackIndex;
   constructor(data) {
     super(data);
     this.payloadSize = Packet.ENCODER.getPayloadSize(this.data);
-    const n = Packet.ENCODER.getHostHeaderLength(this.data);
-    this.ack = this.data[this.ackIndex = n + 1];
+    this.ackIndex = Packet.ENCODER.getHostHeaderLength(this.data) + 1;
+    this.ack = this.data[this.ackIndex];
   }
   static isValidPacket(data, n) {
     const ack = data[n + 1];
@@ -819,309 +825,50 @@ class HostBoundPacket extends Packet {
 }
 
 // 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
-];
+var POLYNOMIAL_CRC32 = 79764919;
+var POLYNOMIAL_CRC16 = 4129;
+function genTable16() {
+  const table = new Uint16Array(256);
+  for (let i = 0;i < 256; i++) {
+    let acc = i << 8;
+    for (let j = 0;j < 8; j++) {
+      acc = (acc & 32768) !== 0 ? acc << 1 ^ POLYNOMIAL_CRC16 : acc << 1;
+    }
+    table[i] = acc & 65535;
+  }
+  return table;
+}
+function genTable32() {
+  const table = new Uint32Array(256);
+  for (let i = 0;i < 256; i++) {
+    let acc = i << 24;
+    for (let j = 0;j < 8; j++) {
+      acc = (acc & 2147483648) !== 0 ? acc << 1 ^ POLYNOMIAL_CRC32 : acc << 1;
+    }
+    table[i] = acc;
+  }
+  return table;
+}
+var CRC16_TABLE = genTable16();
+var CRC32_TABLE = genTable32();
 
 class CrcGenerator {
-  crc32Table;
-  static POLYNOMIAL_CRC32 = 79764919;
-  static POLYNOMIAL_CRC16 = 4129;
-  constructor() {
-    this.crc32Table = new Uint32Array(256);
-    this.crc32GenTable();
-  }
+  crc32Table = CRC32_TABLE;
+  static POLYNOMIAL_CRC32 = POLYNOMIAL_CRC32;
+  static POLYNOMIAL_CRC16 = POLYNOMIAL_CRC16;
   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;
+    let acc = initValue;
+    for (let j = 0;j < buf.length; j++) {
+      acc = (acc << 8 ^ CRC16_TABLE[(acc >>> 8 ^ buf[j]) & 255]) >>> 0;
     }
+    return acc & 65535;
   }
   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;
+    let acc = initValue;
+    for (let j = 0;j < buf.length; j++) {
+      acc = (acc << 8 ^ CRC32_TABLE[(acc >>> 24 ^ buf[j]) & 255]) >>> 0;
     }
-    return (crcAccumulator & 4294967295) >>> 0;
+    return acc >>> 0;
   }
 }
 
@@ -1213,9 +960,8 @@ class VexFirmwareVersion {
   }
   static fromString(version) {
     const parts = version.toLowerCase().replace(/b/g, "").split(".").map((x) => parseInt(x, 10));
-    while (parts.length < 4) {
+    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) {
@@ -1245,24 +991,23 @@ class VexFirmwareVersion {
     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;
+    for (const [a, b] of [
+      [this.major, that.major],
+      [this.minor, that.minor],
+      [this.build, that.build],
+      [this.beta, that.beta]
+    ]) {
+      const delta = a - b;
+      if (delta !== 0)
+        return delta;
     }
     return 0;
   }
 }
 
 // src/VexPacketView.ts
+var textDecoder = new TextDecoder("UTF-8");
+
 class PacketView extends DataView {
   position = 0;
   littleEndianDefault = true;
@@ -1275,14 +1020,10 @@ class PacketView extends DataView {
     return view;
   }
   nextInt8() {
-    const result = this.getInt8(this.position);
-    this.position += 1;
-    return result;
+    return this.getInt8(this.position++);
   }
   nextUint8() {
-    const result = this.getUint8(this.position);
-    this.position += 1;
-    return result;
+    return this.getUint8(this.position++);
   }
   nextInt16(littleEndian = this.littleEndianDefault) {
     const result = this.getInt16(this.position, littleEndian);
@@ -1305,37 +1046,28 @@ class PacketView extends DataView {
     return result;
   }
   nextString(length) {
-    let result = "";
-    for (let i = 0;i < length; i++) {
-      result += String.fromCharCode(this.nextUint8());
-    }
+    const result = textDecoder.decode(new Uint8Array(this.buffer, this.byteOffset + this.position, length));
+    this.position += length;
     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;
+    const start = this.position;
+    const result = this.nextVarNTBS(length);
+    this.position = start + length;
     return result;
   }
   nextVarNTBS(length) {
-    let result = "";
+    const start = this.position;
+    let byteLength = 0;
     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);
+      byteLength++;
     }
-    return result;
+    return textDecoder.decode(new Uint8Array(this.buffer, this.byteOffset + start, byteLength));
   }
   nextVersion(reverse = false) {
     const result = VexFirmwareVersion.fromUint8Array(new Uint8Array(this.buffer, this.byteOffset, this.byteLength), this.position, reverse);
@@ -1346,42 +1078,33 @@ class PacketView extends DataView {
 
 // src/VexPacketModels.ts
 var textEncoder = new TextEncoder;
+function filePayload(a, b, fileName) {
+  const payload = new Uint8Array(26);
+  payload[0] = a;
+  payload[1] = b;
+  payload.set(encodeFixedText(fileName, "Filename", 23), 2);
+  return payload;
+}
+var clamp100 = (value) => value !== undefined && value > 100 ? 100 : value;
 
 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 bit1 = mode === "autonomous" ? 10 : mode === "driver" ? 8 : 11;
     const payload = new Uint8Array(5);
-    const view = new DataView(payload.buffer);
-    payload[0] = (15 & bit1) >>> 0;
-    view.setUint32(1, matchClock, true);
+    payload[0] = bit1 & 15;
+    new DataView(payload.buffer).setUint32(1, matchClock, true);
     super(payload);
   }
 }
@@ -1389,18 +1112,13 @@ class UpdateMatchModeH2DPacket extends DeviceBoundPacket {
 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);
+    super(Uint8Array.of(mode));
   }
 }
 
@@ -1408,9 +1126,7 @@ 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);
+    super(Uint8Array.of(a, b));
   }
 }
 
@@ -1420,25 +1136,21 @@ class InitFileTransferH2DPacket extends DeviceBoundPacket {
   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);
+    payload[0] = operation;
+    payload[1] = target;
+    payload[2] = vendor;
+    payload[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 = /(?:\.([^.]+))?$/;
-    const reResult = re.exec(name);
-    let ext = reResult != null ? reResult[1] : undefined;
-    ext ??= "";
-    ext = ext === "gz" ? "bin" : ext;
+    let ext = /(?:\.([^.]+))?$/.exec(name)?.[1] ?? "";
+    if (ext === "gz")
+      ext = "bin";
     payload.set(encodeFixedText(type ?? ext, "File type", 4), 16);
     const timestamp = (Date.now() / 1000 >>> 0) - PacketEncoder.J2000_EPOCH;
     view.setUint32(20, timestamp, true);
     payload.set(version.toUint8Array(), 24);
-    const nameEncoded = encodeFixedText(name, "Filename", 23);
-    payload.set(nameEncoded, 28);
-    view.setUint8(51, 0);
+    payload.set(encodeFixedText(name, "Filename", 23), 28);
     super(payload);
   }
 }
@@ -1447,9 +1159,7 @@ 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);
+    super(Uint8Array.of(action));
   }
 }
 
@@ -1458,8 +1168,7 @@ class WriteFileH2DPacket extends DeviceBoundPacket {
   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);
+    new DataView(payload.buffer).setUint32(0, addr, true);
     payload.set(buf, 4);
     super(payload);
   }
@@ -1481,11 +1190,7 @@ class LinkFileH2DPacket extends DeviceBoundPacket {
   static COMMAND_ID = 86;
   static COMMAND_EXTENDED_ID = 21;
   constructor(vendor, fileName, options) {
-    const str = encodeFixedText(fileName, "Filename", 23);
-    const payload = new Uint8Array(26);
-    payload.set([vendor, options], 0);
-    payload.set(str, 2);
-    super(payload);
+    super(filePayload(vendor, options, fileName));
   }
 }
 
@@ -1493,9 +1198,7 @@ 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);
+    super(Uint8Array.of(vendor, 0));
   }
 }
 
@@ -1503,9 +1206,7 @@ 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);
+    super(Uint8Array.of(index, 0));
   }
 }
 
@@ -1513,17 +1214,8 @@ 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 = encodeFixedText(fileName, "Filename", 23);
-    const payload = new Uint8Array(26);
-    payload.set([vendor, actionId], 0);
-    payload.set(encodedName, 2);
-    super(payload);
+    const fileName = typeof fileNameOrSlotNumber === "string" ? fileNameOrSlotNumber : `___s_${fileNameOrSlotNumber - 1}.bin`;
+    super(filePayload(vendor, actionId, fileName));
   }
 }
 
@@ -1531,11 +1223,7 @@ class GetFileMetadataH2DPacket extends DeviceBoundPacket {
   static COMMAND_ID = 86;
   static COMMAND_EXTENDED_ID = 25;
   constructor(vendor, fileName, options) {
-    const encodedName = encodeFixedText(fileName, "Filename", 23);
-    const payload = new Uint8Array(26);
-    payload.set([vendor, options], 0);
-    payload.set(encodedName, 2);
-    super(payload);
+    super(filePayload(vendor, options, fileName));
   }
 }
 
@@ -1543,11 +1231,7 @@ class EraseFileH2DPacket extends DeviceBoundPacket {
   static COMMAND_ID = 86;
   static COMMAND_EXTENDED_ID = 27;
   constructor(vendor, fileName) {
-    const encodedName = encodeFixedText(fileName, "Filename", 23);
-    const payload = new Uint8Array(26);
-    payload.set([vendor, 128], 0);
-    payload.set(encodedName, 2);
-    super(payload);
+    super(filePayload(vendor, 128, fileName));
   }
 }
 
@@ -1555,11 +1239,7 @@ class GetProgramSlotInfoH2DPacket extends DeviceBoundPacket {
   static COMMAND_ID = 86;
   static COMMAND_EXTENDED_ID = 28;
   constructor(vendor, fileName) {
-    const encodedName = encodeFixedText(fileName, "Filename", 23);
-    const payload = new Uint8Array(26);
-    payload.set([vendor, 0], 0);
-    payload.set(encodedName, 2);
-    super(payload);
+    super(filePayload(vendor, 0, fileName));
   }
 }
 
@@ -1567,9 +1247,7 @@ 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);
+    super(Uint8Array.of(vendor, 0));
   }
 }
 
@@ -1577,9 +1255,7 @@ 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);
+    super(Uint8Array.of(68, 67, 66, 65));
   }
 }
 
@@ -1591,33 +1267,21 @@ class GetSystemFlagsH2DPacket extends DeviceBoundPacket {
 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 {
@@ -1635,18 +1299,13 @@ class ReadLogPageH2DPacket extends DeviceBoundPacket {
 class GetRadioStatusH2DPacket extends DeviceBoundPacket {
   static COMMAND_ID = 86;
   static COMMAND_EXTENDED_ID = 38;
-  constructor() {
-    super(undefined);
-  }
 }
 
 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);
+    super(Uint8Array.of(e));
   }
 }
 
@@ -1667,10 +1326,7 @@ 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);
+    super(Uint8Array.of(screen, port));
   }
 }
 
@@ -1678,9 +1334,8 @@ class ReadKeyValueH2DPacket extends DeviceBoundPacket {
   static COMMAND_ID = 86;
   static COMMAND_EXTENDED_ID = 46;
   constructor(key) {
-    const encodedKey = encodeFixedText(key, "Key", 31);
     const payload = new Uint8Array(32);
-    payload.set(encodedKey, 0);
+    payload.set(encodeFixedText(key, "Key", 31), 0);
     super(payload);
   }
 }
@@ -1704,17 +1359,11 @@ class WriteKeyValueH2DPacket extends DeviceBoundPacket {
 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 {
@@ -1726,9 +1375,7 @@ 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);
+    super(Uint8Array.of(77, 76, 75, 74));
   }
 }
 
@@ -1770,8 +1417,7 @@ class MatchModeReplyD2HPacket extends HostBoundPacket {
   modebit;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.modebit = dataView.nextUint8();
+    this.modebit = PacketView.fromPacket(this).nextUint8();
   }
 }
 
@@ -1797,31 +1443,27 @@ class MatchStatusReplyD2HPacket extends HostBoundPacket {
   rxSignalQuality;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
+    const view = 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;
+    this.rssi = view.nextInt8();
+    this.systemStatusBits = view.nextUint16();
+    this.radioStatusBits = view.nextUint16();
+    this.fieldStatusBits = view.nextUint8();
+    this.matchClock = view.nextUint8();
+    this.brainBatteryPercent = view.nextUint8();
+    this.controllerBatteryPercent = view.nextUint8();
+    this.partnerControllerBatteryPercent = view.nextUint8();
+    this.pad = view.nextUint8();
+    this.buttons = view.nextUint16();
+    this.activeProgram = view.nextUint8();
+    this.radioType = view.nextUint8();
+    this.radioChannel = view.nextUint8();
+    this.radioSlot = view.nextUint8();
+    this.controllerFlags = view.getUint8(n + 28);
+    this.rxSignalQuality = view.getUint8(n + 29);
+    const raw = new TextDecoder("UTF-8").decode(this.data.slice(n + 18, n + this.payloadSize + 28));
+    const end = raw.indexOf("\x00");
+    this.robotName = end > -1 ? raw.slice(0, end) : raw;
   }
 }
 
@@ -1838,10 +1480,10 @@ class InitFileTransferReplyD2HPacket extends HostBoundPacket {
   crc32;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.windowSize = dataView.nextUint16();
-    this.fileSize = dataView.nextUint32();
-    this.crc32 = dataView.nextUint32();
+    const view = PacketView.fromPacket(this);
+    this.windowSize = view.nextUint16();
+    this.fileSize = view.nextUint32();
+    this.crc32 = view.nextUint32();
   }
 }
 
@@ -1863,13 +1505,10 @@ class ReadFileReplyD2HPacket extends HostBoundPacket {
   buf;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.addr = dataView.nextUint32();
+    const view = PacketView.fromPacket(this);
+    this.addr = view.nextUint32();
     this.length = this.payloadSize - 8;
-    this.buf = this.data.slice(dataView.position, dataView.position + this.length).buffer;
-  }
-  static isValidPacket(data, n) {
-    return super.isValidPacket(data, n);
+    this.buf = this.data.slice(view.position, view.position + this.length).buffer;
   }
 }
 
@@ -1884,8 +1523,7 @@ class GetDirectoryFileCountReplyD2HPacket extends HostBoundPacket {
   count;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.count = dataView.nextUint16();
+    this.count = PacketView.fromPacket(this).nextUint16();
   }
 }
 
@@ -1895,19 +1533,19 @@ class GetDirectoryEntryReplyD2HPacket extends HostBoundPacket {
   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)
-      };
-    }
+    if (this.payloadSize <= 4)
+      return;
+    const view = PacketView.fromPacket(this);
+    this.file = {
+      index: view.nextUint8(),
+      size: view.nextUint32(),
+      loadAddress: view.nextUint32(),
+      crc32: view.nextUint32(),
+      type: view.nextString(4),
+      timestamp: view.nextUint32() + PacketEncoder.J2000_EPOCH,
+      version: view.nextVersion(),
+      filename: view.nextNTBS(32)
+    };
   }
 }
 
@@ -1922,18 +1560,18 @@ class GetFileMetadataReplyD2HPacket extends HostBoundPacket {
   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()
-      };
-    }
+    if (this.payloadSize <= 4)
+      return;
+    const view = PacketView.fromPacket(this);
+    view.nextUint8();
+    this.file = {
+      size: view.nextUint32(),
+      loadAddress: view.nextUint32(),
+      crc32: view.nextUint32(),
+      type: view.nextString(4),
+      timestamp: view.nextUint32() + PacketEncoder.J2000_EPOCH,
+      version: view.nextVersion()
+    };
   }
 }
 
@@ -1949,9 +1587,9 @@ class GetProgramSlotInfoReplyD2HPacket extends HostBoundPacket {
   slot;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.slot = dataView.nextUint8();
-    this.requestedSlot = dataView.nextUint8();
+    const view = PacketView.fromPacket(this);
+    this.slot = view.nextUint8();
+    this.requestedSlot = view.nextUint8();
   }
 }
 
@@ -1969,40 +1607,32 @@ class GetSystemFlagsReplyD2HPacket extends HostBoundPacket {
   static COMMAND_ID = 86;
   static COMMAND_EXTENDED_ID = 32;
   flags;
-  radioSearching;
+  radioSearching = false;
   radioQuality;
   controllerBatteryPercent;
   partnerControllerBatteryPercent;
   battery;
-  currentProgram;
+  currentProgram = 0;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.radioSearching = false;
-    this.currentProgram = 0;
-    this.flags = dataView.nextUint32();
+    const view = PacketView.fromPacket(this);
+    this.flags = view.nextUint32();
     const hasPartner = (8192 & this.flags) !== 0;
     const hasRadio = (1536 & this.flags) === 1536;
-    const byte1 = dataView.nextUint8();
-    const byte2 = dataView.nextUint8();
+    const byte1 = view.nextUint8();
+    const byte2 = view.nextUint8();
     if (this.payloadSize === 11) {
-      this.battery = 8 * (byte1 & 15);
-      if ((this.flags & 256) !== 0 || hasRadio)
-        this.controllerBatteryPercent = 8 * (byte1 >> 4 & 15);
+      this.battery = clamp100(8 * (byte1 & 15));
+      if ((this.flags & 256) !== 0 || hasRadio) {
+        this.controllerBatteryPercent = clamp100(8 * (byte1 >> 4 & 15));
+      }
       if (hasRadio)
-        this.radioQuality = 8 * (byte2 & 15);
+        this.radioQuality = clamp100(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;
+      if (hasPartner) {
+        this.partnerControllerBatteryPercent = clamp100(8 * (byte2 >> 4 & 15));
+      }
+      this.currentProgram = view.nextUint8();
     }
   }
 }
@@ -2014,17 +1644,17 @@ class GetDeviceStatusReplyD2HPacket extends HostBoundPacket {
   devices;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.count = dataView.nextUint8();
+    const view = PacketView.fromPacket(this);
+    this.count = view.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()
+        port: view.nextUint8(),
+        type: view.nextUint8(),
+        status: view.nextUint8(),
+        betaversion: view.nextUint8(),
+        version: view.nextUint16(),
+        bootversion: view.nextUint16()
       });
     }
   }
@@ -2036,48 +1666,42 @@ class GetSystemStatusReplyD2HPacket extends HostBoundPacket {
   systemVersion;
   cpu0Version;
   cpu1Version;
-  nxpVersion;
+  nxpVersion = VexFirmwareVersion.allZero();
   touchVersion;
-  uniqueId;
-  sysflags;
-  eventBrain;
-  romBootloaderActive;
-  ramBootloaderActive;
-  goldenVersion;
+  uniqueId = 1234;
+  sysflags = [0, 0, 0, 0, 0, 0, 0];
+  eventBrain = false;
+  romBootloaderActive = false;
+  ramBootloaderActive = false;
+  goldenVersion = VexFirmwareVersion.allZero();
   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;
+    const view = PacketView.fromPacket(this);
+    view.nextUint8();
+    this.systemVersion = view.nextVersion();
+    this.cpu0Version = view.nextVersion();
+    this.cpu1Version = view.nextVersion();
+    this.touchVersion = view.nextVersion(true);
     if (this.payloadSize > 25) {
-      this.uniqueId = dataView.nextUint32();
+      this.uniqueId = view.nextUint32();
       this.sysflags = [
-        dataView.nextUint8(),
-        dataView.nextUint8(),
-        dataView.nextUint8(),
-        dataView.nextUint8(),
-        dataView.nextUint8(),
+        view.nextUint8(),
+        view.nextUint8(),
+        view.nextUint8(),
+        view.nextUint8(),
+        view.nextUint8(),
         0,
-        dataView.nextUint8()
+        view.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();
+      const flags6 = this.sysflags[6];
+      this.eventBrain = (1 & flags6) !== 0;
+      this.romBootloaderActive = (2 & flags6) !== 0;
+      this.ramBootloaderActive = (4 & flags6) !== 0;
+      view.nextUint16();
+      this.goldenVersion = view.nextVersion();
     }
     if (this.payloadSize > 37) {
-      this.nxpVersion = dataView.nextVersion();
+      this.nxpVersion = view.nextVersion();
     }
   }
 }
@@ -2089,17 +1713,17 @@ class GetFdtStatusReplyD2HPacket extends HostBoundPacket {
   status;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.count = dataView.nextUint8();
+    const view = PacketView.fromPacket(this);
+    this.count = view.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()
+        index: view.nextUint8(),
+        type: view.nextUint8(),
+        status: view.nextUint8(),
+        betaversion: view.nextUint8(),
+        version: view.nextUint16(),
+        bootversion: view.nextUint16()
       });
     }
   }
@@ -2111,9 +1735,9 @@ class GetLogCountReplyD2HPacket extends HostBoundPacket {
   count;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    dataView.nextUint8();
-    this.count = dataView.nextUint32();
+    const view = PacketView.fromPacket(this);
+    view.nextUint8();
+    this.count = view.nextUint32();
   }
 }
 
@@ -2125,20 +1749,19 @@ class ReadLogPageReplyD2HPacket extends HostBoundPacket {
   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();
+    const view = PacketView.fromPacket(this);
+    const size = view.nextUint8();
+    this.offset = view.nextUint32();
+    this.count = view.nextUint16();
     this.entries = [];
-    let j = n + 8;
+    let j = this.ackIndex + 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)
+        code: view.getUint8(j),
+        type: view.getUint8(j + 1),
+        desc: view.getUint8(j + 2),
+        spare: view.getUint8(j + 3),
+        time: view.getUint32(j + 4, true)
       });
       j += size;
     }
@@ -2155,13 +1778,12 @@ class GetRadioStatusReplyD2HPacket extends HostBoundPacket {
   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];
+    const view = PacketView.fromPacket(this);
+    this.device = view.nextUint8();
+    this.quality = view.nextUint16();
+    this.strength = view.nextInt16();
+    this.channel = this.data[this.ackIndex + 6];
+    this.timeslot = this.data[this.ackIndex + 7];
   }
 }
 
@@ -2186,8 +1808,7 @@ class ReadKeyValueReplyD2HPacket extends HostBoundPacket {
   value;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.value = dataView.nextVarNTBS(255);
+    this.value = PacketView.fromPacket(this).nextVarNTBS(255);
   }
 }
 
@@ -2203,20 +1824,18 @@ class GetSlot1to4InfoReplyD2HPacket extends HostBoundPacket {
   slots;
   constructor(data, start = 1) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.slotFlags = dataView.nextUint8();
+    const view = PacketView.fromPacket(this);
+    this.slotFlags = view.nextUint8();
     this.slots = [];
     for (let i = 0;i < 4; i++) {
-      const hasData = (this.slotFlags & 2 ** (start - 1 + i)) !== 0;
-      if (!hasData)
+      if ((this.slotFlags & 1 << start - 1 + i) === 0)
         continue;
-      const iconNum = dataView.nextUint16();
-      const nameLen = dataView.nextUint8();
-      const name = dataView.nextString(nameLen);
+      const icon = view.nextUint16();
+      const nameLen = view.nextUint8();
       this.slots.push({
         slot: start + i,
-        icon: iconNum,
-        name
+        icon,
+        name: view.nextString(nameLen)
       });
     }
   }
@@ -2238,9 +1857,9 @@ class FactoryStatusReplyD2HPacket extends HostBoundPacket {
   percent;
   constructor(data) {
     super(data);
-    const dataView = PacketView.fromPacket(this);
-    this.status = dataView.nextUint8();
-    this.percent = dataView.nextUint8();
+    const view = PacketView.fromPacket(this);
+    this.status = view.nextUint8();
+    this.percent = view.nextUint8();
   }
 }
 
@@ -2251,6 +1870,7 @@ class FactoryEnableReplyD2HPacket extends HostBoundPacket {
 
 // src/VexPacketEncoder.ts
 var textEncoder2 = new TextEncoder;
+var HEADER_TO_DEVICE = Uint8Array.of(201, 54, 184, 71);
 function encodeFixedText(value, field, maxBytes) {
   const encoded = textEncoder2.encode(value);
   if (encoded.byteLength > maxBytes) {
@@ -2264,92 +1884,96 @@ class PacketEncoder {
   static HEADER_TO_DEVICE = [201, 54, 184, 71];
   static HEADER_TO_HOST = [170, 85];
   static J2000_EPOCH = 946684800;
-  vexVersion;
-  crcgen;
-  allPacketsTable = {};
+  vexVersion = 0;
+  crcgen = new CrcGenerator;
+  allPacketsTable = new Map;
   static getInstance() {
-    if (Packet.ENCODER === undefined) {
-      Packet.ENCODER = new PacketEncoder;
-    }
+    Packet.ENCODER ??= new PacketEncoder;
     return Packet.ENCODER;
   }
   constructor() {
-    this.vexVersion = 0;
-    this.crcgen = new CrcGenerator;
-    Object.values(exports_VexPacketModels).forEach((packet) => {
+    for (const packet of Object.values(exports_VexPacketModels)) {
       if (typeof packet === "function" && packet.prototype instanceof HostBoundPacket) {
-        const packetType = packet;
-        this.allPacketsTable[packetType.COMMAND_ID + " " + packetType.COMMAND_EXTENDED_ID] = packetType;
+        const type = packet;
+        let byExtendedId = this.allPacketsTable.get(type.COMMAND_ID);
+        if (byExtendedId === undefined) {
+          byExtendedId = new Map;
+          this.allPacketsTable.set(type.COMMAND_ID, byExtendedId);
+        }
+        byExtendedId.set(type.COMMAND_EXTENDED_ID, type);
       }
-    });
+    }
+  }
+  getPacketType(commandId, commandExtendedId) {
+    if (commandId === undefined)
+      return;
+    return this.allPacketsTable.get(commandId)?.get(commandExtendedId);
   }
   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);
+    h.set(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);
+    const h = new Uint8Array(5);
+    h.set(HEADER_TO_DEVICE);
+    h[4] = cmd;
     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);
+    const h = new Uint8Array(6 + data.length);
+    h.set(HEADER_TO_DEVICE);
+    h[4] = cmd;
+    h[5] = data.length;
+    h.set(data, 6);
     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);
+    const h = new Uint8Array(9);
+    h.set(HEADER_TO_DEVICE);
+    h[4] = cmd;
+    h[5] = ext;
+    h[6] = 0;
+    this.appendCrc16(h);
     return h;
   }
   cdc2CommandBufferLength(data) {
-    let length = PacketEncoder.HEADERS_LENGTH + data.length + 3 + 2;
-    if (data.length > 127)
-      length += 1;
-    return length;
+    return PacketEncoder.HEADERS_LENGTH + data.length + 5 + (data.length > 127 ? 1 : 0);
   }
   cdc2CommandWithData(cmd, ext, data) {
-    const buf = new ArrayBuffer(this.cdc2CommandBufferLength(data));
-    const h = this.createHeader(buf);
+    const h = new Uint8Array(this.cdc2CommandBufferLength(data));
+    h.set(HEADER_TO_DEVICE);
+    h[4] = cmd;
+    h[5] = ext;
     if (data.length < 128) {
-      h.set([cmd, ext, data.length], PacketEncoder.HEADERS_LENGTH);
-      h.set(data, PacketEncoder.HEADERS_LENGTH + 3);
+      h[6] = data.length;
+      h.set(data, 7);
     } 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);
+      h[6] = data.length >>> 8 | 128;
+      h[7] = data.length & 255;
+      h.set(data, 8);
     }
-    const crc = this.crcgen.crc16(h.subarray(0, buf.byteLength - 2), 0);
-    h.set([crc >>> 8, crc & 255], buf.byteLength - 2);
+    this.appendCrc16(h);
     return h;
   }
+  appendCrc16(h) {
+    const crc = this.crcgen.crc16(h.subarray(0, h.length - 2), 0);
+    h[h.length - 2] = crc >>> 8;
+    h[h.length - 1] = crc & 255;
+  }
   validateHeader(data) {
-    return !(data[0] !== PacketEncoder.HEADER_TO_HOST[0] || data[1] !== PacketEncoder.HEADER_TO_HOST[1]);
+    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;
+    const crc = (data[data.byteLength - 2] << 8) + data[data.byteLength - 1];
+    return this.crcgen.crc16(data.subarray(0, data.byteLength - 2), 0) === crc;
   }
   getPayloadSize(data) {
-    let t = 0;
-    let a = data[3];
-    if ((128 & a) !== 0) {
-      t = 127 & a;
-      a = data[4];
-    }
-    return (t << 8) + a;
+    const a = data[3];
+    return (a & 128) === 0 ? a : ((a & 127) << 8) + data[4];
   }
   getHostHeaderLength(data) {
     return (data[3] & 128) === 0 ? 4 : 5;
@@ -2386,6 +2010,9 @@ class VexSerialConnection extends VexEventTarget {
     super();
     this.serial = serial;
   }
+  reportWarning(message, details) {
+    this.emit("warning", { message, details });
+  }
   async close() {
     if (this._closePromise)
       return this._closePromise;
@@ -2448,7 +2075,7 @@ class VexSerialConnection extends VexEventTarget {
       try {
         await port.close();
       } catch (e) {
-        console.warn("Close port error.", e);
+        this.reportWarning("failed to close the serial port", e);
       }
     }
     if (this._wasConnected) {
@@ -2457,29 +2084,28 @@ class VexSerialConnection extends VexEventTarget {
     }
   }
   open(use = 0, askUser = true) {
-    if (this.port !== undefined) {
-      return errAsyncVex(new VexIoError("Already connected."));
-    }
     return new ResultAsync(this._open(use, askUser));
   }
   async _open(use, askUser) {
-    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((candidate) => candidate.readable === null);
-      port = ports[use];
+    if (this._closePromise !== null)
+      await this._closePromise;
+    if (this.port !== undefined) {
+      return err(new VexIoError("Already connected."));
     }
+    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((candidate) => candidate.readable === null);
+    let port = ports[use];
     if (port == null && askUser) {
       try {
         port = await this.serial.requestPort({ filters: this.filters });
       } catch {}
     }
     if (port == null)
-      return ok(undefined);
+      return ok("no-port");
     if (port.readable != null)
-      return ok(false);
+      return ok("busy");
     try {
       this.port = port;
       await port.open({ baudRate: 115200 });
@@ -2492,15 +2118,12 @@ class VexSerialConnection extends VexEventTarget {
       this.startReader();
       this._wasConnected = true;
       this.emit("connected", undefined);
-      return ok(true);
-    } catch {
+      return ok("opened");
+    } catch (e) {
       await this.close();
-      return ok(false);
+      return err(toVexSerialError(e, "io"));
     }
   }
-  writeData(rawData, resolve, timeout = 1000) {
-    this.writeDataAsync(rawData, timeout).then(resolve);
-  }
   async writeDataAsync(rawData, timeout = 1000) {
     return new Promise((resolve) => {
       if (this.writer === undefined) {
@@ -2531,6 +2154,14 @@ class VexSerialConnection extends VexEventTarget {
       });
     });
   }
+  request(packet, ReplyType, timeout = 1000) {
+    return new ResultAsync((async () => {
+      const result = await this.writeDataAsync(packet, timeout);
+      if (result instanceof ReplyType)
+        return ok(result);
+      return err(new VexProtocolError(expectedReplyMessage(packet, ReplyType, result), typeof result === "number" ? result : undefined));
+    })());
+  }
   async readData(cache, expectedSize) {
     if (this.reader == null)
       throw new Error("No reader");
@@ -2571,39 +2202,56 @@ class VexSerialConnection extends VexEventTarget {
           if (!thePacketEncoder.validateMessageCdc(cache))
             throw new Error("Invalid message CDC");
         }
-        let callbackInfo;
-        let wantedCmdId;
-        let wantedCmdExId;
-        let tryIdx = 0;
-        while ((callbackInfo = this.callbacksQueue[tryIdx++]) !== undefined) {
-          wantedCmdId = callbackInfo?.wantedCommandId;
-          wantedCmdExId = callbackInfo?.wantedCommandExId;
-          if (wantedCmdId !== undefined && wantedCmdId !== cmdId || wantedCmdExId !== undefined && wantedCmdExId !== cmdExId) {
+        let matchIdx = -1;
+        let untypedIdx = -1;
+        for (let i = 0;i < this.callbacksQueue.length; i++) {
+          const candidate = this.callbacksQueue[i];
+          if (candidate.wantedCommandId === undefined && candidate.wantedCommandExId === undefined) {
+            if (untypedIdx === -1)
+              untypedIdx = i;
             continue;
           }
-          break;
+          if ((candidate.wantedCommandId === undefined || candidate.wantedCommandId === cmdId) && (candidate.wantedCommandExId === undefined || candidate.wantedCommandExId === cmdExId)) {
+            matchIdx = i;
+            break;
+          }
         }
-        if (callbackInfo === undefined) {
-          console.warn("Unexpected command", cmdId, cmdExId, ack);
+        if (matchIdx === -1)
+          matchIdx = untypedIdx;
+        if (matchIdx === -1) {
+          this.reportWarning("received a reply with no matching request", {
+            commandId: cmdId,
+            commandExtendedId: cmdExId,
+            ack
+          });
           continue;
         }
+        const callbackInfo = this.callbacksQueue[matchIdx];
+        const wantedCmdId = callbackInfo.wantedCommandId;
+        const wantedCmdExId = callbackInfo.wantedCommandExId;
         const data = cache.slice(0, sliceIdx);
-        const PackageType = thePacketEncoder.allPacketsTable[wantedCmdId + " " + wantedCmdExId];
-        if (wantedCmdId === undefined && wantedCmdExId === undefined || PackageType === undefined) {
+        const PackageType = thePacketEncoder.getPacketType(wantedCmdId, wantedCmdExId);
+        if (wantedCmdId === undefined || PackageType === undefined) {
+          if (wantedCmdId !== undefined) {
+            this.reportWarning("no packet class is registered for the wanted command", { commandId: wantedCmdId, commandExtendedId: wantedCmdExId });
+          }
           callbackInfo.callback(data.buffer.slice(data.byteOffset, data.byteOffset + data.byteLength));
         } else {
           if (!hasExtId || PackageType.isValidPacket(data, n)) {
             callbackInfo.callback(new PackageType(data));
           } else {
-            console.warn("ack", ack);
+            this.reportWarning("reply failed packet validation; delivering its ack instead", { commandId: cmdId, commandExtendedId: cmdExId, ack });
             callbackInfo.callback(ack);
           }
         }
         clearTimeout(callbackInfo.timeout);
-        this.callbacksQueue.splice(tryIdx - 1, 1);
+        this.callbacksQueue.splice(matchIdx, 1);
       } catch (e) {
         if (!(e instanceof Error && e.message === "No data")) {
-          console.warn("Read error.", e, cache);
+          this.reportWarning("reader loop stopped by a read error", {
+            error: e,
+            pendingBytes: cache
+          });
         }
         await this.close();
         break;
@@ -2612,19 +2260,10 @@ class VexSerialConnection extends VexEventTarget {
       }
   }
   query1() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new Query1H2DPacket, 100);
-      return result instanceof Query1ReplyD2HPacket ? ok(result) : err(new VexProtocolError("query1 was not acknowledged"));
-    })());
+    return this.request(new Query1H2DPacket, Query1ReplyD2HPacket, 100);
   }
   getSystemVersion() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new SystemVersionH2DPacket);
-      if (result instanceof SystemVersionReplyD2HPacket) {
-        return ok(result.version);
-      }
-      return err(new VexProtocolError("system version was not acknowledged"));
-    })());
+    return this.request(new SystemVersionH2DPacket, SystemVersionReplyD2HPacket).map((result) => result.version);
   }
 }
 
@@ -2651,34 +2290,19 @@ class V5SerialConnection extends VexSerialConnection {
     }
   }
   getDeviceStatus() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new GetDeviceStatusH2DPacket);
-      return result instanceof GetDeviceStatusReplyD2HPacket ? ok(result) : err(new VexProtocolError("device status was not acknowledged"));
-    })());
+    return this.request(new GetDeviceStatusH2DPacket, GetDeviceStatusReplyD2HPacket);
   }
   getRadioStatus() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new GetRadioStatusH2DPacket);
-      return result instanceof GetRadioStatusReplyD2HPacket ? ok(result) : err(new VexProtocolError("radio status was not acknowledged"));
-    })());
+    return this.request(new GetRadioStatusH2DPacket, GetRadioStatusReplyD2HPacket);
   }
   getSystemFlags() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new GetSystemFlagsH2DPacket);
-      return result instanceof GetSystemFlagsReplyD2HPacket ? ok(result) : err(new VexProtocolError("system flags were not acknowledged"));
-    })());
+    return this.request(new GetSystemFlagsH2DPacket, GetSystemFlagsReplyD2HPacket);
   }
   getSystemStatus(timeout = 1000) {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new GetSystemStatusH2DPacket, timeout);
-      return result instanceof GetSystemStatusReplyD2HPacket ? ok(result) : err(new VexProtocolError("system status was not acknowledged"));
-    })());
+    return this.request(new GetSystemStatusH2DPacket, GetSystemStatusReplyD2HPacket, timeout);
   }
   getMatchStatus() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new GetMatchStatusH2DPacket);
-      return result instanceof MatchStatusReplyD2HPacket ? ok(result) : err(new VexProtocolError("match status was not acknowledged"));
-    })());
+    return this.request(new GetMatchStatusH2DPacket, MatchStatusReplyD2HPacket);
   }
   uploadProgramToDevice(iniConfig, binFileBuf, coldFileBuf, progressCallback) {
     return wrapTransfer(this, () => this._uploadProgramToDevice(iniConfig, binFileBuf, coldFileBuf, progressCallback));
@@ -2739,23 +2363,23 @@ class V5SerialConnection extends VexSerialConnection {
   async _downloadFileToHostUnlocked(request, downloadTarget, 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)) {
-      return err(new VexTransferError("InitFileTransferH2DPacket failed"));
-    }
+    const p1Result = await this.request(new InitFileTransferH2DPacket(2 /* READ */, downloadTarget, vendor, 0 /* NONE */, new Uint8Array, nextAddress, filename, ""), InitFileTransferReplyD2HPacket);
+    if (p1Result.isErr())
+      return err(p1Result.error);
     let transferFailed = true;
     let result = ok(new Uint8Array);
     try {
+      const p1 = p1Result.value;
       const fileSize = size ?? p1.fileSize;
       const bufferChunkSize = getTransferChunkSize(p1.windowSize);
       let bufferOffset = 0;
       const fileBuf = new Uint8Array(fileSize);
       while (bufferOffset < fileSize) {
         const requestedSize = Math.min(bufferChunkSize, fileSize - bufferOffset);
-        const p2 = await this.writeDataAsync(new ReadFileH2DPacket(nextAddress, requestedSize), 3000);
-        if (!(p2 instanceof ReadFileReplyD2HPacket)) {
-          throw new VexTransferError("ReadFileReplyD2HPacket failed");
-        }
+        const p2Result = await this.request(new ReadFileH2DPacket(nextAddress, requestedSize), ReadFileReplyD2HPacket, 3000);
+        if (p2Result.isErr())
+          throw p2Result.error;
+        const p2 = p2Result.value;
         if (p2.addr !== nextAddress) {
           throw new VexTransferError(`ReadFileReplyD2HPacket returned address ${p2.addr}, expected ${nextAddress}`);
         }
@@ -2773,11 +2397,12 @@ class V5SerialConnection extends VexSerialConnection {
       result = err(e instanceof VexSerialError ? e : toVexSerialError(e, "transfer"));
     } finally {
       try {
-        await this.writeDataAsync(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */), 30000);
-      } catch (cleanupError) {
-        if (!transferFailed) {
-          result = err(toVexSerialError(cleanupError, "io"));
-        }
+        const exitResult = await this.request(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */), ExitFileTransferReplyD2HPacket, 30000);
+        if (!transferFailed && exitResult.isErr())
+          result = err(exitResult.error);
+      } catch (e) {
+        if (!transferFailed)
+          result = err(toVexSerialError(e, "io"));
       }
     }
     return result;
@@ -2802,22 +2427,20 @@ class V5SerialConnection extends VexSerialConnection {
     downloadTarget = downloadTarget ?? 1 /* FILE_TARGET_QSPI */;
     vendor = vendor ?? 1 /* USER */;
     let nextAddress = loadAddress ?? USER_FLASH_USR_CODE_START;
-    const p1 = await this.writeDataAsync(new InitFileTransferH2DPacket(1 /* WRITE */, downloadTarget, vendor, 1 /* OVERWRITE */, buf, nextAddress, filename, exttype));
-    if (!(p1 instanceof InitFileTransferReplyD2HPacket)) {
-      return err(new VexTransferError("InitFileTransferH2DPacket failed"));
-    }
+    const p1Result = await this.request(new InitFileTransferH2DPacket(1 /* WRITE */, downloadTarget, vendor, 1 /* OVERWRITE */, buf, nextAddress, filename, exttype), InitFileTransferReplyD2HPacket);
+    if (p1Result.isErr())
+      return err(p1Result.error);
+    const p1 = p1Result.value;
     const bufferChunkSize = getTransferChunkSize(p1.windowSize);
     let bufferOffset = 0;
     let lastBlock = false;
     let transferFailed = true;
-    let exitReply;
     let result = ok(false);
     try {
       if (linkedFile !== undefined) {
-        const p3 = await this.writeDataAsync(new LinkFileH2DPacket(linkedFile.vendor ?? 1 /* USER */, linkedFile.filename, 0), 1e4);
-        if (!(p3 instanceof LinkFileReplyD2HPacket)) {
-          throw new VexTransferError("LinkFileH2DPacket failed");
-        }
+        const p3Result = await this.request(new LinkFileH2DPacket(linkedFile.vendor ?? 1 /* USER */, linkedFile.filename, 0), LinkFileReplyD2HPacket, 1e4);
+        if (p3Result.isErr())
+          throw p3Result.error;
       }
       while (!lastBlock) {
         let tmpbuf;
@@ -2829,23 +2452,21 @@ class V5SerialConnection extends VexSerialConnection {
           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 VexTransferError("WriteFileReplyD2DPacket failed");
-        if (progressCallback != null)
-          progressCallback(bufferOffset, buf.byteLength);
+        const p2Result = await this.request(new WriteFileH2DPacket(nextAddress, tmpbuf), WriteFileReplyD2HPacket, 3000);
+        if (p2Result.isErr())
+          throw p2Result.error;
         bufferOffset += bufferChunkSize;
         nextAddress += bufferChunkSize;
+        progressCallback?.(Math.min(bufferOffset, buf.byteLength), buf.byteLength);
       }
-      progressCallback?.(buf.byteLength, buf.byteLength);
       transferFailed = false;
     } catch (e) {
       result = err(e instanceof VexSerialError ? e : toVexSerialError(e, "transfer"));
     } finally {
       try {
-        exitReply = await this.writeDataAsync(new ExitFileTransferH2DPacket(transferFailed ? 3 /* EXIT_HALT */ : autoRun ? 1 /* EXIT_RUN */ : 3 /* EXIT_HALT */), 30000);
+        const exitResult = await this.request(new ExitFileTransferH2DPacket(transferFailed ? 3 /* EXIT_HALT */ : autoRun ? 1 /* EXIT_RUN */ : 3 /* EXIT_HALT */), ExitFileTransferReplyD2HPacket, 30000);
         if (!transferFailed) {
-          result = ok(exitReply !== undefined && exitReply instanceof ExitFileTransferReplyD2HPacket);
+          result = exitResult.map(() => true);
         }
       } catch (cleanupError) {
         if (!transferFailed) {
@@ -2867,14 +2488,20 @@ class V5SerialConnection extends VexSerialConnection {
       }
       let result;
       try {
-        const ack = await this.writeDataAsync(new EraseFileH2DPacket(vendor, filename));
-        result = ack instanceof EraseFileReplyD2HPacket ? ok(undefined) : err(new VexProtocolError("removeFile was not acknowledged"));
+        const eraseResult = await this.request(new EraseFileH2DPacket(vendor, filename), EraseFileReplyD2HPacket);
+        result = eraseResult.map(() => {
+          return;
+        });
       } catch (e) {
         result = err(toVexSerialError(e, "io"));
-      } finally {
-        try {
-          await this.writeDataAsync(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */));
-        } catch {}
+      }
+      try {
+        const exitResult = await this.request(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */), ExitFileTransferReplyD2HPacket, 30000);
+        if (result.isOk() && exitResult.isErr())
+          result = err(exitResult.error);
+      } catch (e) {
+        if (result.isOk())
+          result = err(toVexSerialError(e, "io"));
       }
       return result;
     }));
@@ -2883,23 +2510,26 @@ class V5SerialConnection extends VexSerialConnection {
     return new ResultAsync(this.withFileTransfer(async () => {
       let result;
       try {
-        const ack = await this.writeDataAsync(new FileClearUpH2DPacket(1 /* USER */), 30000);
-        result = ack instanceof FileClearUpReplyD2HPacket ? ok(undefined) : err(new VexProtocolError("removeAllFiles was not acknowledged"));
+        const clearResult = await this.request(new FileClearUpH2DPacket(1 /* USER */), FileClearUpReplyD2HPacket, 30000);
+        result = clearResult.map(() => {
+          return;
+        });
       } catch (e) {
         result = err(toVexSerialError(e, "io"));
-      } finally {
-        try {
-          await this.writeDataAsync(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */));
-        } catch {}
+      }
+      try {
+        const exitResult = await this.request(new ExitFileTransferH2DPacket(3 /* EXIT_HALT */), ExitFileTransferReplyD2HPacket, 30000);
+        if (result.isOk() && exitResult.isErr())
+          result = err(exitResult.error);
+      } catch (e) {
+        if (result.isOk())
+          result = err(toVexSerialError(e, "io"));
       }
       return result;
     }));
   }
   captureScreenSetup() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new ScreenCaptureH2DPacket(0));
-      return result instanceof ScreenCaptureReplyD2HPacket ? ok(result) : err(new VexProtocolError("screen capture was rejected"));
-    })());
+    return this.request(new ScreenCaptureH2DPacket(0), ScreenCaptureReplyD2HPacket);
   }
   captureScreen(progressCallback) {
     return wrapTransfer(this, () => this._captureScreen(progressCallback));
@@ -2920,37 +2550,22 @@ class V5SerialConnection extends VexSerialConnection {
     return ok(convertScreenCapture(framebuffer.value));
   }
   setMatchMode(mode) {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new UpdateMatchModeH2DPacket(mode, 0));
-      return result instanceof MatchModeReplyD2HPacket ? ok(result) : err(new VexProtocolError("setMatchMode was not acknowledged"));
-    })());
+    return this.request(new UpdateMatchModeH2DPacket(mode, 0), MatchModeReplyD2HPacket);
   }
   runProgram(value) {
     return this.loadProgram(value);
   }
   loadProgram(value) {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new LoadFileActionH2DPacket(1 /* USER */, 0 /* RUN */, value));
-      return result instanceof LoadFileActionReplyD2HPacket ? ok(result) : err(new VexProtocolError("loadProgram was not acknowledged"));
-    })());
+    return this.request(new LoadFileActionH2DPacket(1 /* USER */, 0 /* RUN */, value), LoadFileActionReplyD2HPacket);
   }
   stopProgram() {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new LoadFileActionH2DPacket(1 /* USER */, 128 /* STOP */, ""));
-      return result instanceof LoadFileActionReplyD2HPacket ? ok(result) : err(new VexProtocolError("stopProgram was not acknowledged"));
-    })());
+    return this.request(new LoadFileActionH2DPacket(1 /* USER */, 128 /* STOP */, ""), LoadFileActionReplyD2HPacket);
   }
   mockTouch(x, y, press) {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new SendDashTouchH2DPacket(x, y, press));
-      return result instanceof SendDashTouchReplyD2HPacket ? ok(result) : err(new VexProtocolError("mockTouch was not acknowledged"));
-    })());
+    return this.request(new SendDashTouchH2DPacket(x, y, press), SendDashTouchReplyD2HPacket);
   }
   openScreen(screen, port) {
-    return new ResultAsync((async () => {
-      const result = await this.writeDataAsync(new SelectDashH2DPacket(screen, port));
-      return result instanceof SelectDashReplyD2HPacket ? ok(result) : err(new VexProtocolError("openScreen was not acknowledged"));
-    })());
+    return this.request(new SelectDashH2DPacket(screen, port), SelectDashReplyD2HPacket);
   }
 }
 function binaryArrayJoin(left, right) {
@@ -2992,17 +2607,22 @@ function wrapTransfer(conn, operation) {
     }
   }));
 }
-function errAsyncVex(error) {
-  return new ResultAsync(Promise.resolve(err(error)));
+function expectedReplyMessage(packet, ReplyType, reply) {
+  const expected = `expected ${ReplyType.name} for ${packet.constructor.name}`;
+  if (typeof reply === "number")
+    return `${expected}; received ${ackTypeName(reply)}`;
+  if (reply instanceof ArrayBuffer)
+    return `${expected}; received raw ArrayBuffer`;
+  return `${expected}; received ${reply.constructor.name}`;
+}
+function ackTypeName(ackType) {
+  return `AckType.${AckType[ackType] ?? "UNKNOWN"} (${ackType})`;
 }
 // src/VexFirmware.ts
 var MAX_CATALOG_BYTES = 4 * 1024;
 var MAX_VEXOS_BYTES = 64 * 1024 * 1024;
 var MAX_FIRMWARE_IMAGE_BYTES = 32 * 1024 * 1024;
 var MAX_AGGREGATE_IMAGE_BYTES = 48 * 1024 * 1024;
-function fromAsyncFn(fn) {
-  return new ResultAsync(fn());
-}
 function downloadFileFromInternet(link, options = {}) {
   const { maxBytes = Number.POSITIVE_INFINITY, timeout = 30000 } = options;
   if (maxBytes <= 0) {
@@ -3011,7 +2631,7 @@ function downloadFileFromInternet(link, options = {}) {
   if (timeout < 0) {
     return errAsync(new VexInvalidArgumentError("timeout must be non-negative"));
   }
-  return fromAsyncFn(() => runDownload(link, maxBytes, timeout));
+  return new ResultAsync(runDownload(link, maxBytes, timeout));
 }
 async function runDownload(link, maxBytes, timeout) {
   const controller = new AbortController;
@@ -3078,7 +2698,7 @@ function sleepUntilAsync(f, timeout, interval = 20) {
   if (interval <= 0) {
     return errAsync(new VexInvalidArgumentError("interval must be positive"));
   }
-  return fromAsyncFn(() => runSleepUntilAsync(f, timeout, interval));
+  return new ResultAsync(runSleepUntilAsync(f, timeout, interval));
 }
 async function runSleepUntilAsync(f, timeout, interval) {
   const deadline = Date.now() + timeout;
@@ -3103,7 +2723,7 @@ function sleepUntil(f, timeout, interval = 20) {
   if (interval <= 0) {
     return errAsync(new VexInvalidArgumentError("interval must be positive"));
   }
-  return fromAsyncFn(() => runSleepUntil(f, timeout, interval));
+  return new ResultAsync(runSleepUntil(f, timeout, interval));
 }
 async function runSleepUntil(f, timeout, interval) {
   const deadline = Date.now() + timeout;
@@ -3130,6 +2750,59 @@ function sleep(ms) {
 async function sleepInner(ms) {
   return new Promise((resolve) => setTimeout(resolve, ms));
 }
+async function flashFactoryImage(conn, options, pcb) {
+  const { image, label, downloadTarget } = options;
+  pcb(`FACTORY ENB ${label}`, 0, 0);
+  const enableReply = await conn.request(new FactoryEnableH2DPacket, FactoryEnableReplyD2HPacket);
+  if (enableReply.isErr())
+    return err(enableReply.error);
+  const writeRequest = {
+    filename: "null.bin",
+    vendor: 1 /* USER */,
+    loadAddress: USER_FLASH_USR_CODE_START,
+    buf: image.buf,
+    downloadTarget,
+    exttype: "bin",
+    autoRun: true,
+    linkedFile: undefined
+  };
+  const upload = await conn.uploadFileToDevice(writeRequest, (c, t) => {
+    pcb(`UPLOAD ${label}`, c, t);
+  });
+  if (upload.isErr())
+    return err(upload.error);
+  if (!upload.value) {
+    return err(new VexFirmwareError(`${label} upload was rejected by device`));
+  }
+  const deadline = Date.now() + 120000;
+  while (Date.now() < deadline) {
+    const statusReply = await conn.request(new FactoryStatusH2DPacket, FactoryStatusReplyD2HPacket, 1e4);
+    if (statusReply.isErr())
+      return err(statusReply.error);
+    reportFactoryStatus(label, statusReply.value, pcb);
+    if (statusReply.value.status === 0 && statusReply.value.percent === 100) {
+      return ok(undefined);
+    }
+    await sleepInner(500);
+  }
+  return err(new VexFirmwareError(`${label} factory status timed out`));
+}
+function reportFactoryStatus(label, reply, pcb) {
+  switch (reply.status) {
+    case 2:
+      pcb(`ERASE ${label}`, reply.percent, 100);
+      break;
+    case 3:
+      pcb(`WRITE ${label}`, reply.percent, 100);
+      break;
+    case 4:
+      pcb(`VERIFY ${label}`, reply.percent, 100);
+      break;
+    case 8:
+      pcb(`FINISHING ${label}`, reply.percent, 100);
+      break;
+  }
+}
 async function extractFirmwareImages(usingVersion, vexos) {
   const { unzip } = await import("unzipit");
   const { entries } = await unzip(vexos);
@@ -3177,7 +2850,7 @@ async function extractFirmwareImages(usingVersion, vexos) {
   return ordered;
 }
 function uploadFirmware(state, publicUrl = "https://content.vexrobotics.com/vexos/public/V5/", usingVersion, progressCallback) {
-  return fromAsyncFn(() => runUploadFirmware(state, publicUrl, usingVersion, progressCallback));
+  return new ResultAsync(runUploadFirmware(state, publicUrl, usingVersion, progressCallback));
 }
 async function runUploadFirmware(state, publicUrl, usingVersion, progressCallback) {
   const device = state._instance;
@@ -3219,12 +2892,7 @@ async function runUploadFirmware(state, publicUrl, usingVersion, progressCallbac
     return err(toVexSerialError(e, "firmware"));
   }
   pcb("UNZIP VEXOS", 1, 1);
-  return state.withFileTransfer(async () => {
-    pcb("FACTORY ENB BOOT", 0, 0);
-    const result = await conn.writeDataAsync(new FactoryEnableH2DPacket);
-    if (!(result instanceof FactoryEnableReplyD2HPacket)) {
-      return err(new VexProtocolError("FactoryEnableH2DPacket failed"));
-    }
+  return state.withRefreshPaused(async () => {
     const boot = images.find((image) => image.name.endsWith("BOOT.bin"));
     if (boot === undefined) {
       return err(new VexFirmwareError("VEXos archive is missing BOOT.bin"));
@@ -3233,105 +2901,20 @@ async function runUploadFirmware(state, publicUrl, usingVersion, progressCallbac
     if (assertImage === undefined) {
       return err(new VexFirmwareError("VEXos archive is missing assets.bin"));
     }
-    const bootWriteRequest = {
-      filename: "null.bin",
-      vendor: 1 /* USER */,
-      loadAddress: USER_FLASH_USR_CODE_START,
-      buf: boot.buf,
-      downloadTarget: 14 /* FILE_TARGET_B1 */,
-      exttype: "bin",
-      autoRun: true,
-      linkedFile: undefined
-    };
-    const bootUpload = await conn.uploadFileToDevice(bootWriteRequest, (c, t) => {
-      pcb("UPLOAD BOOT", c, t);
-    });
-    if (bootUpload.isErr())
-      return err(bootUpload.error);
-    if (!bootUpload.value)
-      return ok(false);
-    const bootDeadline = Date.now() + 120000;
-    let bootComplete = false;
-    while (Date.now() < bootDeadline) {
-      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) {
-          bootComplete = true;
-          break;
-        }
-      } else {
-        return ok(false);
-      }
-      await sleepInner(500);
-    }
-    if (!bootComplete)
-      return ok(false);
-    pcb("FACTORY ENB ASSERT", 0, 0);
-    const result5 = await conn.writeDataAsync(new FactoryEnableH2DPacket);
-    if (!(result5 instanceof FactoryEnableReplyD2HPacket)) {
-      return err(new VexProtocolError("FactoryEnableH2DPacket failed"));
-    }
-    const assertWriteRequest = {
-      filename: "null.bin",
-      vendor: 1 /* USER */,
-      loadAddress: USER_FLASH_USR_CODE_START,
-      buf: assertImage.buf,
-      downloadTarget: 13 /* FILE_TARGET_A1 */,
-      exttype: "bin",
-      autoRun: true,
-      linkedFile: undefined
-    };
-    const assertUpload = await conn.uploadFileToDevice(assertWriteRequest, (c, t) => {
-      pcb("UPLOAD ASSERT", c, t);
-    });
-    if (assertUpload.isErr())
-      return err(assertUpload.error);
-    if (!assertUpload.value)
-      return ok(false);
-    const assertDeadline = Date.now() + 120000;
-    let assertComplete = false;
-    while (Date.now() < assertDeadline) {
-      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) {
-          assertComplete = true;
-          break;
-        }
-      } else {
-        return ok(false);
-      }
-      await sleepInner(500);
-    }
-    if (!assertComplete)
-      return ok(false);
+    const bootFlash = await flashFactoryImage(conn, {
+      image: boot,
+      label: "BOOT",
+      downloadTarget: 14 /* FILE_TARGET_B1 */
+    }, pcb);
+    if (bootFlash.isErr())
+      return err(bootFlash.error);
+    const assetsFlash = await flashFactoryImage(conn, {
+      image: assertImage,
+      label: "ASSETS",
+      downloadTarget: 13 /* FILE_TARGET_A1 */
+    }, pcb);
+    if (assetsFlash.isErr())
+      return err(assetsFlash.error);
     return ok(true);
   });
 }
@@ -3343,8 +2926,7 @@ function getValue(state, key) {
     if (conn == null || !conn.isConnected) {
       return err(new VexNotConnectedError);
     }
-    const result = await conn.writeDataAsync(new ReadKeyValueH2DPacket(key));
-    return result instanceof ReadKeyValueReplyD2HPacket ? ok(result.value) : err(new VexProtocolError("getValue was not acknowledged"));
+    return conn.request(new ReadKeyValueH2DPacket(key), ReadKeyValueReplyD2HPacket).map((result) => result.value);
   })());
 }
 function setValue(state, key, value) {
@@ -3353,8 +2935,9 @@ function setValue(state, key, value) {
     if (conn == null || !conn.isConnected) {
       return err(new VexNotConnectedError);
     }
-    const result = await conn.writeDataAsync(new WriteKeyValueH2DPacket(key, value));
-    return result instanceof WriteKeyValueReplyD2HPacket ? ok(undefined) : err(new VexProtocolError("setValue was not acknowledged"));
+    return conn.request(new WriteKeyValueH2DPacket(key, value), WriteKeyValueReplyD2HPacket).map(() => {
+      return;
+    });
   })());
 }
 function listFiles(state, vendor = 1 /* USER */) {
@@ -3363,26 +2946,24 @@ function listFiles(state, vendor = 1 /* USER */) {
     if (conn == null || !conn.isConnected) {
       return err(new VexNotConnectedError);
     }
-    const result = await conn.writeDataAsync(new GetDirectoryFileCountH2DPacket(vendor));
-    if (!(result instanceof GetDirectoryFileCountReplyD2HPacket)) {
-      return err(new VexProtocolError("directory file count was not acknowledged"));
-    }
+    const countResult = await conn.request(new GetDirectoryFileCountH2DPacket(vendor), GetDirectoryFileCountReplyD2HPacket);
+    if (countResult.isErr())
+      return err(countResult.error);
     const files = [];
-    for (let i = 0;i < result.count; i++) {
-      const result2 = await conn.writeDataAsync(new GetDirectoryEntryH2DPacket(i));
-      if (!(result2 instanceof GetDirectoryEntryReplyD2HPacket)) {
-        return err(new VexProtocolError("directory entry was not acknowledged"));
-      }
-      if (result2.file != null) {
+    for (let i = 0;i < countResult.value.count; i++) {
+      const entryResult = await conn.request(new GetDirectoryEntryH2DPacket(i), GetDirectoryEntryReplyD2HPacket);
+      if (entryResult.isErr())
+        return err(entryResult.error);
+      if (entryResult.value.file != null) {
         files.push({
-          filename: result2.file.filename,
+          filename: entryResult.value.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
+          loadAddress: entryResult.value.file.loadAddress,
+          size: entryResult.value.file.size,
+          crc32: entryResult.value.file.crc32,
+          type: entryResult.value.file.type,
+          timestamp: entryResult.value.file.timestamp,
+          version: entryResult.value.file.version
         });
       }
     }
@@ -3418,10 +2999,10 @@ function listProgram(state) {
         time: n,
         requestedSlot: -1
       };
-      const result2 = await conn.writeDataAsync(new GetProgramSlotInfoH2DPacket(1 /* USER */, program.binfile));
-      if (result2 instanceof GetProgramSlotInfoReplyD2HPacket) {
-        program.slot = result2.slot;
-        program.requestedSlot = result2.requestedSlot;
+      const slotInfo = await conn.request(new GetProgramSlotInfoH2DPacket(1 /* USER */, program.binfile), GetProgramSlotInfoReplyD2HPacket);
+      if (slotInfo.isOk()) {
+        program.slot = slotInfo.value.slot;
+        program.requestedSlot = slotInfo.value.requestedSlot;
       }
       programList.push(program);
     }
@@ -3440,7 +3021,7 @@ function readFile(state, request, downloadTarget = 1 /* FILE_TARGET_QSPI */, pro
     } else {
       handle = request;
     }
-    return state.withFileTransfer(() => conn.downloadFileToHost(handle, downloadTarget, progressCallback));
+    return state.withRefreshPaused(() => conn.downloadFileToHost(handle, downloadTarget, progressCallback));
   })());
 }
 function removeFile(state, request) {
@@ -3449,7 +3030,7 @@ function removeFile(state, request) {
     if (conn == null || !conn.isConnected) {
       return err(new VexNotConnectedError);
     }
-    return state.withFileTransfer(() => conn.removeFile(request));
+    return state.withRefreshPaused(() => conn.removeFile(request));
   })());
 }
 function removeAllFiles(state) {
@@ -3458,7 +3039,7 @@ function removeAllFiles(state) {
     if (conn == null || !conn.isConnected) {
       return err(new VexNotConnectedError);
     }
-    return state.withFileTransfer(() => conn.removeAllFiles());
+    return state.withRefreshPaused(() => conn.removeAllFiles());
   })());
 }
 function uploadProgram(state, iniConfig, binFileBuf, coldFileBuf, progressCallback) {
@@ -3471,7 +3052,7 @@ async function runUploadProgram(state, iniConfig, binFileBuf, coldFileBuf, progr
     return err(new VexNotConnectedError);
   }
   let switchedToDownload = false;
-  return state.withFileTransfer(async () => {
+  return state.withRefreshPaused(async () => {
     try {
       if (device.isV5Controller) {
         await sleep(250);
@@ -3530,7 +3111,7 @@ function writeFile(state, request, progressCallback) {
     if (conn == null || !conn.isConnected) {
       return err(new VexNotConnectedError);
     }
-    return state.withFileTransfer(() => conn.uploadFileToDevice(request, progressCallback));
+    return state.withRefreshPaused(() => conn.uploadFileToDevice(request, progressCallback));
   })());
 }
 function captureScreen(state, progressCallback) {
@@ -3539,7 +3120,7 @@ function captureScreen(state, progressCallback) {
     if (conn == null || !conn.isConnected) {
       return err(new VexNotConnectedError);
     }
-    return state.withFileTransfer(() => conn.captureScreen(progressCallback));
+    return state.withRefreshPaused(() => conn.captureScreen(progressCallback));
   })());
 }
 
@@ -3562,10 +3143,13 @@ class VexSerialDevice extends VexEventTarget {
 class V5SerialDeviceState {
   _instance;
   refreshPauseDepth = 0;
-  get isFileTransferring() {
+  get isRefreshPaused() {
     return this.refreshPauseDepth > 0;
   }
-  async withFileTransfer(operation) {
+  get isFileTransferring() {
+    return this.isRefreshPaused;
+  }
+  async withRefreshPaused(operation) {
     this.refreshPauseDepth++;
     try {
       return await operation();
@@ -3573,6 +3157,9 @@ class V5SerialDeviceState {
       this.refreshPauseDepth--;
     }
   }
+  async withFileTransfer(operation) {
+    return this.withRefreshPaused(operation);
+  }
   brain = {
     activeProgram: 0,
     battery: {
@@ -3602,7 +3189,8 @@ class V5SerialDeviceState {
     },
     {
       battery: 0,
-      isAvailable: false
+      isAvailable: false,
+      isCharging: false
     }
   ];
   devices = [];
@@ -3625,8 +3213,14 @@ class V5SerialDeviceState {
 
 class V5Brain {
   state;
+  batteryFacade;
+  buttonFacade;
+  settingsFacade;
   constructor(state) {
     this.state = state;
+    this.batteryFacade = new V5Battery(state);
+    this.buttonFacade = new V5BrainButton(state);
+    this.settingsFacade = new V5BrainSettings(state);
   }
   get isRunningProgram() {
     return this.activeProgram !== 0;
@@ -3659,9 +3253,8 @@ class V5Brain {
       const reply = await conn.runProgram(slot);
       if (reply.isErr())
         return err(reply.error);
-      const slotNumber = typeof slot === "string" ? Number.parseInt(slot, 10) : slot;
-      if (Number.isFinite(slotNumber))
-        this.state.brain.activeProgram = slotNumber;
+      if (typeof slot === "number")
+        this.state.brain.activeProgram = slot;
       return ok(undefined);
     })());
   }
@@ -3678,10 +3271,10 @@ class V5Brain {
     })());
   }
   get battery() {
-    return new V5Battery(this.state);
+    return this.batteryFacade;
   }
   get button() {
-    return new V5BrainButton(this.state);
+    return this.buttonFacade;
   }
   get cpu0Version() {
     return this.state.brain.cpu0Version;
@@ -3693,7 +3286,7 @@ class V5Brain {
     return this.state.brain.isAvailable;
   }
   get settings() {
-    return new V5BrainSettings(this.state);
+    return this.settingsFacade;
   }
   get systemVersion() {
     return this.state.brain.systemVersion;
@@ -3848,16 +3441,28 @@ class V5Radio {
   }
   changeChannel(channel) {
     return new ResultAsync((async () => {
-      const result = await this.state._instance.connection?.writeDataAsync(new FileControlH2DPacket(1, channel));
-      return result instanceof FileControlReplyD2HPacket ? ok(undefined) : err(new VexProtocolError("changeChannel was not acknowledged"));
+      const conn = this.state._instance.connection;
+      if (conn == null || !conn.isConnected) {
+        return err(new VexNotConnectedError);
+      }
+      return conn.request(new FileControlH2DPacket(1, channel), FileControlReplyD2HPacket).map(() => {
+        return;
+      });
     })());
   }
 }
 
 // src/VexDevice.ts
+function unrefTimerIfPossible(timer) {
+  if (typeof timer !== "object" || timer === null || !("unref" in timer))
+    return;
+  const unref = timer.unref;
+  if (typeof unref === "function")
+    unref.call(timer);
+}
+
 class V5SerialDevice extends VexSerialDevice {
   autoReconnect = true;
-  autoRefresh = true;
   pauseRefreshOnFileTransfer = true;
   _isReconnecting = false;
   _isDisconnecting = false;
@@ -3865,19 +3470,45 @@ class V5SerialDevice extends VexSerialDevice {
   state = new V5SerialDeviceState(this);
   _disposed = false;
   _refreshGeneration = 0;
-  constructor(defaultSerial) {
+  _autoRefresh = false;
+  _isLastRefreshComplete = true;
+  _brain = new V5Brain(this.state);
+  _controllers = [
+    new V5Controller(this.state, 0),
+    new V5Controller(this.state, 1)
+  ];
+  _radio = new V5Radio(this.state);
+  _deviceFacades = [];
+  constructor(defaultSerial, autoRefresh = false) {
     super(defaultSerial);
-    let isLastRefreshComplete = true;
+    this.autoRefresh = autoRefresh;
+  }
+  get autoRefresh() {
+    return this._autoRefresh;
+  }
+  set autoRefresh(value) {
+    if (this._autoRefresh === value)
+      return;
+    this._autoRefresh = value;
+    if (value) {
+      this._startRefreshInterval();
+    } else {
+      this._stopRefreshInterval();
+    }
+  }
+  _startRefreshInterval() {
+    if (this._refreshInterval !== undefined || this._disposed)
+      return;
     this._refreshInterval = setInterval(() => {
       if (this._disposed)
         return;
-      if (this.autoRefresh && isLastRefreshComplete) {
+      if (this._autoRefresh && this._isLastRefreshComplete) {
         if (!this.isConnected) {
           this.state.brain.isAvailable = false;
           return;
         }
-        if (!this.pauseRefreshOnFileTransfer || !this.state.isFileTransferring) {
-          isLastRefreshComplete = false;
+        if (!this.pauseRefreshOnFileTransfer || !this.state.isRefreshPaused) {
+          this._isLastRefreshComplete = false;
           (async () => {
             try {
               const r = await this.refresh();
@@ -3886,27 +3517,37 @@ class V5SerialDevice extends VexSerialDevice {
             } catch (error) {
               this.emit("error", error);
             } finally {
-              isLastRefreshComplete = true;
+              this._isLastRefreshComplete = true;
             }
           })();
         }
       }
     }, 200);
+    unrefTimerIfPossible(this._refreshInterval);
+  }
+  _stopRefreshInterval() {
+    if (this._refreshInterval === undefined)
+      return;
+    clearInterval(this._refreshInterval);
+    this._refreshInterval = undefined;
   }
   get isV5Controller() {
     return this.deviceType === 1283 /* V5_CONTROLLER */;
   }
   get brain() {
-    return new V5Brain(this.state);
+    return this._brain;
   }
   get controllers() {
-    return [new V5Controller(this.state, 0), new V5Controller(this.state, 1)];
+    return this._controllers;
   }
   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));
+    for (let i = 1;i < this.state.devices.length; i++) {
+      if (this.state.devices[i] != null) {
+        const facade = this._deviceFacades[i] ?? new V5SmartDevice(this.state, i);
+        this._deviceFacades[i] = facade;
+        rtn.push(facade);
+      }
     }
     return rtn;
   }
@@ -3931,7 +3572,7 @@ class V5SerialDevice extends VexSerialDevice {
     })());
   }
   get radio() {
-    return new V5Radio(this.state);
+    return this._radio;
   }
   mockTouch(x, y, press) {
     return new ResultAsync((async () => {
@@ -3952,7 +3593,7 @@ class V5SerialDevice extends VexSerialDevice {
     if (conn != null) {
       if (!conn.isConnected) {
         const opened = await conn.open();
-        if (opened.isErr() || opened.value !== true) {
+        if (opened.isErr() || opened.value !== "opened") {
           return err(new VexIoError("failed to open the supplied connection"));
         }
       }
@@ -3971,10 +3612,10 @@ class V5SerialDevice extends VexSerialDevice {
           await c.close();
           return err(result.error);
         }
-        if (result.value === undefined) {
+        if (result.value === "no-port") {
           return err(new VexNotConnectedError("no V5 device was found"));
         }
-        if (!result.value) {
+        if (result.value === "busy") {
           await c.close();
           continue;
         }
@@ -4006,10 +3647,6 @@ class V5SerialDevice extends VexSerialDevice {
     this.autoReconnect = false;
     this.autoRefresh = false;
     this._disposed = true;
-    if (this._refreshInterval !== undefined) {
-      clearInterval(this._refreshInterval);
-      this._refreshInterval = undefined;
-    }
     await this.disconnect();
   }
   reconnect(timeout = 0) {
@@ -4045,9 +3682,9 @@ class V5SerialDevice extends VexSerialDevice {
             await c.close();
             return err(result.error);
           }
-          if (result.value === undefined)
+          if (result.value === "no-port")
             break;
-          if (!result.value) {
+          if (result.value === "busy") {
             await c.close();
             continue;
           }
@@ -4090,7 +3727,10 @@ class V5SerialDevice extends VexSerialDevice {
     if (this.connection == null)
       return;
     this.connection.on("disconnected", (_data) => {
-      if (this.autoReconnect && !this._isDisconnecting) {
+      if (this._isDisconnecting)
+        return;
+      this.emit("disconnected", undefined);
+      if (this.autoReconnect) {
         this.reconnect().mapErr((e) => this.emit("error", e));
       }
     });
@@ -4188,7 +3828,8 @@ class V5SerialDevice extends VexSerialDevice {
         },
         {
           battery: controller1Battery,
-          isAvailable: controller1Available
+          isAvailable: controller1Available,
+          isCharging: (flags2 & 128) !== 0
         }
       ],
       radio: {
@@ -4255,23 +3896,22 @@ class IniSectionBuilder extends BaseIniBuilder {
     this.keyTransform = keyTransform;
   }
   addSingleObjProperty(key, maxValueLength) {
-    if (this.object[key] == null || this.object[key].toString().length === 0)
+    const value = this.object[key];
+    if (value == null || value.toString().length === 0)
       return;
     const formattedKey = this.keyTransform(key).padEnd(12).slice(0, 12);
-    const trimmedVal = this.object[key].toString().slice(0, maxValueLength);
+    const trimmedVal = value.toString().slice(0, maxValueLength);
     const escapedVal = trimmedVal.replace(/["\\\u0000-\u001f\u007f]/g, (character) => `\\x${character.charCodeAt(0).toString(16).padStart(2, "0")}`);
     this.addLine(`${formattedKey} = "${escapedVal}"`);
   }
   addObjProperty(key, maxValueLength) {
-    const keys = Array.isArray(key) ? key : [key];
-    for (const k of keys) {
+    for (const k of Array.isArray(key) ? key : [key]) {
       this.addSingleObjProperty(k, maxValueLength);
     }
     return this;
   }
   addAllObjProps(maxValueLength) {
-    const keys = Object.keys(this.object);
-    for (const k of keys) {
+    for (const k of Object.keys(this.object)) {
       this.addSingleObjProperty(k, maxValueLength);
     }
     return this;
@@ -4300,21 +3940,15 @@ class ProgramIniConfig {
     date: "",
     timezone: "0"
   };
-  config = {};
+  config = { 22: "adi" };
   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);
+    this.program.date = date.toISOString();
+    const offset = Math.abs(date.getTimezoneOffset());
+    const hours = offset / 60 >>> 0;
+    const minutes = offset - hours * 60;
+    this.program.timezone = (date.getTimezoneOffset() > 0 ? "-" : "+") + this.dec2(hours) + ":" + this.dec2(minutes);
   }
   createIni() {
     if (this.program.date.length === 0) {
@@ -4323,8 +3957,7 @@ class ProgramIniConfig {
     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();
+    return (value % 100).toString(10).padStart(2, "0").toUpperCase();
   }
 }
 export {
@@ -4456,5 +4089,5 @@ export {
   AckType
 };
 
-//# debugId=AEA86FF140C3172464756E2164756E21
+//# debugId=658BAE3B57868EE064756E2164756E21
 //# sourceMappingURL=index.js.map