motion-master-client 0.0.349 → 0.0.350

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Files changed (4) hide show
  1. package/package.json +1 -1
  2. package/src/lib/os-command.d.ts +2 -4
  3. package/src/lib/os-command.js +8 -9
  4. package/src/lib/os-command.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.349",
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+ "version": "0.0.350",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/lib/os-command.d.ts CHANGED
@@ -281,12 +281,10 @@ export declare const hrdStreamingOsCommandErrors: OsCommandErrors;
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  * - `torque` is the 16-bit signed integer from the buffer
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  * - `velocity` is the floating-point velocity value converted from Q15 and rounded to an integer
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  *
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- * If the buffer length is not a multiple of 6, an error is logged and
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- * an empty array is returned.
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+ * If the buffer length is not a multiple of 6, a warning is logged and any trailing bytes are discarded.
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  *
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  * @param data - A `Uint8Array` containing raw HRD binary data.
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- * @returns An array of `[velocityQ15, torque, velocity]` tuples,
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- * one per sample, or an empty array if the buffer is invalid.
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+ * @returns An array of `[velocityQ15, torque, velocity]` tuples one per sample.
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  */
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  export declare function parseHrdBuffer(data: Uint8Array): number[][];
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  /**
package/src/lib/os-command.js CHANGED
@@ -322,23 +322,22 @@ exports.hrdStreamingOsCommandErrors = {
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  * - `torque` is the 16-bit signed integer from the buffer
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  * - `velocity` is the floating-point velocity value converted from Q15 and rounded to an integer
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  *
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- * If the buffer length is not a multiple of 6, an error is logged and
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- * an empty array is returned.
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+ * If the buffer length is not a multiple of 6, a warning is logged and any trailing bytes are discarded.
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  *
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  * @param data - A `Uint8Array` containing raw HRD binary data.
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- * @returns An array of `[velocityQ15, torque, velocity]` tuples,
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- * one per sample, or an empty array if the buffer is invalid.
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+ * @returns An array of `[velocityQ15, torque, velocity]` tuples one per sample.
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  */
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  function parseHrdBuffer(data) {
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  const bytesPerSample = 6;
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- if (data.byteLength % bytesPerSample !== 0) {
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- console.error(`Invalid HRD buffer length: ${data.byteLength}. ` + `Expected a multiple of ${bytesPerSample}.`);
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- return [];
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+ const validLength = data.byteLength - (data.byteLength % bytesPerSample);
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+ if (validLength !== data.byteLength) {
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+ console.warn(`HRD buffer length ${data.byteLength} is not a multiple of ${bytesPerSample}. ` +
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+ `Discarding ${data.byteLength - validLength} trailing byte(s).`);
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  }
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  const samples = [];
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- const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
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+ const view = new DataView(data.buffer, data.byteOffset, validLength);
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  let offset = 0;
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- while (offset + bytesPerSample <= data.byteLength) {
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+ while (offset < validLength) {
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  const velocityQ15 = view.getInt32(offset, true); // 4 bytes little-endian, Q15 format
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  const torque = view.getInt16(offset + 4, true); // 2 bytes little-endian
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  const velocity = (0, util_1.fromQ)(velocityQ15, 15, true); // converted from Q15 and rounded to an integer
package/src/lib/os-command.js.map CHANGED
@@ -1 +1 @@
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1
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