nova-control-command 0.0.7 → 0.0.9

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Files changed (3) hide show
  1. package/README.md +11 -11
  2. package/dist/nova-control-command.js +114 -93
  3. package/package.json +3 -2
package/README.md CHANGED
@@ -71,10 +71,10 @@ In script and REPL mode the serial connection is opened once on the first servo
71
71
  ### `home`
72
72
 
73
73
  ```
74
- nova-control --port <path> home
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+ nova-control --port <path> home [--within-ms <ms>]
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75
  ```
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76
 
77
- Sends all five servos to their home positions simultaneously. Home positions are baked into the firmware (`s1=90°`, `s2=90°`, `s3=110°`, `s4=90°`, `s5=95°`).
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+ Sends all five servos to their home positions simultaneously. Home positions are baked into the firmware (`s1=90°`, `s2=90°`, `s3=110°`, `s4=90°`, `s5=95°`). With `--within-ms`, uses a trapezoidal ramp-up/ramp-down profile to complete the movement in the specified number of milliseconds.
78
78
 
79
79
  ---
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80
 
@@ -83,25 +83,25 @@ Sends all five servos to their home positions simultaneously. Home positions are
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83
  Each command sets exactly one servo and leaves all others at their last-sent positions.
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84
 
85
85
  ```
86
- nova-control --port <path> shift-to <deg> # head forward (>90°) or back (<90°) — s1
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- nova-control --port <path> roll-to <deg> # head clockwise (>90°) or counter-clockwise (<90°) — s2
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- nova-control --port <path> pitch-to <deg> # head up (>110°) or down (<110°) — s3
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- nova-control --port <path> rotate-to <deg> # body rotation around Z-axis — s4
90
- nova-control --port <path> lift-to <deg> # secondary head lift, range 20°–150° — s5
86
+ nova-control --port <path> shift-to <angle> [--within-ms <ms>] # head forward (>90°) or back (<90°) — s1
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+ nova-control --port <path> roll-to <angle> [--within-ms <ms>] # head clockwise (>90°) or counter-clockwise (<90°) — s2
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+ nova-control --port <path> pitch-to <angle> [--within-ms <ms>] # head up (>110°) or down (<110°) — s3
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+ nova-control --port <path> rotate-to <angle> [--within-ms <ms>] # body rotation around Z-axis — s4
90
+ nova-control --port <path> lift-to <angle> [--within-ms <ms>] # secondary head lift, range 20°–150° — s5
91
91
  ```
92
92
 
93
- `<deg>` is a number in degrees. The firmware clamps out-of-range values silently.
93
+ `<angle>` is a number in degrees. The firmware clamps out-of-range values silently. With `--within-ms`, uses a trapezoidal ramp-up/ramp-down profile to complete the movement in the specified number of milliseconds.
94
94
 
95
95
  ---
96
96
 
97
97
  ### `move`
98
98
 
99
99
  ```
100
- nova-control --port <path> move [--shift-to <deg>] [--roll-to <deg>] [--pitch-to <deg>]
101
- [--rotate-to <deg>] [--lift-to <deg>]
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+ nova-control --port <path> move [--shift-to <angle>] [--roll-to <angle>] [--pitch-to <angle>]
101
+ [--rotate-to <angle>] [--lift-to <angle>] [--within-ms <ms>]
102
102
  ```
103
103
 
104
- Sets multiple servos in a single packet. At least one option is required. Servos not mentioned stay at their last-sent positions. Useful when two or more joints must move simultaneously.
104
+ Sets multiple servos in a single packet. At least one servo option is required. Servos not mentioned stay at their last-sent positions. With `--within-ms`, uses a trapezoidal ramp-up/ramp-down profile to complete the movement in the specified number of milliseconds. Useful when two or more joints must move simultaneously.
105
105
 
106
106
  ---
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package/dist/nova-control-command.js CHANGED
@@ -2,11 +2,12 @@
2
2
  import { fileURLToPath as e } from "node:url";
3
3
  import { realpathSync as t } from "node:fs";
4
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  import { Command as n } from "commander";
5
- import { openNova as r } from "nova-control-node";
6
- import i from "node:readline";
7
- import a from "node:fs/promises";
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+ import { z as r } from "zod";
6
+ import { openNova as i } from "nova-control-node";
7
+ import a from "node:readline";
8
+ import o from "node:fs/promises";
8
9
  //#region src/CommandTokenizer.ts
9
- function o(e) {
10
+ function s(e) {
10
11
  let t = [], n = "", r = 0;
11
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  for (; r < e.length;) {
12
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  let i = e[r];
@@ -35,73 +36,73 @@ function o(e) {
35
36
  }
36
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  //#endregion
37
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  //#region src/REPL.ts
38
- async function s(e, t) {
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- let n = process.stdin.isTTY, r = n ? `\x1b[1m${e}>\x1b[0m ` : `${e}> `, a = i.createInterface({
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+ async function c(e, t) {
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+ let n = process.stdin.isTTY, r = n ? `\x1b[1m${e}>\x1b[0m ` : `${e}> `, i = a.createInterface({
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  input: process.stdin,
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  output: process.stdout,
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  terminal: n,
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  prompt: r
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  });
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- n && (process.stdout.write("NOVA interactive shell — type \"help [command]\" for help, \"exit\" to quit\n"), a.prompt());
46
- for await (let r of a) {
47
- let i = r.trim();
48
- if (i === "" || i.startsWith("#")) {
49
- n && a.prompt();
46
+ n && (process.stdout.write("NOVA interactive shell — type \"help [command]\" for help, \"exit\" to quit\n"), i.prompt());
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+ for await (let r of i) {
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+ let a = r.trim();
49
+ if (a === "" || a.startsWith("#")) {
50
+ n && i.prompt();
50
51
  continue;
51
52
  }
52
- if (i === "exit" || i === "quit") break;
53
- let s = o(i);
54
- if (s.length === 0) {
55
- n && a.prompt();
53
+ if (a === "exit" || a === "quit") break;
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+ let o = s(a);
55
+ if (o.length === 0) {
56
+ n && i.prompt();
56
57
  continue;
57
58
  }
58
59
  try {
59
- await t(s);
60
+ await t(o);
60
61
  } catch (t) {
61
62
  process.stderr.write(`${e}: ${t.message}\n`);
62
63
  }
63
- n && a.prompt();
64
+ n && i.prompt();
64
65
  }
65
- a.close();
66
+ i.close();
66
67
  }
67
68
  //#endregion
68
69
  //#region src/ScriptRunner.ts
69
- async function c(e, t, n) {
70
+ async function l(e, t, n) {
70
71
  let r;
71
72
  if (t === "-") r = process.stdin;
72
73
  else try {
73
- r = (await a.open(t)).createReadStream();
74
+ r = (await o.open(t)).createReadStream();
74
75
  } catch {
75
76
  return process.stderr.write(`nova-control: cannot open script '${t}'\n`), 2;
76
77
  }
77
- let s = i.createInterface({
78
+ let i = a.createInterface({
78
79
  input: r,
79
80
  terminal: !1
80
81
  }), c = 0;
81
- for await (let t of s) {
82
+ for await (let t of i) {
82
83
  let r = t.trim();
83
84
  if (r === "" || r.startsWith("#")) continue;
84
- let i = o(r);
85
- if (i.length === 0) continue;
86
- let a = 0;
85
+ let a = s(r);
86
+ if (a.length === 0) continue;
87
+ let o = 0;
87
88
  try {
88
- a = await n(i);
89
+ o = await n(a);
89
90
  } catch (e) {
90
- a = 1, process.stderr.write(`nova-control: ${e.message}\n`);
91
+ o = 1, process.stderr.write(`nova-control: ${e.message}\n`);
91
92
  }
92
- if (a !== 0) switch (c = a, e) {
93
- case "stop": return s.close(), a;
93
+ if (o !== 0) switch (c = o, e) {
94
+ case "stop": return i.close(), o;
94
95
  case "continue": break;
95
96
  case "ask":
96
- if (!await l()) return s.close(), a;
97
+ if (!await u()) return i.close(), o;
97
98
  break;
98
99
  }
99
100
  }
100
- return s.close(), c;
101
+ return i.close(), c;
101
102
  }
102
- async function l() {
103
+ async function u() {
103
104
  return process.stdin.isTTY ? new Promise((e) => {
104
- let t = i.createInterface({
105
+ let t = a.createInterface({
105
106
  input: process.stdin,
106
107
  output: process.stdout
107
108
  });
@@ -112,105 +113,125 @@ async function l() {
112
113
  }
113
114
  //#endregion
114
115
  //#region src/nova-control-command.ts
115
- var u = {
116
+ var d = {
116
117
  OK: 0,
117
118
  GeneralError: 1,
118
119
  UsageError: 2
119
- }, d = class extends Error {
120
+ }, f = class extends Error {
120
121
  ExitCode;
121
- constructor(e, t = u.GeneralError) {
122
+ constructor(e, t = d.GeneralError) {
122
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  super(e), this.name = "NovaCommandError", this.ExitCode = t;
123
124
  }
124
- }, f = "nova-control", p, m = 9600, h = "stop", g;
125
- async function _() {
126
- if (p == null) throw new d("--port is required — specify the serial port (e.g. /dev/ttyACM0 or COM3)", u.UsageError);
127
- return g ??= await r(p, m), g;
125
+ }, p = r.coerce.number().finite(), m = r.coerce.number().finite().positive(), h = r.coerce.number().finite().nonnegative();
126
+ function g(e, t) {
127
+ try {
128
+ return p.parse(e);
129
+ } catch {
130
+ throw new f(`${t}: '${e}' is not a valid angle — expected a finite number`, d.UsageError);
131
+ }
128
132
  }
129
- function v() {
130
- g != null && (g.destroy(), g = void 0);
133
+ function _(e, t) {
134
+ if (e != null) try {
135
+ return m.parse(e);
136
+ } catch {
137
+ throw new f(`${t}: '--within-ms ${e}' is not valid — expected a positive number`, d.UsageError);
138
+ }
131
139
  }
132
- function y(e, t = 9600, n = "stop") {
133
- p = e, m = t, h = n;
140
+ var v = "nova-control", y, b = 9600, x = "stop", S;
141
+ async function C() {
142
+ if (y == null) throw new f("--port is required — specify the serial port (e.g. /dev/ttyACM0 or COM3)", d.UsageError);
143
+ return S ??= await i(y, b), S;
134
144
  }
135
- function b() {
136
- v(), p = void 0, m = 9600, h = "stop";
145
+ function w() {
146
+ S != null && (S.destroy(), S = void 0);
137
147
  }
138
- function x(e) {
148
+ function T(e, t = 9600, n = "stop") {
149
+ y = e, b = t, x = n;
150
+ }
151
+ function E() {
152
+ w(), y = void 0, b = 9600, x = "stop";
153
+ }
154
+ function D(e) {
139
155
  e.exitOverride(), e.configureOutput({ writeErr: () => {} });
140
- for (let t of e.commands) x(t);
156
+ for (let t of e.commands) D(t);
141
157
  }
142
- function S(e = !1) {
143
- let t = new n(f);
158
+ function O(e = !1) {
159
+ let t = new n(v);
144
160
  return t.description("NOVA robot arm CLI").allowUnknownOption(!1).configureOutput({ writeErr: () => {} }), e || (t.option("--port <path>", "serial port path (e.g. /dev/ttyACM0 on Linux/macOS, COM3 on Windows)").option("--baud <rate>", "baud rate (default: 9600)", "9600").option("--on-error <mode>", "script error mode: stop | continue | ask (default: stop)"), t.hook("preAction", (e, t) => {
145
161
  let n = t.optsWithGlobals();
146
- p = n.port, m = Number(n.baud ?? "9600"), h = n.onError ?? "stop";
147
- })), t.command("home").description("send all servos to their home positions").action(async () => {
148
- await (await _()).home();
149
- }), t.command("move").description("set one or more servo positions without interrupting the others").option("--shift-to <angle>", "shift head forward (>90°) or back (<90°) — s1").option("--roll-to <angle>", "roll head clockwise (>90°) or counter-clockwise (<90°) — s2").option("--pitch-to <angle>", "pitch head up (>110°) or down (<110°) — s3").option("--rotate-to <angle>", "rotate body around Z-axis — s4").option("--lift-to <angle>", "lift head on secondary axis, range 20°–150° — s5").action(async (e) => {
162
+ y = n.port, b = Number(n.baud ?? "9600"), x = n.onError ?? "stop";
163
+ })), t.command("home").description("send all servos to their home positions").option("--within-ms <ms>", "move smoothly over this many milliseconds (trapezoidal ramp)").action(async (e) => {
164
+ let t = _(e.withinMs, "home");
165
+ await (await C()).home(t);
166
+ }), t.command("move").description("set one or more servo positions without interrupting the others").option("--shift-to <angle>", "shift head forward (>90°) or back (<90°) — s1").option("--roll-to <angle>", "roll head clockwise (>90°) or counter-clockwise (<90°) — s2").option("--pitch-to <angle>", "pitch head up (>110°) or down (<110°) — s3").option("--rotate-to <angle>", "rotate body around Z-axis — s4").option("--lift-to <angle>", "lift head on secondary axis, range 20°–150° — s5").option("--within-ms <ms>", "move smoothly over this many milliseconds (trapezoidal ramp)").action(async (e) => {
150
167
  let t = {};
151
- if (e.shiftTo != null && (t.s1 = Number(e.shiftTo)), e.rollTo != null && (t.s2 = Number(e.rollTo)), e.pitchTo != null && (t.s3 = Number(e.pitchTo)), e.rotateTo != null && (t.s4 = Number(e.rotateTo)), e.liftTo != null && (t.s5 = Number(e.liftTo)), Object.keys(t).length === 0) throw new d("move: specify at least one servo option (--shift-to, --roll-to, --pitch-to, --rotate-to, --lift-to)", u.UsageError);
152
- let n = await _();
153
- n.State = t, await n.sendServoState();
154
- }), t.command("shift-to").description("shift head forward (>90°) or back (<90°) — s1").argument("<angle>", "target angle in degrees").action(async (e) => {
155
- let t = await _();
156
- t.State = { s1: Number(e) }, await t.sendServoState();
157
- }), t.command("roll-to").description("roll head clockwise (>90°) or counter-clockwise (<90°) — s2").argument("<angle>", "target angle in degrees").action(async (e) => {
158
- let t = await _();
159
- t.State = { s2: Number(e) }, await t.sendServoState();
160
- }), t.command("pitch-to").description("pitch head up (>110°) or down (<110°) — s3").argument("<angle>", "target angle in degrees").action(async (e) => {
161
- let t = await _();
162
- t.State = { s3: Number(e) }, await t.sendServoState();
163
- }), t.command("rotate-to").description("rotate body around Z-axis — s4").argument("<angle>", "target angle in degrees").action(async (e) => {
164
- let t = await _();
165
- t.State = { s4: Number(e) }, await t.sendServoState();
166
- }), t.command("lift-to").description("lift head on secondary axis, range 20°–150° — s5").argument("<angle>", "target angle in degrees").action(async (e) => {
167
- let t = await _();
168
- t.State = { s5: Number(e) }, await t.sendServoState();
168
+ if (e.shiftTo != null && (t.s1 = g(e.shiftTo, "move")), e.rollTo != null && (t.s2 = g(e.rollTo, "move")), e.pitchTo != null && (t.s3 = g(e.pitchTo, "move")), e.rotateTo != null && (t.s4 = g(e.rotateTo, "move")), e.liftTo != null && (t.s5 = g(e.liftTo, "move")), Object.keys(t).length === 0) throw new f("move: specify at least one servo option (--shift-to, --roll-to, --pitch-to, --rotate-to, --lift-to)", d.UsageError);
169
+ let n = _(e.withinMs, "move");
170
+ await (await C()).moveTo(t, n);
171
+ }), t.command("shift-to").description("shift head forward (>90°) or back (<90°) — s1").argument("<angle>", "target angle in degrees").option("--within-ms <ms>", "move smoothly over this many milliseconds (trapezoidal ramp)").action(async (e, t) => {
172
+ let n = g(e, "shift-to"), r = _(t.withinMs, "shift-to");
173
+ await (await C()).shiftHeadTo(n, r);
174
+ }), t.command("roll-to").description("roll head clockwise (>90°) or counter-clockwise (<90°) — s2").argument("<angle>", "target angle in degrees").option("--within-ms <ms>", "move smoothly over this many milliseconds (trapezoidal ramp)").action(async (e, t) => {
175
+ let n = g(e, "roll-to"), r = _(t.withinMs, "roll-to");
176
+ await (await C()).rollHeadTo(n, r);
177
+ }), t.command("pitch-to").description("pitch head up (>110°) or down (<110°) — s3").argument("<angle>", "target angle in degrees").option("--within-ms <ms>", "move smoothly over this many milliseconds (trapezoidal ramp)").action(async (e, t) => {
178
+ let n = g(e, "pitch-to"), r = _(t.withinMs, "pitch-to");
179
+ await (await C()).pitchHeadTo(n, r);
180
+ }), t.command("rotate-to").description("rotate body around Z-axis — s4").argument("<angle>", "target angle in degrees").option("--within-ms <ms>", "move smoothly over this many milliseconds (trapezoidal ramp)").action(async (e, t) => {
181
+ let n = g(e, "rotate-to"), r = _(t.withinMs, "rotate-to");
182
+ await (await C()).rotateBodyTo(n, r);
183
+ }), t.command("lift-to").description("lift head on secondary axis, range 20°–150° — s5").argument("<angle>", "target angle in degrees").option("--within-ms <ms>", "move smoothly over this many milliseconds (trapezoidal ramp)").action(async (e, t) => {
184
+ let n = g(e, "lift-to"), r = _(t.withinMs, "lift-to");
185
+ await (await C()).liftHeadTo(n, r);
169
186
  }), t.command("wait").description("pause for <ms> milliseconds before the next command").argument("<ms>", "duration in milliseconds (non-negative number)").action(async (e) => {
170
- let t = Number(e);
171
- if (isNaN(t) || t < 0) throw new d(`wait: invalid duration '${e}' — expected a non-negative number`, u.UsageError);
187
+ let t;
188
+ try {
189
+ t = h.parse(e);
190
+ } catch {
191
+ throw new f(`wait: invalid duration '${e}' — expected a non-negative number`, d.UsageError);
192
+ }
172
193
  await new Promise((e) => setTimeout(e, t));
173
194
  }), t.command("state").description("print the current servo state as JSON").action(async () => {
174
- let e = await _();
195
+ let e = await C();
175
196
  process.stdout.write(JSON.stringify(e.State) + "\n");
176
197
  }), e || (t.command("shell").description("start an interactive REPL").action(async () => {
177
- await s(f, (e) => C(e));
198
+ await c(v, (e) => k(e));
178
199
  }), t.option("--script <file>", "run commands from a script file (use - for stdin)").action(async (e) => {
179
200
  if (e.script != null) {
180
- let t = await c(h, e.script, C);
201
+ let t = await l(x, e.script, k);
181
202
  process.exit(t);
182
- } else process.stdout.write(t.helpInformation()), process.exit(u.OK);
203
+ } else process.stdout.write(t.helpInformation()), process.exit(d.OK);
183
204
  }), t.addHelpCommand(!0)), t;
184
205
  }
185
- async function C(e) {
186
- if (e.length === 0) return u.OK;
187
- let t = S(!0);
188
- x(t);
206
+ async function k(e) {
207
+ if (e.length === 0) return d.OK;
208
+ let t = O(!0);
209
+ D(t);
189
210
  try {
190
211
  return await t.parseAsync([
191
212
  "node",
192
- f,
213
+ v,
193
214
  ...e
194
- ]), u.OK;
215
+ ]), d.OK;
195
216
  } catch (t) {
196
217
  let n = t;
197
- return n.code === "commander.help" || n.code === "commander.helpDisplayed" ? u.OK : n.code === "commander.unknownCommand" ? (process.stderr.write(`${f}: unknown command '${e[0]}' — try '${f} help'\n`), u.UsageError) : n.code === "commander.unknownOption" || n.code === "commander.missingArgument" || n.code === "commander.missingMandatoryOptionValue" ? (process.stderr.write(`${f}: ${n.message}\n`), u.UsageError) : t instanceof d ? (process.stderr.write(`${f}: ${t.message}\n`), t.ExitCode) : (process.stderr.write(`${f}: ${t.message ?? String(t)}\n`), u.GeneralError);
218
+ return n.code === "commander.help" || n.code === "commander.helpDisplayed" ? d.OK : n.code === "commander.unknownCommand" ? (process.stderr.write(`${v}: unknown command '${e[0]}' — try '${v} help'\n`), d.UsageError) : n.code === "commander.unknownOption" || n.code === "commander.missingArgument" || n.code === "commander.missingMandatoryOptionValue" ? (process.stderr.write(`${v}: ${n.message}\n`), d.UsageError) : t instanceof f ? (process.stderr.write(`${v}: ${t.message}\n`), t.ExitCode) : (process.stderr.write(`${v}: ${t.message ?? String(t)}\n`), d.GeneralError);
198
219
  }
199
220
  }
200
- async function w() {
201
- let e = S();
202
- x(e);
221
+ async function A() {
222
+ let e = O();
223
+ D(e);
203
224
  try {
204
225
  await e.parseAsync(process.argv);
205
226
  } catch (t) {
206
227
  let n = t;
207
- (n.code === "commander.help" || n.code === "commander.helpDisplayed" || n.code === "commander.version") && process.exit(u.OK), (n.code === "commander.unknownCommand" || n.code === "commander.unknownOption" || n.code === "commander.missingArgument" || n.code === "commander.missingMandatoryOptionValue") && (process.stderr.write(`${f}: ${n.message}\n\n`), process.stderr.write(e.helpInformation()), process.exit(u.UsageError)), t instanceof d && (process.stderr.write(`${f}: ${t.message}\n`), process.exit(t.ExitCode)), process.stderr.write(`${f}: ${t.message ?? String(t)}\n`), process.exit(u.GeneralError);
228
+ (n.code === "commander.help" || n.code === "commander.helpDisplayed" || n.code === "commander.version") && process.exit(d.OK), (n.code === "commander.unknownCommand" || n.code === "commander.unknownOption" || n.code === "commander.missingArgument" || n.code === "commander.missingMandatoryOptionValue") && (process.stderr.write(`${v}: ${n.message}\n\n`), process.stderr.write(e.helpInformation()), process.exit(d.UsageError)), t instanceof f && (process.stderr.write(`${v}: ${t.message}\n`), process.exit(t.ExitCode)), process.stderr.write(`${v}: ${t.message ?? String(t)}\n`), process.exit(d.GeneralError);
208
229
  } finally {
209
- v();
230
+ w();
210
231
  }
211
232
  }
212
- t(process.argv[1]) === e(import.meta.url) && w().catch((e) => {
213
- process.stderr.write(`${f}: fatal: ${e.message ?? e}\n`), process.exit(u.GeneralError);
233
+ t(process.argv[1]) === e(import.meta.url) && A().catch((e) => {
234
+ process.stderr.write(`${v}: fatal: ${e.message ?? e}\n`), process.exit(d.GeneralError);
214
235
  });
215
236
  //#endregion
216
- export { b as _destroyForTests, y as _setupForTests, C as executeTokens };
237
+ export { E as _destroyForTests, T as _setupForTests, k as executeTokens };
package/package.json CHANGED
@@ -1,7 +1,7 @@
1
1
  {
2
2
  "name": "nova-control-command",
3
3
  "description": "CLI for controlling a NOVA DIY Artificial Intelligence Robot by Creoqode",
4
- "version": "0.0.7",
4
+ "version": "0.0.9",
5
5
  "type": "module",
6
6
  "keywords": [
7
7
  "nova",
@@ -29,7 +29,8 @@
29
29
  ],
30
30
  "dependencies": {
31
31
  "commander": "^12.0.0",
32
- "nova-control-node": "*"
32
+ "nova-control-node": "*",
33
+ "zod": "^4.3.6"
33
34
  },
34
35
  "devDependencies": {
35
36
  "@types/node": "^22.0.0",