depz-sensor-viewer 0.1.0__tar.gz

depz_sensor_viewer-0.1.0/LICENSE

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+MIT License
+
+Copyright (c) 2026 DEPZ
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+The bundled/derived VL53L8 advanced-DCI codecs are (c) STMicroelectronics,
+licensed under BSD-3-Clause.

depz_sensor_viewer-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: depz-sensor-viewer
+Version: 0.1.0
+Summary: Local standalone launcher for the DEPZ sensor web viewer — bypasses browser WebSerial by talking to devices over pyserial.
+Author: DEPZ
+License: MIT
+Project-URL: Homepage, https://github.com/depz-ai/depz-sensor-sdk-and-viewer
+Project-URL: Repository, https://github.com/depz-ai/depz-sensor-sdk-and-viewer
+Keywords: depz,sensor,viewer,webserial,pyserial,vl53l8,bno086,hc-sr04
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: Microsoft :: Windows
+Classifier: Operating System :: MacOS
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: System :: Hardware :: Hardware Drivers
+Classifier: Intended Audience :: Developers
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: depz-sensor-sdk
+Requires-Dist: aiohttp>=3.9
+Requires-Dist: pyserial>=3.5
+Dynamic: license-file
+
+# depz-sensor-viewer
+
+A local, standalone launcher for the DEPZ sensor web viewer. It runs a tiny
+localhost web server that serves the viewer SPA **and** talks to your DEPZ
+sensors over [`pyserial`](https://pyserial.readthedocs.io/) — so the UI never
+touches the browser **WebSerial** API.
+
+## Why
+
+The hosted viewer uses the browser's WebSerial API, which means:
+
+- a **port-picker prompt** every time you connect,
+- **Chrome-only** support, and
+- failures under some enterprise / managed-Chrome policies that disable
+  WebSerial entirely.
+
+This launcher sidesteps all of that. The Python process opens the serial port
+locally with `pyserial` and pipes raw bytes to the SPA over a WebSocket. No
+prompt, no WebSerial, works in any browser pointed at `localhost`.
+
+## Install & run
+
+```bash
+pipx install depz-sensor-viewer
+depz-sensor-viewer
+```
+
+This starts the server on `http://127.0.0.1:8765` (or a random free port if
+8765 is taken) and opens your browser. Options:
+
+```
+depz-sensor-viewer --port 9000       # pick a port (0 = random free)
+depz-sensor-viewer --host 127.0.0.1  # bind address (localhost by default)
+depz-sensor-viewer --no-browser      # just start the server
+```
+
+Press **Ctrl-C** to stop.
+
+## Linux: serial permissions
+
+On Linux, opening `/dev/ttyACM*` requires membership in the `dialout` group.
+If devices don't open, add yourself and re-login:
+
+```bash
+sudo usermod -aG dialout $USER
+# then log out and back in (or: newgrp dialout)
+```
+
+The viewer diagnoses this for you at `GET /api/permissions` and shows the fix in
+the UI. `ModemManager` can also briefly grab a freshly-plugged CDC device; retry
+after a second, or `sudo systemctl mask ModemManager` if it persists.
+
+## HTTP / WebSocket contract
+
+The bundled SPA detects standalone mode and drives devices through this fixed
+interface (served by `depz_sensor_viewer.server`):
+
+| Endpoint | Response |
+| --- | --- |
+| `GET /api/health` | `{"standalone": true, "version": "<pkg>"}` |
+| `GET /api/devices` | `{"devices": [{path, usb_vid, usb_pid, serial, sensor_type, usb_model_hint}]}` |
+| `GET /api/permissions` | `{ok, os, issues, fix: {command, explanation}}` |
+| `WS /ws/serial?path=<port>&baud=<n>` | raw byte pipe (see below) |
+
+`/api/devices` enumerates only ports whose USB identity is a known DEPZ device
+(via the SDK's USB table); it does **not** open the ports. `baud` defaults to
+`115200` and is nominal for the CDC-ACM devices.
+
+**`/ws/serial` framing:**
+
+- client → server **binary** frame → `serial.write(bytes)`
+- server → client **binary** frame ← bytes read from the serial port
+- **text** frames carry JSON control/status:
+  - server: `{"opened": true, "path": ..., "baud": ...}` right after open
+  - server: `{"error": "...", "code": "...", "fix": {...}}` on failure
+    (permission errors include the per-OS `fix`)
+  - client: `{"cmd": "set_baud", "baud": <int>}` (optional)
+
+The port is closed when the WebSocket closes.
+
+## Building the bundled SPA
+
+The wheel ships the built SPA under `depz_sensor_viewer/_static/`. To (re)build
+it from the repo's TypeScript viewer:
+
+```bash
+python packages/depz-sensor-viewer/scripts/bundle_spa.py
+```
+
+This runs `bun run build` at the repo root and copies `dist/client/**` into
+`_static/`. Pass `--skip-build` to copy an existing `dist/client/` without
+rebuilding. Until you run it, the package ships a placeholder `index.html` that
+points here — the API endpoints above are live regardless.
+
+## License
+
+MIT

depz_sensor_viewer-0.1.0/README.md

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+# depz-sensor-viewer
+
+A local, standalone launcher for the DEPZ sensor web viewer. It runs a tiny
+localhost web server that serves the viewer SPA **and** talks to your DEPZ
+sensors over [`pyserial`](https://pyserial.readthedocs.io/) — so the UI never
+touches the browser **WebSerial** API.
+
+## Why
+
+The hosted viewer uses the browser's WebSerial API, which means:
+
+- a **port-picker prompt** every time you connect,
+- **Chrome-only** support, and
+- failures under some enterprise / managed-Chrome policies that disable
+  WebSerial entirely.
+
+This launcher sidesteps all of that. The Python process opens the serial port
+locally with `pyserial` and pipes raw bytes to the SPA over a WebSocket. No
+prompt, no WebSerial, works in any browser pointed at `localhost`.
+
+## Install & run
+
+```bash
+pipx install depz-sensor-viewer
+depz-sensor-viewer
+```
+
+This starts the server on `http://127.0.0.1:8765` (or a random free port if
+8765 is taken) and opens your browser. Options:
+
+```
+depz-sensor-viewer --port 9000       # pick a port (0 = random free)
+depz-sensor-viewer --host 127.0.0.1  # bind address (localhost by default)
+depz-sensor-viewer --no-browser      # just start the server
+```
+
+Press **Ctrl-C** to stop.
+
+## Linux: serial permissions
+
+On Linux, opening `/dev/ttyACM*` requires membership in the `dialout` group.
+If devices don't open, add yourself and re-login:
+
+```bash
+sudo usermod -aG dialout $USER
+# then log out and back in (or: newgrp dialout)
+```
+
+The viewer diagnoses this for you at `GET /api/permissions` and shows the fix in
+the UI. `ModemManager` can also briefly grab a freshly-plugged CDC device; retry
+after a second, or `sudo systemctl mask ModemManager` if it persists.
+
+## HTTP / WebSocket contract
+
+The bundled SPA detects standalone mode and drives devices through this fixed
+interface (served by `depz_sensor_viewer.server`):
+
+| Endpoint | Response |
+| --- | --- |
+| `GET /api/health` | `{"standalone": true, "version": "<pkg>"}` |
+| `GET /api/devices` | `{"devices": [{path, usb_vid, usb_pid, serial, sensor_type, usb_model_hint}]}` |
+| `GET /api/permissions` | `{ok, os, issues, fix: {command, explanation}}` |
+| `WS /ws/serial?path=<port>&baud=<n>` | raw byte pipe (see below) |
+
+`/api/devices` enumerates only ports whose USB identity is a known DEPZ device
+(via the SDK's USB table); it does **not** open the ports. `baud` defaults to
+`115200` and is nominal for the CDC-ACM devices.
+
+**`/ws/serial` framing:**
+
+- client → server **binary** frame → `serial.write(bytes)`
+- server → client **binary** frame ← bytes read from the serial port
+- **text** frames carry JSON control/status:
+  - server: `{"opened": true, "path": ..., "baud": ...}` right after open
+  - server: `{"error": "...", "code": "...", "fix": {...}}` on failure
+    (permission errors include the per-OS `fix`)
+  - client: `{"cmd": "set_baud", "baud": <int>}` (optional)
+
+The port is closed when the WebSocket closes.
+
+## Building the bundled SPA
+
+The wheel ships the built SPA under `depz_sensor_viewer/_static/`. To (re)build
+it from the repo's TypeScript viewer:
+
+```bash
+python packages/depz-sensor-viewer/scripts/bundle_spa.py
+```
+
+This runs `bun run build` at the repo root and copies `dist/client/**` into
+`_static/`. Pass `--skip-build` to copy an existing `dist/client/` without
+rebuilding. Until you run it, the package ships a placeholder `index.html` that
+points here — the API endpoints above are live regardless.
+
+## License
+
+MIT

depz_sensor_viewer-0.1.0/depz_sensor_viewer/__init__.py

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+"""depz-sensor-viewer — local standalone launcher for the DEPZ sensor web viewer.
+
+Bypasses the browser's WebSerial API: instead of the SPA opening serial ports in
+Chrome (with its port-picker prompt and enterprise-policy pitfalls), this package
+runs a tiny local aiohttp server that opens the ports with *pyserial* and exposes
+them to the bundled SPA over a WebSocket byte pipe.
+
+The server contract the SPA relies on (see :mod:`depz_sensor_viewer.server`):
+
+- ``GET /api/health``       → ``{"standalone": true, "version": ...}``
+- ``GET /api/devices``      → ``{"devices": [{path, usb_vid, usb_pid, ...}]}``
+- ``GET /api/permissions``  → ``{ok, os, issues, fix}`` per-OS serial diagnostics
+- ``WS  /ws/serial?path&baud`` → raw byte pipe (binary frames), JSON control text frames
+"""
+
+from .server import build_app
+
+__version__ = "0.1.0"
+
+__all__ = ["build_app", "__version__"]

depz_sensor_viewer-0.1.0/depz_sensor_viewer/__main__.py

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+"""depz-sensor-viewer entry point.
+
+Starts a localhost aiohttp server that serves the bundled DEPZ sensor SPA and
+bridges serial ports over WebSocket (see :mod:`depz_sensor_viewer.server`), then
+opens the browser at the served URL. Only host/port/browser/logging are
+CLI-controlled — the device is chosen in the SPA.
+"""
+
+from __future__ import annotations
+
+import argparse
+import logging
+import sys
+
+from aiohttp import web
+
+from .launcher import find_free_port, open_browser
+from .server import build_app
+
+_LOGGER = logging.getLogger("depz_sensor_viewer")
+
+DEFAULT_PORT = 8765
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    p = argparse.ArgumentParser(
+        prog="depz-sensor-viewer",
+        description="Local standalone launcher for the DEPZ sensor web viewer "
+        "(bypasses browser WebSerial — talks to devices via pyserial).",
+    )
+    p.add_argument(
+        "--port", type=int, default=DEFAULT_PORT,
+        help=f"HTTP port (default: {DEFAULT_PORT}; falls back to a random free "
+        "port if it's taken).",
+    )
+    p.add_argument("--host", default="127.0.0.1", help="Bind address (default: 127.0.0.1).")
+    p.add_argument("--no-browser", action="store_true", help="Don't auto-open the browser.")
+    p.add_argument("--logging-level", default="INFO")
+    return p.parse_args(argv)
+
+
+def _resolve_port(host: str, want: int) -> int:
+    """Use the requested port if free; otherwise fall back to a random one."""
+    if want == 0:
+        return find_free_port(host)
+    with socket_ctx() as s:
+        try:
+            s.bind((host, want))
+            return want
+        except OSError:
+            _LOGGER.warning("port %d is busy; picking a free port instead", want)
+            return find_free_port(host)
+
+
+def socket_ctx():
+    import socket
+
+    return socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+
+
+def main(argv: list[str] | None = None) -> int:
+    args = parse_args(argv)
+    logging.basicConfig(
+        level=args.logging_level.upper(),
+        format="%(asctime)s %(levelname)s %(name)s: %(message)s",
+    )
+
+    port = _resolve_port(args.host, args.port)
+    url = f"http://{args.host}:{port}"
+
+    app = build_app()
+
+    print(f"[depz-sensor-viewer] serving at {url}", file=sys.stderr)
+    if not args.no_browser:
+        open_browser(url)
+
+    try:
+        web.run_app(app, host=args.host, port=port, print=None, handle_signals=True)
+    except KeyboardInterrupt:  # pragma: no cover - graceful Ctrl-C
+        pass
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

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$e({log:e,onClear:r,className:t="h-96"}){return s.jsxs("div",{children:[s.jsx("div",{className:"mb-2 flex items-center justify-end",children:s.jsxs(k,{variant:"ghost",size:"sm",onClick:r,children:[s.jsx(Ae,{className:"size-4"}),"Clear"]})}),s.jsx(pe,{className:`rounded-md border bg-muted/30 ${t}`,children:s.jsxs("div",{className:"p-3 font-mono text-xs leading-5",children:[e.length===0&&s.jsx("p",{className:"text-muted-foreground",children:"No events yet — unsolicited status, text, temperature and link-error events show up here."}),e.map(l=>s.jsxs("div",{className:"flex gap-2 whitespace-nowrap",children:[s.jsx("span",{className:"text-muted-foreground",children:l.at}),s.jsx("span",{className:l.type==="disconnected"||l.type==="linkCrcError"||l.type==="sequenceError"||l.type==="trash"?"text-destructive":"text-foreground",children:l.type}),s.jsx("span",{className:"text-muted-foreground",children:l.detail})]},l.id))]})})]})}function Ze(){const{variant:e}=ge(),r=we(),{device:t,identity:l}=te(),{log:o,clear:n}=Xe(t);if(!t||!l)return s.jsx(J,{page:"device",children:null});const c=s.jsx(X,{title:"Identity",description:l.mode==="bootloader"?"bootloader":void 0,children:s.jsx(Ye,{})}),i=s.jsx(X,{title:"Actions",description:r?"reset & bootloader are Pro tools":void 0,children:s.jsx(Fe,{device:t,danger:r})}),d=r?s.jsx(X,{pro:!0,title:"Event log",description:"Raw device events (dev.onEvent)",className:"min-w-0",children:s.jsx($e,{log:o,onClear:n,className:e===2?"h-[28rem]":"h-96"})}):null;return s.jsx(J,{page:"device",children:e===3?s.jsxs("div",{className:"space-y-10",children:[c,i,d]}):s.jsxs("div",{className:r?"grid gap-6 lg:grid-cols-[minmax(0,20rem)_1fr]":"grid max-w-xl gap-6",style:e===2?{gap:"0.5rem"}:void 0,children:[s.jsxs("div",{className:e===2?"grid gap-2":"space-y-6",children:[c,i]}),d]})})}export{Ze as component};

depz_sensor_viewer-0.1.0/depz_sensor_viewer/_static/assets/_shell.sr04-CBRbeLBo.js

@@ -0,0 +1 @@
+import{N as u,j as s,k as n,B as h}from"./index-24Jof1S1.js";import{c as p,d as a,e as l,f as o,g as c,h as x,a as d,i as f,u as S,s as N}from"./sr04-CR_LdUR2.js";import{D as v,a as w,S as D,b,c as y,d as g,e as B}from"./drawer-tp8Ve4XX.js";import{a as C,V as t,f as V,g as F}from"./index-BWsQo9z2.js";import"./toggle-group-B78YQPsC.js";import"./select-CpZwi1z4.js";function E(){const{variant:e}=u(),r=p();return s.jsx(C,{page:"sr04",children:r?e===2?s.jsx(T,{page:r}):e===3?s.jsx(k,{page:r}):s.jsx(P,{page:r}):s.jsx("p",{className:"text-sm text-muted-foreground",children:"The connected device is not an SR04 sensor."})})}function j({page:e}){const r=n(),m=S(e.ring,e.windowMs);return s.jsx(V,{children:N(m,r).map(i=>s.jsx(F,{label:i.label,value:i.value,sub:i.sub},i.label))})}function P({page:e}){const r=n();return s.jsxs("div",{className:"grid gap-6",children:[s.jsx(t,{title:"Distance",description:"Live strip chart · timeouts marked red in the bottom lane",actions:s.jsxs(s.Fragment,{children:[s.jsx(l,{page:e}),s.jsx(o,{page:e}),r&&s.jsx(c,{page:e}),r&&s.jsx(x,{page:e})]}),children:s.jsx(a,{page:e,className:"h-72 w-full"})}),s.jsx(j,{page:e}),s.jsx(t,{pro:!0,title:"Sensor settings",description:"Applied immediately; the loop picks them up on the fly.",children:s.jsx(d,{sr04:e.sr04})})]})}function T({page:e}){const r=n();return s.jsxs("div",{className:"grid gap-2",children:[s.jsx(t,{title:"SR04 // Range telemetry",flush:!0,actions:s.jsxs(s.Fragment,{children:[s.jsx("span",{className:"v2-led mr-1","data-on":e.looping,title:e.looping?"loop running":"loop stopped"}),s.jsx(l,{page:e}),s.jsx(o,{page:e}),r&&s.jsx(c,{page:e}),r&&s.jsx(x,{page:e})]}),children:s.jsx(a,{page:e,className:"h-[22rem] w-full"})}),s.jsx(j,{page:e}),s.jsx(t,{pro:!0,title:"Acquisition parameters",description:"applied live",children:s.jsx(d,{sr04:e.sr04})})]})}function k({page:e}){const r=n();return s.jsxs(s.Fragment,{children:[s.jsx(f,{page:e,className:"text-center"}),s.jsxs("div",{className:"flex flex-wrap items-center justify-center gap-3",children:[s.jsx(o,{page:e,size:"lg",className:"h-12 rounded-full px-8"}),s.jsx(l,{page:e}),r&&s.jsx(c,{page:e}),r&&s.jsx(x,{page:e}),r&&s.jsxs(v,{children:[s.jsx(w,{asChild:!0,children:s.jsxs(h,{variant:"outline",size:"sm",className:"rounded-full",children:[s.jsx(D,{className:"size-4"}),"Settings"]})}),s.jsx(b,{children:s.jsxs("div",{className:"mx-auto w-full max-w-2xl pb-8",children:[s.jsxs(y,{children:[s.jsx(g,{children:"Sensor settings"}),s.jsx(B,{children:"Applied immediately; the loop picks them up on the fly."})]}),s.jsx("div",{className:"px-4",children:s.jsx(d,{sr04:e.sr04})})]})})]})]}),s.jsx(t,{title:"",className:"mt-2",children:s.jsx(a,{page:e,className:"h-64 w-full"})}),s.jsx("div",{className:"flex justify-center",children:s.jsx(j,{page:e})})]})}export{E as component};

depz_sensor_viewer-0.1.0/depz_sensor_viewer/_static/assets/_shell.vl53l8-BZzrVhll.js

@@ -0,0 +1 @@
+import{a1 as g,j as e,N as p,k as v,r as V,B as S}from"./index-24Jof1S1.js";import{V as c,H as w}from"./vl53l8-heatmap-CK6xdPbq.js";import{e as h,u as N,b,a as x,V as d,d as o,c as u}from"./vl53l8-CSnMy9IO.js";import{D as y,a as L,S as D,b as C,c as z,d as F,e as M}from"./drawer-tp8Ve4XX.js";import{S as T,b as B,d as H,e as A,f as P}from"./select-CpZwi1z4.js";import{a as E,V as n,f as G,g as R}from"./index-BWsQo9z2.js";import"./toggle-group-B78YQPsC.js";function Q(){const{identity:a,vl53l8:s,vl53l8SdkMissing:l}=g();let t;return s?t=e.jsx(k,{dev:s}):l?t=e.jsx(h,{}):a?.sensorType!=="vl53l8"?t=e.jsx("p",{className:"text-sm text-muted-foreground",children:"The connected device is not a VL53L8 sensor."}):t=e.jsx(h,{}),e.jsx(E,{page:"vl53l8",children:t})}function k({dev:a}){const{variant:s}=p(),l=v(),t=N(a),[f,i]=V.useState("distance"),r=l?f:"distance";return t.state.phase!=="ready"?e.jsx(n,{title:"VL53L8 initialization",description:"firmware upload over USB",children:e.jsx(b,{session:t,pro:l})}):s===2?e.jsx($,{session:t,pro:l,layer:r,setLayer:i}):s===3?e.jsx(I,{session:t,pro:l,layer:r,setLayer:i}):e.jsx(q,{session:t,pro:l,layer:r,setLayer:i})}function m({layer:a,setLayer:s}){return e.jsxs(T,{value:a,onValueChange:l=>s(l),children:[e.jsx(B,{className:"h-8 w-36 text-xs",children:e.jsx(H,{})}),e.jsx(A,{children:w.map(l=>e.jsx(P,{value:l.value,className:"text-xs",children:l.label},l.value))})]})}function j({session:a,pro:s}){const l=a.frame,t=a.state.config,i=[{label:"Grid",value:t.resolution===64?"8×8":"4×4",sub:`${t.frequencyHz} Hz target`},{label:"Frames",value:String(a.state.frameCount)},{label:"Silicon temp",value:l?`${l.siliconTempDegc.toFixed(0)} °C`:"—"}];return s&&i.push({label:"Mode",value:t.rangingMode===3?"Autonomous":"Continuous"},{label:"Integration",value:`${t.integrationMs} ms`},{label:"Sharpener",value:`${t.sharpenerPct} %`}),e.jsx(G,{children:i.map(r=>e.jsx(R,{label:r.label,value:r.value,sub:r.sub},r.label))})}function q({session:a,pro:s,layer:l,setLayer:t}){return e.jsxs("div",{className:"grid gap-6",children:[e.jsx(n,{title:"Zone heatmap",description:"Hover a cell for the full zone readout",actions:e.jsxs(e.Fragment,{children:[s&&e.jsx(m,{layer:l,setLayer:t}),e.jsx(x,{session:a}),e.jsx(d,{session:a}),s&&e.jsx(o,{session:a})]}),children:e.jsx(c,{session:a,layer:l,showGlyphs:s,className:"mx-auto aspect-square w-full max-w-xl"})}),e.jsx(j,{session:a,pro:s}),e.jsx(n,{title:"Ranging configuration",description:"Applied immediately",children:e.jsx(u,{session:a,pro:s})})]})}function $({session:a,pro:s,layer:l,setLayer:t}){return e.jsxs("div",{className:"grid gap-2 xl:grid-cols-[minmax(0,1.4fr)_minmax(0,1fr)]",children:[e.jsx(n,{title:"VL53L8 // zone matrix",flush:!0,className:"xl:row-span-2",actions:e.jsxs(e.Fragment,{children:[e.jsx("span",{className:"v2-led mr-1","data-on":a.state.ranging}),s&&e.jsx(m,{layer:l,setLayer:t}),e.jsx(x,{session:a}),e.jsx(d,{session:a})]}),children:e.jsx(c,{session:a,layer:l,showGlyphs:s,className:"aspect-square w-full"})}),e.jsxs("div",{className:"grid gap-2",children:[e.jsx(j,{session:a,pro:s}),e.jsx(n,{title:"Ranging parameters",actions:s?e.jsx(o,{session:a}):void 0,children:e.jsx(u,{session:a,pro:s})})]})]})}function I({session:a,pro:s,layer:l,setLayer:t}){return e.jsxs(e.Fragment,{children:[e.jsx("div",{className:"text-center",children:e.jsxs("p",{className:"text-xs font-medium uppercase tracking-[0.2em] text-muted-foreground",children:["VL53L8 · ",a.state.config.resolution===64?"8×8":"4×4"," time-of-flight"]})}),e.jsx(c,{session:a,layer:l,showGlyphs:s,className:"mx-auto aspect-square w-full max-w-2xl"}),e.jsxs("div",{className:"flex flex-wrap items-center justify-center gap-3",children:[e.jsx(d,{session:a,size:"lg",className:"h-12 rounded-full px-8"}),s&&e.jsx(m,{layer:l,setLayer:t}),e.jsx(x,{session:a}),s&&e.jsx(o,{session:a}),e.jsxs(y,{children:[e.jsx(L,{asChild:!0,children:e.jsxs(S,{variant:"outline",size:"sm",className:"rounded-full",children:[e.jsx(D,{className:"size-4"}),"Settings"]})}),e.jsx(C,{children:e.jsxs("div",{className:"mx-auto w-full max-w-2xl pb-8",children:[e.jsxs(z,{children:[e.jsx(F,{children:"Ranging configuration"}),e.jsx(M,{children:"Applied immediately."})]}),e.jsx("div",{className:"px-4",children:e.jsx(u,{session:a,pro:s})})]})})]})]}),e.jsx("div",{className:"flex justify-center",children:e.jsx(j,{session:a,pro:s})})]})}export{Q as component};

depz_sensor_viewer-0.1.0/depz_sensor_viewer/_static/assets/bno086-BdGSxQhT.js

@@ -0,0 +1 @@
+import{ar as U,aq as at,at as k,as as it,ax as ot}from"./index-24Jof1S1.js";var T=(t=>(t[t.SensorReset=50]="SensorReset",t[t.SensorWakeUp=51]="SensorWakeUp",t[t.SendShtpPacket=52]="SendShtpPacket",t))(T||{}),Q=(t=>(t[t.Data=145]="Data",t))(Q||{});const ee=2,ne=64,ct=200;function ut(t){const e=new DataView(t.buffer,t.byteOffset,t.byteLength);return{cmd:e.getUint8(0),timestampUs:e.getBigUint64(1,!0),shtp:t.subarray(9)}}const X=7119,I=1155,Z=22236,lt=60536,ft=65535,V={60536:{name:"sr04",sensorType:"sr04"},60736:{name:"vl53l8ch",sensorType:"vl53l8"},60737:{name:"vl53l0x",sensorType:null},60738:{name:"vl53l1cb",sensorType:null},60739:{name:"vl53l1cx",sensorType:null},60740:{name:"vl53l3cx",sensorType:null},60741:{name:"vl53l4cd",sensorType:null},60742:{name:"vl53l4cx",sensorType:null},60743:{name:"vl53l4ed",sensorType:null},60744:{name:"vl53l5cx",sensorType:null},60745:{name:"vl53l7cx",sensorType:null},60746:{name:"vl53l7ch",sensorType:null},60747:{name:"vl53l8cx",sensorType:"vl53l8"},60936:{name:"bno086",sensorType:"bno086"},60937:{name:"bno085",sensorType:null},60938:{name:"bno055",sensorType:null}};function re(t,e){return t==null||e==null?!1:t===I&&e===Z?!0:t!==X?!1:e in V?!0:e>=lt&&e<=ft}function se(t){return t==null?null:V[t]??null}function ae(t,e){return t==null||e==null?null:t===I&&e===Z?"dev":t===X?V[e]?.name??null:null}var b=(t=>(t[t.Accelerometer=1]="Accelerometer",t[t.Gyroscope=2]="Gyroscope",t[t.Magnetometer=3]="Magnetometer",t[t.LinearAcceleration=4]="LinearAcceleration",t[t.RotationVector=5]="RotationVector",t[t.Gravity=6]="Gravity",t[t.UncalibratedGyroscope=7]="UncalibratedGyroscope",t[t.GameRotationVector=8]="GameRotationVector",t[t.GeomagneticRotationVector=9]="GeomagneticRotationVector",t[t.Pressure=10]="Pressure",t[t.AmbientLight=11]="AmbientLight",t[t.Humidity=12]="Humidity",t[t.Proximity=13]="Proximity",t[t.Temperature=14]="Temperature",t[t.UncalibratedMagnetometer=15]="UncalibratedMagnetometer",t[t.TapDetector=16]="TapDetector",t[t.StepCounter=17]="StepCounter",t[t.SignificantMotion=18]="SignificantMotion",t[t.StabilityClassifier=19]="StabilityClassifier",t[t.RawAccelerometer=20]="RawAccelerometer",t[t.RawGyroscope=21]="RawGyroscope",t[t.RawMagnetometer=22]="RawMagnetometer",t[t.StepDetector=24]="StepDetector",t[t.ShakeDetector=25]="ShakeDetector",t[t.FlipDetector=26]="FlipDetector",t[t.PickupDetector=27]="PickupDetector",t[t.StabilityDetector=28]="StabilityDetector",t[t.PersonalActivityClassifier=30]="PersonalActivityClassifier",t[t.SleepDetector=31]="SleepDetector",t[t.TiltDetector=32]="TiltDetector",t[t.PocketDetector=33]="PocketDetector",t[t.CircleDetector=34]="CircleDetector",t[t.HeartRateMonitor=35]="HeartRateMonitor",t[t.ArvrStabilizedRv=40]="ArvrStabilizedRv",t[t.ArvrStabilizedGameRv=41]="ArvrStabilizedGameRv",t[t.GyroIntegratedRv=42]="GyroIntegratedRv",t))(b||{});const j=251,ht=250,gt={1:8,4:8,6:8,2:9,7:9,3:4,15:4,5:14,8:14,9:14,40:14,41:14,42:14,10:20,11:8,12:8,13:4,14:7,20:0,21:0,22:0},mt=12,P=10,yt={1:10,2:10,3:10,4:10,5:14,6:10,7:16,8:12,9:14,10:8,11:8,12:6,13:6,14:6,15:16,16:5,17:12,18:6,19:6,20:16,21:16,22:16,24:8,25:6,26:6,27:8,28:6,30:16,31:6,32:6,33:6,34:6,35:6,40:14,41:12,42:14},wt={0:"unknown",1:"on_table",2:"stationary",3:"stable",4:"motion"},pt={0:"unknown",1:"in_vehicle",2:"on_bicycle",3:"on_foot",4:"still",5:"tilting",6:"walking",7:"running",8:"on_stairs"};function h(t,e){return t/(1<<e)}function M(t){return new DataView(t.buffer,t.byteOffset,t.byteLength)}function Rt(t,e){const n=[],r=M(t);let s=e,o=0;const a=t.length;for(;o<a;){const i=t[o];if(i===j&&o+5<=a){const q=r.getInt32(o+1,!0);s=e-BigInt(q)*100n,o+=5;continue}if(i===ht&&o+5<=a){const q=r.getInt32(o+1,!0);s+=BigInt(q)*100n,o+=5;continue}const u=yt[i];if(u===void 0||o+u>a){n.push({type:"UnknownReport",sensorId:i,timestampUs:s,data:t.slice(o)});break}const c=t.subarray(o,o+u),l=c[1],f=c[2],m=c[3],d=f&3,g=(f>>2<<8|m)*100,D=s+BigInt(g);n.push(dt(i,c,D,l,d,g)),o+=u}return n}function dt(t,e,n,r,s,o){const a=M(e),i={sensorId:t,timestampUs:n,seq:r,accuracy:s,delayUs:o},u=gt[t]??0;switch(t){case 1:case 4:case 6:{const[c,l,f]=[a.getInt16(4,!0),a.getInt16(6,!0),a.getInt16(8,!0)];return{type:"Acceleration",...i,xRaw:c,yRaw:l,zRaw:f,x:h(c,u),y:h(l,u),z:h(f,u)}}case 2:{const[c,l,f]=[a.getInt16(4,!0),a.getInt16(6,!0),a.getInt16(8,!0)];return{type:"Gyroscope",...i,xRaw:c,yRaw:l,zRaw:f,x:h(c,u),y:h(l,u),z:h(f,u)}}case 3:{const[c,l,f]=[a.getInt16(4,!0),a.getInt16(6,!0),a.getInt16(8,!0)];return{type:"Magnetometer",...i,xRaw:c,yRaw:l,zRaw:f,x:h(c,u),y:h(l,u),z:h(f,u)}}case 7:case 15:{const c=a.getInt16(4,!0),l=a.getInt16(6,!0),f=a.getInt16(8,!0),m=a.getInt16(10,!0),d=a.getInt16(12,!0),g=a.getInt16(14,!0),D={...i,xRaw:c,yRaw:l,zRaw:f,biasXRaw:m,biasYRaw:d,biasZRaw:g,x:h(c,u),y:h(l,u),z:h(f,u),bias:[h(m,u),h(d,u),h(g,u)]};return t===7?{type:"UncalibratedGyroscope",...D}:{type:"UncalibratedMagnetometer",...D}}case 5:case 9:case 40:case 8:case 41:{const c=a.getInt16(4,!0),l=a.getInt16(6,!0),f=a.getInt16(8,!0),m=a.getInt16(10,!0),g=t!==8&&t!==41?a.getInt16(12,!0):null;return{type:"RotationVector",...i,iRaw:c,jRaw:l,kRaw:f,realRaw:m,accuracyRaw:g,i:h(c,14),j:h(l,14),k:h(f,14),real:h(m,14),accuracyRad:g===null?null:h(g,mt)}}case 10:case 11:{const c=a.getUint32(4,!0);return{type:"ScalarReport",...i,valueRaw:c,value:h(c,u)}}case 12:case 13:{const c=a.getUint16(4,!0);return{type:"ScalarReport",...i,valueRaw:c,value:h(c,u)}}case 14:{const c=a.getInt16(4,!0);return{type:"ScalarReport",...i,valueRaw:c,value:h(c,u)}}case 16:{const c=e[4];return{type:"TapDetector",...i,flags:c,doubleTap:(c&64)!==0}}case 17:return{type:"StepCounter",...i,latencyUs:a.getUint32(4,!0),steps:a.getUint16(8,!0)};case 24:return{type:"StepDetector",...i,latencyUs:a.getUint32(4,!0)};case 18:return{type:"SignificantMotion",...i,motion:a.getUint16(4,!0)};case 19:{const c=e[4];return{type:"StabilityClassifier",...i,classification:c,name:wt[c]??String(c)}}case 25:return{type:"ShakeDetector",...i,flags:a.getUint16(4,!0)};case 30:{const c=e[5];return{type:"PersonalActivityClassifier",...i,pageNumber:e[4]&127,endOfSequence:(e[4]&128)!==0,mostLikelyState:c,confidences:Array.from(e.subarray(6,16)),mostLikelyName:pt[c]??String(c)}}case 20:case 22:return{type:"RawSensor",...i,xRaw:a.getInt16(4,!0),yRaw:a.getInt16(6,!0),zRaw:a.getInt16(8,!0),sensorTimestampUs:a.getUint32(12,!0),temperatureRaw:0};case 21:return{type:"RawSensor",...i,xRaw:a.getInt16(4,!0),yRaw:a.getInt16(6,!0),zRaw:a.getInt16(8,!0),sensorTimestampUs:a.getUint32(12,!0),temperatureRaw:a.getInt16(10,!0)};default:return{type:"GenericEvent",...i,valueRaw:a.getUint16(4,!0)}}}function vt(t,e){let n=e,r=t;if(t.length>=1&&t[0]===j){if(t.length<21)return null;const m=M(t),d=m.getInt32(1,!0),g=m.getUint16(5,!0);n=e-BigInt(d)*100n+BigInt(g)*100n,r=t.subarray(7)}if(r.length<14)return null;const s=M(r),o=s.getInt16(0,!0),a=s.getInt16(2,!0),i=s.getInt16(4,!0),u=s.getInt16(6,!0),c=s.getInt16(8,!0),l=s.getInt16(10,!0),f=s.getInt16(12,!0);return{type:"GyroIntegratedRV",sensorId:42,timestampUs:n,iRaw:o,jRaw:a,kRaw:i,realRaw:u,vxRaw:c,vyRaw:l,vzRaw:f,i:h(o,14),j:h(a,14),k:h(i,14),real:h(u,14),angularVelocity:[h(c,P),h(l,P),h(f,P)]}}class R extends U{}var A=(t=>(t[t.CommandResponse=241]="CommandResponse",t[t.CommandRequest=242]="CommandRequest",t[t.FrsReadResponse=243]="FrsReadResponse",t[t.FrsReadRequest=244]="FrsReadRequest",t[t.FrsWriteResponse=245]="FrsWriteResponse",t[t.FrsWriteData=246]="FrsWriteData",t[t.FrsWriteRequest=247]="FrsWriteRequest",t[t.ProductIdResponse=248]="ProductIdResponse",t[t.ProductIdRequest=249]="ProductIdRequest",t[t.GetFeatureResponse=252]="GetFeatureResponse",t[t.SetFeatureCommand=253]="SetFeatureCommand",t[t.GetFeatureRequest=254]="GetFeatureRequest",t))(A||{}),w=(t=>(t[t.Errors=1]="Errors",t[t.Counter=2]="Counter",t[t.Tare=3]="Tare",t[t.Initialize=4]="Initialize",t[t.SaveDcd=6]="SaveDcd",t[t.MeCalibrate=7]="MeCalibrate",t[t.PeriodicDcdConfig=9]="PeriodicDcdConfig",t[t.GetOscillatorType=10]="GetOscillatorType",t[t.ClearDcdAndReset=11]="ClearDcdAndReset",t))(w||{}),bt=(t=>(t[t.Internal=0]="Internal",t[t.ExtCrystal=1]="ExtCrystal",t[t.ExtClock=2]="ExtClock",t))(bt||{}),Y=(t=>(t[t.MotionEngine=1]="MotionEngine",t[t.MotionHub=2]="MotionHub",t[t.SensorHub=3]="SensorHub",t[t.Chip=4]="Chip",t[t.NoMoreErrors=255]="NoMoreErrors",t))(Y||{});const Ut=0,At=1;function Dt(t){return Uint8Array.of(Ut,t&255)}function Et(t){return Uint8Array.of(At,t&255)}function Tt(t=0){return Uint8Array.of(t&255)}function Ct(t){const e=t.r;return{severity:e[0],seq:e[1],source:e[2],error:e[3],module:e[4],code:e[5]}}var K=(t=>(t[t.RotationVector=0]="RotationVector",t[t.GameRotationVector=1]="GameRotationVector",t[t.GeomagneticRotationVector=2]="GeomagneticRotationVector",t[t.GyroIntegratedRv=3]="GyroIntegratedRv",t[t.ArvrStabilizedRv=4]="ArvrStabilizedRv",t[t.ArvrStabilizedGameRv=5]="ArvrStabilizedGameRv",t))(K||{}),F=(t=>(t[t.X=1]="X",t[t.Y=2]="Y",t[t.Z=4]="Z",t[t.All=7]="All",t))(F||{});function C(t){return t.toString(16).toUpperCase().padStart(2,"0")}function J(t){return t.toString(16).toUpperCase().padStart(4,"0")}function x(t){return new DataView(t.buffer,t.byteOffset,t.byteLength)}function O(t,e,n=0,r=0,s=0,o=0){const a=new Uint8Array(17),i=new DataView(a.buffer);return i.setUint8(0,253),i.setUint8(1,t),i.setUint8(2,s&255),i.setUint16(3,r&65535,!0),i.setUint32(5,e>>>0,!0),i.setUint32(9,n>>>0,!0),i.setUint32(13,o>>>0,!0),a}function Mt(t){return Uint8Array.of(254,t)}function N(t){const e=x(t),n=e.getUint8(0);if(n!==252)throw new R(`not a get-feature response: 0x${C(n)}`);return{sensorId:e.getUint8(1),flags:e.getUint8(2),sensitivity:e.getUint16(3,!0),intervalUs:e.getUint32(5,!0),batchUs:e.getUint32(9,!0),cfgWord:e.getUint32(13,!0)}}function xt(){return Uint8Array.of(249,0)}function qt(t){const e=x(t),n=e.getUint8(0);if(n!==248)throw new R(`not a product-id response: 0x${C(n)}`);const r=e.getUint8(2),s=e.getUint8(3),o=e.getUint16(12,!0);return{resetCause:e.getUint8(1),swVersionMajor:r,swVersionMinor:s,swPartNumber:e.getUint32(4,!0),swBuildNumber:e.getUint32(8,!0),swVersionPatch:o,version:`${r}.${s}.${o}`}}function z(t,e,n=new Uint8Array(0)){if(n.length>9)throw new Error("command request carries at most 9 parameter bytes");const r=new Uint8Array(12);return r[0]=242,r[1]=t&255,r[2]=e,r.set(n,3),r}function L(t){if(t[0]!==241)throw new R(`not a command response: 0x${C(t[0])}`);const e=Array.from(t.subarray(5,16));return{seq:t[1],command:t[2],commandSeq:t[3],responseSeq:t[4],r:e,status:e[0]}}function kt(t=7,e=0){return Uint8Array.of(0,t,e)}function Pt(){return Uint8Array.of(1)}function _t(t,e,n,r){const s=[t,e,n,r].map(i=>Math.round(i*16384));for(const i of s)if(i<-32768||i>32767)throw new Error("quaternion component out of Q14 int16 range");const o=new Uint8Array(9),a=new DataView(o.buffer);return a.setUint8(0,2),s.forEach((i,u)=>a.setInt16(1+u*2,i,!0)),o}function S(t,e,n,r=!1,s=0){return Uint8Array.of(Number(t),Number(e),Number(n),s,Number(r))}const Gt=1;function Vt(t){return Uint8Array.of(t?0:1)}var Ot=(t=>(t[t.StaticCalibrationAgm=31097]="StaticCalibrationAgm",t[t.NominalCalibration=19789]="NominalCalibration",t[t.DynamicCalibration=7967]="DynamicCalibration",t[t.MePowerMgmt=54242]="MePowerMgmt",t[t.SystemOrientation=11582]="SystemOrientation",t[t.AccelOrientation=11585]="AccelOrientation",t[t.GyroscopeOrientation=11590]="GyroscopeOrientation",t[t.MagnetometerOrientation=11596]="MagnetometerOrientation",t[t.ArvrStabilizationRv=15917]="ArvrStabilizationRv",t[t.ArvrStabilizationGrv=15918]="ArvrStabilizationGrv",t[t.SigMotionDetectConfig=49780]="SigMotionDetectConfig",t[t.ShakeDetectConfig=32125]="ShakeDetectConfig",t[t.StabilityDetectorConfig=60805]="StabilityDetectorConfig",t[t.ActivityTrackerConfig=60808]="ActivityTrackerConfig",t))(Ot||{});const Nt={20:58113,1:58114,4:58115,6:58116,21:58117,2:58118,7:58119,22:58120,3:58121,15:58122,5:58123,8:58124,9:58125,16:58131,24:58132,17:58133,18:58134,19:58135,25:58136,30:58140,40:58146,41:58147,42:58148};var tt=(t=>(t[t.NoError=0]="NoError",t[t.UnrecognizedFrsType=1]="UnrecognizedFrsType",t[t.Busy=2]="Busy",t[t.ReadCompleted=3]="ReadCompleted",t[t.OffsetOutOfRange=4]="OffsetOutOfRange",t[t.RecordEmpty=5]="RecordEmpty",t[t.BlockCompleted=6]="BlockCompleted",t[t.BlockAndReadCompleted=7]="BlockAndReadCompleted",t[t.DeviceError=8]="DeviceError",t))(tt||{}),et=(t=>(t[t.WordsReceived=0]="WordsReceived",t[t.UnrecognizedFrsType=1]="UnrecognizedFrsType",t[t.Busy=2]="Busy",t[t.WriteCompleted=3]="WriteCompleted",t[t.WriteModeReady=4]="WriteModeReady",t[t.WriteFailed=5]="WriteFailed",t[t.NotInWriteMode=6]="NotInWriteMode",t[t.InvalidLength=7]="InvalidLength",t[t.RecordValid=8]="RecordValid",t[t.RecordInvalid=9]="RecordInvalid",t))(et||{});function zt(t,e=0,n=0){const r=new Uint8Array(8),s=new DataView(r.buffer);return s.setUint8(0,244),s.setUint8(1,0),s.setUint16(2,e,!0),s.setUint16(4,t,!0),s.setUint16(6,n,!0),r}function Lt(t){const e=x(t),n=e.getUint8(0);if(n!==243)throw new R(`not an FRS read response: 0x${C(n)}`);const r=e.getUint8(1);return{status:r&15,dataLength:r>>4,offsetWords:e.getUint16(2,!0),data0:e.getUint32(4,!0),data1:e.getUint32(8,!0),frsType:e.getUint16(12,!0)}}function St(t,e){const n=new Uint8Array(6),r=new DataView(n.buffer);return r.setUint8(0,247),r.setUint8(1,0),r.setUint16(2,e,!0),r.setUint16(4,t,!0),n}function $t(t,e){if(e.length<1||e.length>2)throw new Error("FRS write data carries 1 or 2 words");const n=new Uint8Array(12),r=new DataView(n.buffer);return r.setUint8(0,246),r.setUint8(1,0),r.setUint16(2,t,!0),r.setUint32(4,e[0]>>>0,!0),r.setUint32(8,(e[1]??0)>>>0,!0),n}function Bt(t){const e=x(t),n=e.getUint8(0);if(n!==245)throw new R(`not an FRS write response: 0x${C(n)}`);return{status:e.getUint8(1),offsetWords:e.getUint16(2,!0)}}const Wt=new Set([1,2,4,5,8]);class Ht{frsType;words=[];done=!1;constructor(e){this.frsType=e}request(){return zt(this.frsType)}feed(e){if(e.frsType!==this.frsType)return this.done;if(Wt.has(e.status))throw new R(`FRS read 0x${J(this.frsType)} failed: ${tt[e.status]??e.status}`);for(const n of[e.data0,e.data1].slice(0,e.dataLength))this.words.push(n);return(e.status===3||e.status===7)&&(this.done=!0),this.done}}const Qt=new Set([1,2,5,6,7,9]);class Xt{frsType;words;offset=0;done=!1;constructor(e,n){this.frsType=e,this.words=n}request(){return St(this.frsType,this.words.length)}nextData(){if(this.offset>=this.words.length)return null;const e=this.words.slice(this.offset,this.offset+2),n=$t(this.offset,e);return this.offset+=e.length,n}feed(e){if(Qt.has(e.status))throw new R(`FRS write 0x${J(this.frsType)} failed: ${et[e.status]??e.status}`);return e.status===3?(this.done=!0,null):e.status===4||e.status===0?this.nextData():null}}function It(t){const e=[...t];for(;e.length<10;)e.push(0);const n=e[3]&65535;return{meVersion:e[0]&255,mhVersion:e[0]>>>8&255,shVersion:e[0]>>>16&255,rangeRaw:e[1],resolutionRaw:e[2],revision:n,powerMaQ10:e[3]>>>16&65535,minPeriodUs:e[4],fifoMax:e[5]&65535,fifoReserved:e[5]>>>16&65535,batchBufferBytes:e[6]&65535,qPoint1:e[7]&65535,qPoint2:e[7]>>>16&65535,qPoint3:n>=3?e[8]>>>16&65535:0,maxPeriodUs:n>=4?e[9]:0,rawWords:[...t]}}var y=(t=>(t[t.Command=0]="Command",t[t.Executable=1]="Executable",t[t.Control=2]="Control",t[t.InputNormal=3]="InputNormal",t[t.InputWake=4]="InputWake",t[t.GyroRv=5]="GyroRv",t))(y||{});const v=4,nt=32767,rt=32768,E=6,G=64;function st(t){const e=t.length&nt|(t.continuation?rt:0),n=new Uint8Array(v),r=new DataView(n.buffer);return r.setUint16(0,e,!0),r.setUint8(2,t.channel),r.setUint8(3,t.seq),n}function Zt(t){const e=new DataView(t.buffer,t.byteOffset,t.byteLength),n=e.getUint16(0,!0);return{length:n&nt,channel:e.getUint8(2),seq:e.getUint8(3),continuation:(n&rt)!==0}}function jt(t,e,n){const r=st({length:v+e.length,channel:t,seq:n&255,continuation:!1}),s=new Uint8Array(r.length+e.length);return s.set(r,0),s.set(e,r.length),s}function ie(t,e,n,r=G){if(r<=v)throw new Error("maxFrame must exceed the 4-byte SHTP header");const s=r-v,o=[];let a=0,i=n&255;const u=v+e.length;for(;;){const c=e.subarray(a,a+s),l=u-a,f=st({length:l,channel:t,seq:i,continuation:a>0}),m=new Uint8Array(f.length+c.length);if(m.set(f,0),m.set(c,f.length),o.push(m),a+=c.length,i=i+1&255,a>=e.length)return o}}function $(){return{chunks:[],received:0,expected:0,seq:0}}function Yt(t,e){const n=new Uint8Array(e);let r=0;for(const s of t)n.set(s,r),r+=s.length;return n}class Kt{discarded=0;txSeqs=new Array(E).fill(0);rx=Array.from({length:E},$);nextFrame(e,n){if(v+n.length>G)throw new Error(`TX cargo ${n.length}B exceeds the ${G}B MCU slot`);const r=this.txSeqs[e];return this.txSeqs[e]=r+1&255,jt(e,n,r)}txSeq(e){return this.txSeqs[e]}feed(e){if(e.length<v)return null;const n=Zt(e);if(n.channel>=E||n.length<v)return null;const r=e.subarray(v),s=this.rx[n.channel];if(!n.continuation)s.expected!==0&&s.received!==0&&(this.discarded+=1),s.chunks=[r.slice()],s.received=r.length,s.expected=n.length-v,s.seq=n.seq;else{if(s.expected===0)return this.discarded+=1,null;s.chunks.push(r.slice()),s.received+=r.length}if(s.received<s.expected)return null;if(s.received>s.expected)return this.discarded+=1,s.chunks=[],s.received=0,s.expected=0,null;const o={channel:n.channel,seq:s.seq,payload:Yt(s.chunks,s.received)};return s.chunks=[],s.received=0,s.expected=0,o}reset(){this.txSeqs=new Array(E).fill(0),this.rx=Array.from({length:E},$)}}const B=.9,W=2.1,Ft=1,p=1e3,_=2e3;function Jt(t){return new Promise(e=>setTimeout(e,t))}function H(t){return t==null?null:typeof t=="number"?new Set([t]):new Set(t)}class oe extends at{busyRetries=5;busyBackoffMs=ct;shtp=new Kt;txChain=Promise.resolve();reportCbs=[];reportQueues=[];controlWaiters=new Map;cmdSeq=0;resetResolvers=[];advertisementChunks=[];features=new Map;constructor(e,n){super(e,n),n?.busyRetries!==void 0&&(this.busyRetries=n.busyRetries),n?.busyBackoffMs!==void 0&&(this.busyBackoffMs=n.busyBackoffMs)}handleReport(e){if(e.cmd!==Q.Data||e.payload.length<9)return!1;const n=ut(e.payload),r=this.shtp.feed(n.shtp);return r!==null&&this.dispatchCargo(r,n.timestampUs),!0}dispatchCargo(e,n){switch(e.channel){case y.Command:this.advertisementChunks.push(e.payload);return;case y.Executable:if(e.payload[0]===Ft)for(const r of this.resetResolvers.splice(0))r();return;case y.Control:{if(e.payload.length===0)return;const r=e.payload[0];if(r===A.GetFeatureResponse&&e.payload.length>=17){const s=N(e.payload);this.features.set(s.sensorId,s)}for(const s of[...this.controlWaiters.get(r)??[]])s(e.payload.slice());return}case y.InputNormal:case y.InputWake:for(const r of Rt(e.payload,n))this.emitReport(r);return;case y.GyroRv:{const r=vt(e.payload,n);r!==null&&this.emitReport(r);return}}}emitReport(e){for(const{cb:n,filter:r}of[...this.reportCbs])(r===null||r.has(e.sensorId))&&n(e);for(const{queue:n,filter:r}of[...this.reportQueues])(r===null||r.has(e.sensorId))&&n.push(e)}sendShtp(e,n){const r=this.shtp.nextFrame(e,n),s=async()=>{for(let a=0;;a++)try{await this.request(T.SendShtpPacket,r,{okCompletes:!0});return}catch(i){if(!(i instanceof ot)||a>=this.busyRetries-1)throw i;await Jt(this.busyBackoffMs)}},o=this.txChain.then(s);return this.txChain=o.catch(()=>{}),o}controlExchange(e,n,r,s){return new Promise((o,a)=>{let i=!1;const u=()=>{clearTimeout(f);const g=this.controlWaiters.get(e);g!==void 0&&this.controlWaiters.set(e,g.filter(D=>D!==m))},c=g=>{i||(i=!0,u(),o(g))},l=g=>{i||(i=!0,u(),a(g))},f=setTimeout(()=>l(new k(e,n)),n),m=g=>r(g,c,l),d=this.controlWaiters.get(e)??[];d.push(m),this.controlWaiters.set(e,d),s().catch(g=>l(g instanceof Error?g:new U(String(g))))})}controlRequest(e,n,r,s,o=p){return this.controlExchange(n,o,(a,i,u)=>{let c;try{c=r(a)}catch(l){u(l instanceof Error?l:new U(String(l)));return}(s===void 0||s(c))&&i(c)},()=>this.sendShtp(y.Control,e))}nextCmdSeq(){const e=this.cmdSeq;return this.cmdSeq=e+1&255,e}async command(e,n,r,s=p){const o=this.nextCmdSeq(),a=z(o,e,n);return r?this.controlRequest(a,A.CommandResponse,L,i=>i.command===e&&i.commandSeq===o,s):(await this.sendShtp(y.Control,a),null)}commandCollect(e,n,r,s=p){const o=this.nextCmdSeq(),a=z(o,e,n),i=[];return this.controlExchange(A.CommandResponse,s,(u,c,l)=>{let f;try{f=L(u)}catch(m){l(m instanceof Error?m:new U(String(m)));return}f.command!==e||f.commandSeq!==o||r(f,i)&&c(i)},()=>this.sendShtp(y.Control,a))}async hardwareReset(e=2e3){this.shtp.reset(),this.advertisementChunks=[],this.features.clear();const n=new Promise(o=>this.resetResolvers.push(o));await this.request(T.SensorReset,void 0,{okCompletes:!0});let r;const s=new Promise((o,a)=>{r=setTimeout(()=>a(new k(T.SensorReset,e)),e)});try{await Promise.race([n,s])}finally{clearTimeout(r)}}async wake(){await this.request(T.SensorWakeUp,void 0,{okCompletes:!0})}get advertisement(){const e=this.advertisementChunks.reduce((s,o)=>s+o.length,0),n=new Uint8Array(e);let r=0;for(const s of this.advertisementChunks)n.set(s,r),r+=s.length;return n}productId(e=p){return this.controlRequest(xt(),A.ProductIdResponse,qt,void 0,e)}async enable(e,n,r={}){if(n===void 0==(r.intervalUs===void 0))throw new U("give exactly one of hz / intervalUs");let s;if(n!==void 0){if(n<=0)throw new U("hz must be positive; use disable()");s=Math.max(1,Math.round(1e6/n))}else s=r.intervalUs;if(await this.sendShtp(y.Control,O(e,s,r.batchUs??0,r.sensitivity??0,r.flags??0,r.cfgWord??0)),r.verify===!1)return null;const o=await this.getFeature(e,r.timeoutMs??p),a=1e6/s,i=o.intervalUs!==0?1e6/o.intervalUs:0;return B*a<=i&&i<=W*a||console.warn(`BNO086 sensor 0x${e.toString(16).toUpperCase().padStart(2,"0")}: requested ${a.toFixed(1)} Hz, granted ${i.toFixed(1)} Hz (outside ${B}–${W}× band)`),o}async disable(e){await this.sendShtp(y.Control,O(e,0)),this.features.delete(e)}getFeature(e,n=p){return this.controlRequest(Mt(e),A.GetFeatureResponse,N,r=>r.sensorId===e,n)}enableRotationVector(e=100,n){return this.enable(b.RotationVector,e,n)}enableGameRotationVector(e=100,n){return this.enable(b.GameRotationVector,e,n)}enableAccelerometer(e=100,n){return this.enable(b.Accelerometer,e,n)}enableGyroscope(e=100,n){return this.enable(b.Gyroscope,e,n)}enableMagnetometer(e=50,n){return this.enable(b.Magnetometer,e,n)}enableLinearAcceleration(e=100,n){return this.enable(b.LinearAcceleration,e,n)}enableGravity(e=100,n){return this.enable(b.Gravity,e,n)}enableGyroIntegratedRv(e=400,n){return this.enable(b.GyroIntegratedRv,e,n)}onReport(e,n){const r={cb:e,filter:H(n)};return this.reportCbs.push(r),()=>{this.reportCbs=this.reportCbs.filter(s=>s!==r)}}reports(e,n=1024){const r=new it(n,()=>{this.reportQueues=this.reportQueues.filter(o=>o.queue!==r),s()});this.reportQueues.push({queue:r,filter:H(e)});const s=this.registerStream(r);return r}async tareNow(e=F.All,n=K.RotationVector){await this.command(w.Tare,kt(e,n),!1)}async persistTare(){await this.command(w.Tare,Pt(),!1)}async setReorientation(e,n,r,s){await this.command(w.Tare,_t(e,n,r,s),!1)}async setCalibration(e={},n=p){const r=await this.command(w.MeCalibrate,S(e.accel??!0,e.gyro??!0,e.mag??!0,e.planar??!1),!0,n);if(r.status!==0)throw new R(`ME calibration configure failed: status ${r.status}`)}async getCalibration(e=p){const n=await this.command(w.MeCalibrate,S(!1,!1,!1,!1,Gt),!0,e);if(n.status!==0)throw new R(`ME calibration get failed: status ${n.status}`);const r=n.r;return{accel:!!r[1],gyro:!!r[2],mag:!!r[3],planar:!!r[4]}}async saveDcd(e=p){const n=await this.command(w.SaveDcd,new Uint8Array(0),!0,e);if(n.status!==0)throw new R(`DCD save failed: status ${n.status}`)}async configurePeriodicDcd(e){await this.command(w.PeriodicDcdConfig,Vt(e),!1)}frsRead(e,n=_){const r=new Ht(e);return this.controlExchange(A.FrsReadResponse,n,(s,o,a)=>{try{r.feed(Lt(s))&&o(r.words)}catch(i){a(i instanceof Error?i:new U(String(i)))}},()=>this.sendShtp(y.Control,r.request()))}frsWrite(e,n,r=_){const s=new Xt(e,[...n]);return this.controlExchange(A.FrsWriteResponse,r,(o,a,i)=>{try{const u=s.feed(Bt(o));s.done?a(void 0):u!==null&&this.sendShtp(y.Control,u).catch(i)}catch(u){i(u instanceof Error?u:new U(String(u)))}},()=>this.sendShtp(y.Control,s.request()))}async getMetadata(e,n=_){const r=Nt[e];if(r===void 0)throw new R(`no metadata FRS record known for sensor 0x${e.toString(16).toUpperCase().padStart(2,"0")}`);return It(await this.frsRead(r,n))}async getOscillatorType(e=p){return(await this.command(w.GetOscillatorType,new Uint8Array(0),!0,e)).r[0]}async clearDcdAndReset(e=2e3){this.shtp.reset(),this.advertisementChunks=[],this.features.clear();const n=new Promise(o=>this.resetResolvers.push(o));await this.command(w.ClearDcdAndReset,new Uint8Array(0),!1);let r;const s=new Promise((o,a)=>{r=setTimeout(()=>a(new k(w.ClearDcdAndReset,e)),e)});try{await Promise.race([n,s])}finally{clearTimeout(r)}this.shtp.reset()}async getErrors(e=0,n=p){return(await this.commandCollect(w.Errors,Tt(e),(s,o)=>s.r[2]===Y.NoMoreErrors?!0:(o.push(s),!1),n)).map(Ct)}async getCounts(e,n=p){const r=await this.commandCollect(w.Counter,Dt(e),(u,c)=>(c.push(u),c.some(l=>l.responseSeq===1)),n),s=new Map(r.map(u=>[u.responseSeq,u])),o=s.get(0).r,a=s.get(1).r,i=(u,c)=>(u[c]|u[c+1]<<8|u[c+2]<<16|u[c+3]<<24)>>>0;return{sensorId:e,offered:i(o,3),accepted:i(o,7),on:i(a,3),attempted:i(a,7)}}async clearCounts(e,n=p){const r=await this.command(w.Counter,Et(e),!0,n);if(r.status!==0)throw new R(`clear counts failed: status ${r.status}`)}}export{St as $,pt as A,oe as B,rt as C,ft as D,Y as E,Ht as F,P as G,w as H,R as I,y as J,Kt as K,nt as L,G as M,E as N,bt as O,ee as P,gt as Q,W as R,v as S,ht as T,ne as U,F as V,K as W,z as X,jt as Y,zt as Z,$t as _,j as a,Mt as a0,xt as a1,O as a2,Et as a3,Dt as a4,Ct as a5,Tt as a6,ie as a7,S as a8,st as a9,vt as aa,Rt as ab,Vt as ac,Pt as ad,It as ae,_t as af,kt as ag,ut as ah,L as ai,N as aj,Lt as ak,Bt as al,qt as am,Zt as an,ct as b,T as c,Q as d,At as e,Ut as f,A as g,lt as h,re as i,V as j,X as k,Z as l,I as m,Ot as n,tt as o,se as p,Xt as q,et as r,Nt as s,Gt as t,ae as u,B as v,yt as w,mt as x,wt as y,b as z};