dynamixel

# Changelog All notable changes to this project will be documented in this file. The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html). ## [Unreleased] ## [0.0.5] - 2025-01-20 ### Added - **Separated Discovery Pattern** for Electron applications - `discoverCommunicationDevices()` - Discover USB/Serial devices without connecting - `discoverU2D2Devices()` - Find U2D2-compatible devices specifically - `connectToDevice(device)` - Connect to user-selected device - `deferConnection` option in DynamixelController constructor - Example: `separated-discovery.js` demonstrating the complete workflow - **TypeScript Support** - Complete TypeScript declaration files generation - Proper type annotations for all public APIs - `deferConnection` correctly typed as `boolean` (was `any`) - JSDoc type definitions for better IDE support - **Build System Enhancements** - Rollup configuration for ESM and CommonJS builds - Automatic TypeScript declaration generation - Support for both `import` and `require` usage patterns - Proper package.json exports configuration - **Enhanced Examples** - `electron-main-process.js` - Electron main process integration - `electron-renderer.js` - Electron renderer process integration - `electron-dynamixel-service.js` - Complete Electron service example - `typescript-example.ts` - TypeScript usage demonstration - `prioritize-serial.js` - Serial device prioritization example ### Changed - **Device Discovery Priority**: Serial devices now properly prioritized over USB devices - **Improved Error Handling**: Better error messages and timeout handling - **Enhanced Motor Property Reading**: Motor model numbers and firmware versions now display correctly - **Test Reliability**: All 284 tests now pass consistently without hanging - **Protocol Buffer Processing**: Fixed infinite loop issues in packet processing - **Connection Stability**: Improved timeout handling and connection cleanup ### Fixed - **Critical Motor Discovery Bug**: Fixed infinite loop in `processReceiveBuffer()` methods - Changed condition from `packetLength === -1` to `packetLength === 0` - Added buffer size limits (1KB max) to prevent memory issues - Added maximum packets per processing call (10) to prevent infinite loops - Applied to all transport classes: SerialConnection, U2D2Connection - **Motor Properties Null Issue**: Fixed motor properties showing as `null` values - Root cause: `ping()` methods incorrectly parsing response buffers - Fixed: Proper parsing of raw buffers before extracting ping information - Now correctly displays: "Motor ID 1: XC430-W150 (Model: 1200), FW: 52" - **Test Hanging Issue**: Resolved Jest hanging on test completion - Fixed USB device handle leaks by using mocked connections - Fixed timeout handle leaks by clearing setTimeout properly - All tests now exit cleanly with `--detectOpenHandles` - **DynamixelDevice Buffer Parsing**: Fixed raw response buffer handling - `read()` and `write()` methods now properly parse status packets - Added `Protocol2.parseStatusPacket()` calls before error checking - Updated test mocks to return proper status packet buffers - **Missing CommonJS Methods**: Added missing discovery methods to CommonJS exports - `discoverCommunicationDevices()`, `discoverU2D2Devices()`, `connectToDevice()` - Fixed inconsistency between ESM and CommonJS module exports ### Technical Improvements - **Robust Packet Processing**: Enhanced buffer processing with safety limits - **Memory Management**: Better cleanup of USB handles and timeouts - **Test Infrastructure**: Proper mock data generation for DYNAMIXEL Protocol 2.0 - **Error Propagation**: Consistent error handling across transport layers - **Documentation**: Comprehensive examples for Electron integration patterns ### Breaking Changes - None - All changes are backward compatible ### Migration Guide - **For Electron apps**: Consider using the new separated discovery pattern for better UX - **For TypeScript users**: Update imports to get better type safety - **For CommonJS users**: No changes required, all new methods available ## [0.0.4] - 2025-06-15 ### Added - **Enhanced Alarm Management System** (inspired by DynaNode architecture) - Intelligent alarm thresholds for temperature, voltage, and load monitoring - Hardware error flag processing with severity classification - Alarm history tracking and statistics - Emergency stop events for fatal conditions - **Motor Profiles System** for optimal motor configurations - Predefined profiles for AX, MX, and X series motors - Application-specific profiles (robot arms, mobile robots, grippers) - Recommended settings for different use cases (precision, balanced, dynamic) - Multi-motor synchronization optimization settings - **Enhanced Logging System** with structured output - Performance metrics tracking and measurement tools - Protocol-level logging for debugging - Device-specific and category-specific loggers - Log filtering, export (JSON/CSV/text), and statistics - Configurable log levels with environment variable support - **Comprehensive Test Suite** for enhanced features - 108 unit tests covering AlarmManager, MotorProfiles, and Logger - 17 integration tests demonstrating real-world usage scenarios - Enhanced features documentation and examples ### Changed - Reorganized src directory structure for better separation of concerns - Moved connection classes to `src/transport/` directory - Moved DYNAMIXEL-specific classes to `src/dynamixel/` directory - Updated main entry point exports to include enhanced features - Enhanced documentation with comprehensive enhanced features section ### Features Inspired by DynaNode - Advanced alarm categorization and threshold management - Comprehensive motor model specifications and configurations - Application profile templates for common robotics use cases - Performance monitoring and optimization tools ## [0.0.3] - 2025-06-12 ### Changed - Updated GitHub Actions workflows for improved CI/CD - Enhanced npm publishing process with provenance - Improved package configuration for npm registry - Adjusted test coverage thresholds for realistic targets ### Fixed - GitHub Actions workflow issues with Node.js 22 compatibility - npm publishing configuration and authentication - Package files inclusion for distribution ## [0.0.2] - 2025-06-12 ### Added - Comprehensive test suite with Jest - GitHub Actions CI/CD workflows - Automated npm publishing on release - Security and dependency scanning - Coverage reporting with Codecov and Coveralls - Contributing guidelines and documentation ### Changed - Improved package.json metadata for npm publishing - Enhanced error handling and validation - Updated dependencies to latest stable versions ### Fixed - CRC-16 calculation implementation for Protocol 2.0 - Device discovery reliability issues - ES modules compatibility with testing framework ## [0.0.1] - 2025-06-12 ### Added - Initial release of node-dynamixel library - DYNAMIXEL Protocol 2.0 support - U2D2 USB interface connection - Serial port connection support - Device discovery and control - Basic motor operations (position, LED, etc.) - Example scripts for device discovery and diagnostics ### Features - **DynamixelController**: Main controller class for managing connections and devices - **DynamixelDevice**: Individual device control and monitoring - **Protocol2**: Complete DYNAMIXEL Protocol 2.0 implementation - **U2D2Connection**: USB connection via U2D2 interface - **SerialConnection**: Direct serial port communication - **Device Discovery**: Automatic detection of connected DYNAMIXEL motors - **Register Operations**: Read/write device registers and parameters - **Error Handling**: Comprehensive error detection and reporting ### Supported Hardware - U2D2 USB interface - DYNAMIXEL X-series motors (XL430, XC430, XM430, XH430, etc.) - Serial communication interfaces ### Requirements - Node.js 18.0.0 or higher - USB support (optional, for U2D2 interface) - Serial port access --- ## Release Notes Template When creating a new release, use this template: ```markdown ## [X.Y.Z] - YYYY-MM-DD ### Added - New features and capabilities ### Changed - Changes to existing functionality ### Deprecated - Features that will be removed in future versions ### Removed - Features that have been removed ### Fixed - Bug fixes and corrections ### Security - Security-related changes and fixes ``` --- ## Contributing See [CONTRIBUTING.md](docs/CONTRIBUTING.md) for information about contributing to this project and the release process.