dynamixel
Version:
Node.js library for controlling DYNAMIXEL servo motors via U2D2 interface with Protocol 2.0 support
101 lines (100 loc) • 3.27 kB
TypeScript
/**
* Web Serial API Connection Handler
* For use in Electron renderer processes and modern browsers
*/
export class WebSerialConnection extends EventEmitter<[never]> {
/**
* Get available serial ports (previously authorized)
* @returns {Promise<Array>} - Array of port info objects
*/
static getAvailablePorts(): Promise<any[]>;
/**
* Check if Web Serial API is supported
* @returns {boolean} - Support status
*/
static isSupported(): boolean;
/**
* Get Web Serial API feature detection info
* @returns {Object} - Feature support information
*/
static getFeatureSupport(): Object;
constructor(options?: {});
port: any;
reader: any;
writer: any;
timeout: any;
baudRate: any;
isConnected: boolean;
receiveBuffer: Uint8Array<ArrayBuffer>;
readPromise: Promise<void> | null;
/**
* Request and connect to a serial port using Web Serial API
* @param {Object} filters - Optional filters for port selection
* @returns {Promise<boolean>} - Success status
*/
connect(filters?: Object): Promise<boolean>;
/**
* Connect to a previously authorized port (if available)
* @returns {Promise<boolean>} - Success status
*/
connectToPreviousPort(): Promise<boolean>;
/**
* Disconnect from the serial port
*/
disconnect(): Promise<void>;
/**
* Start receiving data from the serial port
*/
startReceiving(): Promise<void>;
/**
* Main read loop for processing incoming data
*/
readLoop(): Promise<void>;
/**
* Process received data buffer for complete packets
*/
processReceiveBuffer(): void;
/**
* Send data to the serial port
* @param {Buffer|Uint8Array} data - Data to send
* @returns {Promise<boolean>} - Success status
*/
send(data: Buffer | Uint8Array): Promise<boolean>;
/**
* Send instruction packet and wait for response
* @param {Buffer} packet - Instruction packet to send
* @param {number} expectedId - Expected response ID (null for any)
* @param {number} timeout - Timeout in milliseconds
* @returns {Promise<Object>} - Parsed status packet
*/
sendAndWaitForResponse(packet: Buffer, expectedId?: number, timeout?: number): Promise<Object>;
/**
* Ping a specific DYNAMIXEL device
* @param {number} id - DYNAMIXEL ID
* @param {number} timeout - Timeout in milliseconds
* @returns {Promise<Object>} - Device information
*/
ping(id: number, timeout?: number): Promise<Object>;
/**
* Discover all DYNAMIXEL devices on the bus
* @param {Object} options - Discovery options
* @returns {Promise<Array>} - Array of discovered devices
*/
discoverDevices(options?: Object): Promise<any[]>;
/**
* Set baud rate for serial communication
* @param {number} baudRate - New baud rate
*/
setBaudRate(baudRate: number): void;
/**
* Get current baud rate
* @returns {number} - Current baud rate
*/
getBaudRate(): number;
/**
* Get connection status
* @returns {boolean} - Connection status
*/
getConnectionStatus(): boolean;
}
import { EventEmitter } from 'events';