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] ## [0.1.0] - 2025-07-17 ### Added - **Indirect Addressing Support** - Complete DYNAMIXEL indirect addressing functionality - `setupIndirectAddress(index, targetAddress)` - Map control table addresses to indirect slots - `writeIndirectData(index, value)` / `readIndirectData(index)` - Read/write through indirect addressing - `bulkReadIndirect(indices)` / `bulkWriteIndirect(mappings)` - Optimized bulk operations with contiguous address detection - `setupCommonIndirectMappings()` - Pre-configured mappings for common monitoring values - `readCommonStatus()` - Read position, velocity, PWM, temperature, and moving status in one call - `clearIndirectMapping(index)` / `clearAllIndirectMappings()` - Clean up indirect mappings - Full validation with descriptive error messages for out-of-range indices and addresses - Supports up to 20 indirect address mappings (addresses 168-207) with data at addresses 208-227 - Example usage: `realtime-timestamp-test.js` demonstrating high-speed monitoring capabilities - **Goal Current Control** - Current-based motor control methods - `setGoalCurrent(current)` - Set target current in mA for precise torque control - `getGoalCurrent()` - Read current goal current setting - Enhanced control capabilities for applications requiring precise force/torque control - **Realtime Tick Support** - Hardware timestamp access for precise timing - `getRealtimeTick()` - Read hardware timestamp counter (16-bit, rolls over at 32767) - Enables precise timing measurements and synchronization between multiple motors - Useful for real-time applications and performance monitoring - **Serial Buffer Configuration** - Configurable buffer sizes for performance optimization - `highWaterMark` option in SerialConnection and DynamixelController constructors - Default 64KB buffer size, configurable from 0 to 1MB+ for different use cases - Optimizes memory usage and performance for high-speed applications - Examples: `serial-buffer-options.js` showing different buffer configurations - **Enhanced Development Tools** - New example applications - `realtime-timestamp-test.js` - Demonstrates indirect addressing and realtime tick usage - `serial-buffer-options.js` - Shows different buffer size configurations for performance tuning - **XC330-M288 Motor Profile** - Complete motor profile with specifications and control table - Detailed specs: 0.93 N·m torque, 81 RPM, 3.7-6.0V operating range - Full control table mapping with addresses, sizes, and access types - Pre-configured operating modes and recommended profiles - Conversion factors for position, velocity, current, voltage, and temperature - **Enhanced MotorProfiles API** - New utility methods for motor management - `getModelNumber(modelName)` - Get model number for motor name - `getModelByNumber(modelNumber)` - Find motor model by number - `getOperatingModes(modelName)` - Get available operating modes - `getDefaultSettings(modelName)` - Get factory default settings - `getSpecs(modelName)` - Get motor specifications - `getControlTable(modelName)` - Get complete control table - `getConversions(modelName)` - Get unit conversion factors - `hasFeature(modelName, feature)` - Check motor feature support - `getModelNumbers()` - Get all model numbers as lookup map - **Enhanced Control Table Constants** - Extended protocol support - Added `CURRENT_LIMIT`, `GOAL_CURRENT`, `STARTUP_CONFIGURATION` - Added `PWM_SLOPE`, `BACKUP_READY` registers - Added `MODEL_NUMBERS` constants for quick model identification - Added `INDIRECT_ADDRESS` constants for indirect addressing support - **New Example Applications** - Expanded development tools - `debug-model-detection.js` - Motor model detection debugging - `find-xl330.js` - XL330-specific device discovery - `realtime-monitoring.js` - Real-time motor monitoring - `xl330-realtime-monitoring.js` - XL330-specific monitoring - `xl330-sensor-test.js` - XL330 sensor testing utilities ### Changed - **Enhanced TypeScript Documentation** - Comprehensive API documentation - Added TypeDoc definitions for `DeviceInfo[]`, `SerialPortInfo[]`, `USBDeviceInfo[]` - Added `CommunicationDevice[]`, `SystemInfo`, `USBDiagnostics` types - Improved return type documentation across all transport classes - Better IDE support with detailed JSDoc comments - **Updated Field Naming** - Consistency improvements - `PRESENT_LOAD` → `PRESENT_CURRENT` for better protocol alignment - Enhanced control table field organization ### Fixed - **Motor Model Identification** - Corrected model number assignments - Fixed XC430-W150 model number (1070) - Added XL330-M288-T model (1200) for proper identification - Improved motor discovery and model detection accuracy ### Technical Improvements - **Advanced Protocol Support** - Full indirect addressing implementation following DYNAMIXEL Protocol 2.0 - **Performance Optimization** - Configurable buffer sizes and contiguous bulk operations - **Enhanced Motor Profile System** - More comprehensive motor support with current control - **Real-time Capabilities** - Hardware timestamp access for precise timing applications - **Improved Documentation** - Better TypeScript/JSDoc integration with new API methods - **Extended Protocol Support** - Additional control table registers and indirect addressing constants - **Developer Tools** - New debugging and monitoring utilities with practical examples ### Breaking Changes - None - All changes are backward compatible ### Migration Guide - **For high-performance applications**: Use indirect addressing for efficient bulk operations and reduced communication overhead - **For precise control applications**: Utilize `setGoalCurrent()` and `getGoalCurrent()` for current-based torque control - **For real-time applications**: Use `getRealtimeTick()` for hardware-level timing synchronization - **For buffer optimization**: Configure `highWaterMark` option based on your application's memory and performance requirements - **For XC330-M288 users**: New motor profile available with optimized settings - **For developers**: New MotorProfiles utility methods provide easier motor management - **For TypeScript users**: Enhanced type definitions improve development experience ## [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.