0.1.0 - Indirect Addressing, Goal Current Control, and Performance Enhancements

Major Features Added

🎯 Indirect Addressing Support

Complete DYNAMIXEL indirect addressing functionality for high-performance applications:

• setupIndirectAddress(), writeIndirectData(), readIndirectData() for basic operations
• bulkReadIndirect() and bulkWriteIndirect() with automatic contiguous address optimization
• setupCommonIndirectMappings() and readCommonStatus() for streamlined monitoring
• Full validation with descriptive error messages
• Supports up to 20 indirect mappings with efficient bulk operations

⚡ Goal Current Control

Current-based motor control for precise torque applications:

• setGoalCurrent() and getGoalCurrent() methods
• Enhanced control capabilities for force/torque-sensitive applications
• Seamless integration with existing position and velocity control

⏱️ Realtime Tick Support

Hardware timestamp access for precise timing:

• getRealtimeTick() method for 16-bit hardware timestamp counter
• Enables precise timing measurements and multi-motor synchronization
• Essential for real-time applications and performance monitoring

🚀 Serial Buffer Configuration

Configurable buffer sizes for performance optimization:

• highWaterMark option in SerialConnection and DynamixelController
• Default 64KB, configurable from 0 to 1MB+ for different use cases
• Optimizes memory usage and performance for high-speed applications

🛠️ Enhanced Development Tools

New example applications:

• realtime-timestamp-test.js - Demonstrates indirect addressing and realtime tick
• serial-buffer-options.js - Shows buffer configuration options
• Enhanced motor profiles and debugging utilities

Technical Improvements

• Advanced Protocol Support - Full indirect addressing implementation
• Performance Optimization - Configurable buffers and contiguous bulk operations
• Real-time Capabilities - Hardware timestamp access
• Enhanced Documentation - Better TypeScript/JSDoc integration

Migration Guide

• High-performance apps: Use indirect addressing for efficient bulk operations
• Precise control apps: Utilize current-based torque control methods
• Real-time apps: Use hardware timestamp for synchronization
• Buffer optimization: Configure highWaterMark based on your requirements

Compatibility

All changes are backward compatible - no breaking changes.

🤖 Generated with Claude Code

0.0.5

[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

Full Changelog: 0.0.4...0.0.5

0.0.4

[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

Full Changelog: 0.0.3...0.0.4

0.0.3

Full Changelog: 0.0.2...0.0.3

0.0.2

Initial release to npm.

Full Changelog: https://github.com/andyshinn/node-dynamixel/commits/0.0.2