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