@synapticon/motion-master-client 2.2.2 → 6.0.0-alpha.22

package/src/cli.ts

@@ -1,1361 +0,0 @@
-#!/usr/bin/env node
-import program, { Command } from 'commander';
-import fs from 'fs';
-import path from 'path';
-import { interval } from 'rxjs';
-import { first, map, timeout } from 'rxjs/operators';
-import { StringDecoder } from 'string_decoder';
-import util from 'util';
-import { v4 } from 'uuid';
-import YAML from 'yaml';
-import zmq from 'zeromq';
-
-import {
-  ComputeAutoTuningGainsType,
-  DeviceAddressType,
-  MotionMasterClient,
-  RequestType,
-  SignalGeneratorType,
-  StatusType,
-} from './motion-master-client';
-import { MotionMasterNotification } from './motion-master-notification';
-import {
-  decodeMotionMasterMessage,
-  encodeMotionMasterMessage,
-  MotionMasterMessage,
-} from './util';
-
-type OutputFormat = 'inspect' | 'json' | 'yaml';
-
-enum ExitStatus {
-  SUCCESS,
-  UNCAUGHT_EXCEPTION,
-  UNHANDLED_REJECTION,
-  TIMEOUT,
-  INCORRECT_PARAMETER_FORMAT,
-}
-
-// tslint:disable: no-var-requires
-const debug = require('debug')('motion-master-client');
-const version = require('../package.json')['version'];
-// tslint:enable-next-line: no-var-requires
-
-process.on('uncaughtException', (err) => {
-  console.error('Caught exception: ' + err);
-  process.exit(ExitStatus.UNCAUGHT_EXCEPTION);
-});
-
-process.on('unhandledRejection', (reason) => {
-  console.error('Unhandled rejection reason: ', reason);
-  process.exit(ExitStatus.UNHANDLED_REJECTION);
-});
-
-const inspectOptions: util.InspectOptions = {
-  showHidden: false,
-  depth: null,
-  colors: true,
-  maxArrayLength: null,
-  compact: false,
-};
-
-// map to cache device parameter info per device
-const deviceParameterInfoMap: Map<number, MotionMasterMessage.Status.IDeviceParameterInfo | null | undefined> = new Map();
-
-const motionMasterClient = new MotionMasterClient();
-const motionMasterNotification = new MotionMasterNotification();
-
-const config = {
-  pingSystemInterval: 150, // ping Motion Master at regular intervals
-  motionMasterHeartbeatTimeoutDue: 1000, // exit process when Motion Master doesn't send a heartbeat message in time specified
-  serverEndpoint: 'tcp://127.0.0.1:62524', // request and receive status messages (response)
-  notificationEndpoint: 'tcp://127.0.0.1:62525', // subscribe to a topic and receive published status messages (heartbeat and monitoring)
-  identity: v4(), // ZeroMQ DEALER socket identity
-};
-
-//
-// program and commands
-//
-
-program
-  .version(version)
-  .option('-c, --config <path>', 'path to JSON config file to read and replace the default values with')
-  .option('-d, --device-address <address>', 'device address (uint32) generated by Motion Master - takes precedence over device position', parseOptionValueAsInt)
-  .option('-f, --output-format <json|yaml>', 'if left unspecified the output format is the default colored message inspect')
-  .option('-p, --device-position <position>', 'used when device address is not specified', parseOptionValueAsInt, 0);
-
-program
-  .command('request <type> [args...]')
-  .option('-i, --interval <value>', 'sending interval in microseconds', parseOptionValueAsInt, 1 * 1000 * 1000)
-  .on('--help', () => {
-    const types = Object.keys(MotionMasterMessage.Request).slice(8).map((type) => type.charAt(0).toLowerCase() + type.slice(1));
-    console.log('');
-    console.log('Request <type>s:');
-    console.log('  ' + types.join('\n  '));
-  })
-  .action(requestAction);
-
-program
-  .command('upload [params...]')
-  .option('-s, --send-progress')
-  .action(uploadAction);
-
-program
-  .command('download [paramValues...]')
-  .action(downloadAction);
-
-program
-  .command('getDeviceFileContent <filename>')
-  .action(getDeviceFileContentAction);
-
-program
-  .command('getDeviceLogContent')
-  .action(getDeviceLogContentAction);
-
-program
-  .command('getCoggingTorqueDataContent')
-  .action(getCoggingTorqueDataContent);
-
-program
-  .command('startCoggingTorqueRecording')
-  .option('-s, --skip-auto-tuning')
-  .action(startCoggingTorqueRecordingAction);
-
-program
-  .command('startOffsetDetection')
-  .action(startOffsetDetectionAction);
-
-program
-  .command('startPlantIdentification <durationSeconds> <torqueAmplitude> <startFrequency> <endFrequency> <cutoffFrequency>')
-  .action(startPlantIdentificationAction);
-
-program
-  .command('startSystemIdentification <durationSeconds> <torqueAmplitude> <startFrequency> <endFrequency>')
-  .action(startSystemIdentificationAction);
-
-program
-  .command('startCirculoEncoderNarrowAngleCalibrationProcedure <encoderOrdinal>')
-  .action(startCirculoEncoderNarrowAngleCalibrationProcedureAction);
-
-program
-  .command('monitor <topic> [params...]')
-  .option('-i, --interval <value>', 'sending interval in microseconds', parseOptionValueAsInt, 1 * 1000 * 1000)
-  .action(monitorAction);
-
-// parse command line arguments and execute the command action
-program.parse(process.argv);
-
-//
-// command action functions
-//
-
-async function requestAction(type: RequestType, args: string[], cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-
-  switch (type) {
-    case 'pingSystem': {
-      motionMasterClient.requestPingSystem(messageId);
-
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'getSystemVersion': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetSystemVersion(messageId);
-
-      break;
-    }
-    case 'getDeviceInfo': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetDeviceInfo(messageId);
-
-      break;
-    }
-    case 'getDeviceParameterInfo': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetDeviceParameterInfo(deviceAddress, messageId);
-
-      break;
-    }
-    case 'getDeviceParameterValues': {
-      exitOnMessageReceived(messageId);
-
-      const parameters: MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[] = args.map(paramToIndexSubindex);
-      validateParameters(parameters);
-      motionMasterClient.requestGetDeviceParameterValues(deviceAddress, parameters, false, messageId);
-
-      break;
-    }
-    case 'getMultiDeviceParameterValues': {
-      throw new Error(`Request "${type}" is not yet implemented`);
-    }
-    case 'setDeviceParameterValues': {
-      exitOnMessageReceived(messageId);
-
-      const deviceParameterInfo = await getDeviceParameterInfoAsync(deviceAddress);
-      const parameterValues = args.map((paramValue) => paramToIndexSubIndexValue(paramValue, deviceParameterInfo));
-      motionMasterClient.requestSetDeviceParameterValues(deviceAddress, parameterValues, messageId);
-
-      break;
-    }
-    case 'setMultiDeviceParameterValues': {
-      throw new Error(`Request "${type}" is not yet implemented`);
-    }
-    case 'getDeviceFileList': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetDeviceFileList(deviceAddress, messageId);
-
-      break;
-    }
-    case 'getDeviceFile': {
-      exitOnMessageReceived(messageId);
-
-      const name = args[0];
-      motionMasterClient.requestGetDeviceFile(deviceAddress, name, messageId);
-
-      break;
-    }
-    case 'setDeviceFile': {
-      exitOnMessageReceived(messageId);
-
-      const filepath = args[0];
-      const name = path.basename(filepath);
-      const content = fs.readFileSync(filepath);
-      const overwrite = true;
-      motionMasterClient.requestSetDeviceFile(deviceAddress, name, content, overwrite, messageId);
-
-      break;
-    }
-    case 'deleteDeviceFile': {
-      exitOnMessageReceived(messageId);
-
-      const name = args[0];
-      motionMasterClient.requestDeleteDeviceFile(deviceAddress, name, messageId);
-
-      break;
-    }
-    case 'resetDeviceFault': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestResetDeviceFault(deviceAddress, messageId);
-
-      break;
-    }
-    case 'stopDevice': {
-      motionMasterClient.requestStopDevice(deviceAddress, messageId);
-
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'startDeviceFirmwareInstallation': {
-      exitOnMessageReceived(messageId, 120000, MotionMasterMessage.Status.DeviceFirmwareInstallation.Success.Code.DONE);
-
-      const filepath = args[0];
-      const firmwarePackageContent = fs.readFileSync(filepath);
-
-      const skipSiiInstallation = parseInt(args[1], 10) !== 0;
-
-      motionMasterClient.requestStartDeviceFirmwareInstallation(deviceAddress, firmwarePackageContent, skipSiiInstallation, messageId);
-
-      break;
-    }
-    case 'getDeviceLog': {
-      exitOnMessageReceived(messageId);
-
-      const getDeviceLog: MotionMasterMessage.Request.IGetDeviceLog = { deviceAddress };
-
-      motionMasterClient.sendRequest({ getDeviceLog }, messageId);
-      break;
-    }
-    case 'startCoggingTorqueRecording': {
-      exitOnMessageReceived(messageId, 300000, MotionMasterMessage.Status.CoggingTorqueRecording.Success.Code.DONE);
-
-      const skipAutoTuning = parseInt(args[0], 10) !== 0;
-
-      motionMasterClient.requestStartCoggingTorqueRecording(deviceAddress, skipAutoTuning, messageId);
-
-      break;
-    }
-    case 'getCoggingTorqueData': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetCoggingTorqueData(deviceAddress, messageId);
-
-      break;
-    }
-    case 'startOffsetDetection': {
-      exitOnMessageReceived(messageId, 180000, MotionMasterMessage.Status.OffsetDetection.Success.Code.DONE);
-
-      motionMasterClient.requestStartOffsetDetection(deviceAddress, messageId);
-
-      break;
-    }
-    case 'startPlantIdentification': {
-      exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.PlantIdentification.Success.Code.DONE);
-
-      const durationSeconds = parseFloat(args[0]);
-      const torqueAmplitude = parseInt(args[1], 10);
-      const startFrequency = parseInt(args[2], 10);
-      const endFrequency = parseInt(args[3], 10);
-      const cutoffFrequency = parseInt(args[4], 10);
-
-      motionMasterClient.requestStartPlantIdentification(deviceAddress, durationSeconds, torqueAmplitude, startFrequency, endFrequency, cutoffFrequency, messageId);
-
-      break;
-    }
-    case 'startSystemIdentification': {
-      exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.SystemIdentification.Success.Code.DONE);
-
-      const durationSeconds = parseFloat(args[0]);
-      const torqueAmplitude = parseInt(args[1], 10);
-      const startFrequency = parseFloat(args[2]);
-      const endFrequency = parseFloat(args[3]);
-
-      motionMasterClient.requestStartSystemIdentification(deviceAddress, durationSeconds, torqueAmplitude, startFrequency, endFrequency, messageId);
-
-      break;
-    }
-    case 'computeAutoTuningGains': {
-      const computeAutoTuningGainsType = args[0] as ComputeAutoTuningGainsType;
-      switch (computeAutoTuningGainsType) {
-        case 'positionParameters': {
-          exitOnMessageReceived(messageId, 10000, MotionMasterMessage.Status.AutoTuning.Success.Code.POSITION_DONE);
-
-          const controllerType = parseInt(args[1], 10);
-          const settlingTime = parseFloat(args[2]);
-          const positionDamping = parseFloat(args[3]);
-          const alphaMult = parseInt(args[4], 10);
-          const order = parseInt(args[5], 10);
-          const lb = parseFloat(args[6]);
-          const ub = parseFloat(args[7]);
-
-          const computeAutoTuningGains: MotionMasterMessage.Request.IComputeAutoTuningGains = {
-            deviceAddress,
-            positionParameters: {
-              controllerType,
-              settlingTime,
-              positionDamping,
-              alphaMult,
-              order,
-              lb,
-              ub,
-            },
-          };
-
-          motionMasterClient.sendRequest({ computeAutoTuningGains }, messageId);
-          break;
-        }
-        case 'velocityParameters': {
-          exitOnMessageReceived(messageId, 10000, MotionMasterMessage.Status.AutoTuning.Success.Code.VELOCITY_DONE);
-
-          const velocityLoopBandwidth = parseFloat(args[1]);
-          const velocityDamping = parseFloat(args[2]);
-
-          const computeAutoTuningGains: MotionMasterMessage.Request.IComputeAutoTuningGains = {
-            deviceAddress,
-            velocityParameters: {
-              velocityLoopBandwidth,
-              velocityDamping,
-            },
-          };
-
-          motionMasterClient.sendRequest({ computeAutoTuningGains }, messageId);
-          break;
-        }
-        default: {
-          throw new Error(`Unknown compute auto-tuning gains type: ${computeAutoTuningGainsType}`);
-        }
-      }
-      break;
-    }
-    case 'setMotionControllerParameters': {
-      const target = parseInt(args[0], 10);
-
-      const setMotionControllerParameters: MotionMasterMessage.Request.ISetMotionControllerParameters = {
-        deviceAddress,
-        target,
-      };
-
-      motionMasterClient.sendRequest({ setMotionControllerParameters }, messageId);
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'enableMotionController': {
-      exitOnMessageReceived(messageId);
-
-      const controllerType = parseInt(args[0], 10);
-      const filter = parseInt(args[1], 10) !== 0;
-
-      motionMasterClient.requestEnableMotionController(deviceAddress, controllerType, filter, messageId);
-
-      break;
-    }
-    case 'disableMotionController': {
-      motionMasterClient.requestDisableMotionController(deviceAddress, messageId);
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'setSignalGeneratorParameters': {
-      const signalGeneratorType = args[0] as SignalGeneratorType;
-
-      const setSignalGeneratorParameters: MotionMasterMessage.Request.ISetSignalGeneratorParameters = { deviceAddress };
-
-      switch (signalGeneratorType) {
-        case 'positionStepResponse': {
-          const target = parseInt(args[1], 10);
-          const sustainTime = parseInt(args[2], 10);
-
-          setSignalGeneratorParameters.positionStepResponse = {
-            target,
-            sustainTime,
-          };
-          break;
-        }
-        case 'positionAdvancedStepResponse': {
-          const target = parseInt(args[1], 10);
-          const sustainTime = parseInt(args[2], 10);
-          const repeat = parseInt(args[3], 10) !== 0;
-
-          setSignalGeneratorParameters.positionAdvancedStepResponse = {
-            target,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'positionRamp': {
-          const target = parseInt(args[1], 10);
-          const profileVelocity = parseInt(args[2], 10);
-          const profileAcceleration = parseInt(args[3], 10);
-          const profileDeceleration = parseInt(args[4], 10);
-          const sustainTime = parseInt(args[5], 10);
-
-          setSignalGeneratorParameters.positionRamp = {
-            target,
-            profileVelocity,
-            profileAcceleration,
-            profileDeceleration,
-            sustainTime,
-          };
-          break;
-        }
-        case 'positionTrapezoidal': {
-          const target = parseInt(args[1], 10);
-          const profileVelocity = parseInt(args[2], 10);
-          const profileAcceleration = parseInt(args[3], 10);
-          const profileDeceleration = parseInt(args[4], 10);
-          const sustainTime = parseInt(args[5], 10);
-          const repeat = parseInt(args[6], 10) !== 0;
-
-          setSignalGeneratorParameters.positionTrapezoidal = {
-            target,
-            profileVelocity,
-            profileAcceleration,
-            profileDeceleration,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'positionBidirectional': {
-          const target = parseInt(args[1], 10);
-          const profileVelocity = parseInt(args[2], 10);
-          const profileAcceleration = parseInt(args[3], 10);
-          const profileDeceleration = parseInt(args[4], 10);
-          const sustainTime = parseInt(args[5], 10);
-          const repeat = parseInt(args[6], 10) !== 0;
-
-          setSignalGeneratorParameters.positionBidirectional = {
-            target,
-            profileVelocity,
-            profileAcceleration,
-            profileDeceleration,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'positionSineWave': {
-          const amplitude = parseInt(args[1], 10);
-          const frequency = parseFloat(args[2]);
-          const repeat = parseInt(args[3], 10) !== 0;
-
-          setSignalGeneratorParameters.positionSineWave = {
-            amplitude,
-            frequency,
-            repeat,
-          };
-          break;
-        }
-        case 'velocityStepResponse': {
-          const target = parseInt(args[1], 10);
-          const sustainTime = parseInt(args[2], 10);
-
-          setSignalGeneratorParameters.velocityStepResponse = {
-            target,
-            sustainTime,
-          };
-          break;
-        }
-        case 'velocityAdvancedStepResponse': {
-          const target = parseInt(args[1], 10);
-          const sustainTime = parseInt(args[2], 10);
-          const repeat = parseInt(args[3], 10) !== 0;
-
-          setSignalGeneratorParameters.velocityAdvancedStepResponse = {
-            target,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'velocityRamp': {
-          const target = parseInt(args[1], 10);
-          const profileAcceleration = parseInt(args[2], 10);
-          const profileDeceleration = parseInt(args[3], 10);
-          const sustainTime = parseInt(args[4], 10);
-
-          setSignalGeneratorParameters.velocityRamp = {
-            target,
-            profileAcceleration,
-            profileDeceleration,
-            sustainTime,
-          };
-          break;
-        }
-        case 'velocityTrapezoidal': {
-          const target = parseInt(args[1], 10);
-          const profileAcceleration = parseInt(args[2], 10);
-          const profileDeceleration = parseInt(args[3], 10);
-          const sustainTime = parseInt(args[4], 10);
-          const repeat = parseInt(args[5], 10) !== 0;
-
-          setSignalGeneratorParameters.velocityTrapezoidal = {
-            target,
-            profileAcceleration,
-            profileDeceleration,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'velocityBidirectional': {
-          const target = parseInt(args[1], 10);
-          const profileAcceleration = parseInt(args[2], 10);
-          const profileDeceleration = parseInt(args[3], 10);
-          const sustainTime = parseInt(args[4], 10);
-          const repeat = parseInt(args[5], 10) !== 0;
-
-          setSignalGeneratorParameters.velocityBidirectional = {
-            target,
-            profileAcceleration,
-            profileDeceleration,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'velocitySineWave': {
-          const amplitude = parseInt(args[1], 10);
-          const frequency = parseFloat(args[2]);
-          const repeat = parseInt(args[3], 10) !== 0;
-
-          setSignalGeneratorParameters.velocitySineWave = {
-            amplitude,
-            frequency,
-            repeat,
-          };
-          break;
-        }
-        case 'torqueStepResponse': {
-          const target = parseInt(args[1], 10);
-          const sustainTime = parseInt(args[2], 10);
-
-          setSignalGeneratorParameters.torqueStepResponse = {
-            target,
-            sustainTime,
-          };
-          break;
-        }
-        case 'torqueAdvancedStepResponse': {
-          const target = parseInt(args[1], 10);
-          const sustainTime = parseInt(args[2], 10);
-          const repeat = parseInt(args[3], 10) !== 0;
-
-          setSignalGeneratorParameters.torqueAdvancedStepResponse = {
-            target,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'torqueRamp': {
-          const target = parseInt(args[1], 10);
-          const torqueSlope = parseInt(args[2], 10);
-          const sustainTime = parseInt(args[3], 10);
-
-          setSignalGeneratorParameters.torqueRamp = {
-            target,
-            torqueSlope,
-            sustainTime,
-          };
-          break;
-        }
-        case 'torqueTrapezoidal': {
-          const target = parseInt(args[1], 10);
-          const torqueSlope = parseInt(args[2], 10);
-          const sustainTime = parseInt(args[3], 10);
-          const repeat = parseInt(args[4], 10) !== 0;
-
-          setSignalGeneratorParameters.torqueTrapezoidal = {
-            target,
-            torqueSlope,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'torqueBidirectional': {
-          const target = parseInt(args[1], 10);
-          const torqueSlope = parseInt(args[2], 10);
-          const sustainTime = parseInt(args[3], 10);
-          const repeat = parseInt(args[4], 10) !== 0;
-
-          setSignalGeneratorParameters.torqueBidirectional = {
-            target,
-            torqueSlope,
-            sustainTime,
-            repeat,
-          };
-          break;
-        }
-        case 'torqueSineWave': {
-          const amplitude = parseInt(args[1], 10);
-          const frequency = parseFloat(args[2]);
-          const repeat = parseInt(args[3], 10) !== 0;
-
-          setSignalGeneratorParameters.torqueSineWave = {
-            amplitude,
-            frequency,
-            repeat,
-          };
-          break;
-        }
-        default: {
-          throw new Error(`Unknown set signal generator parameters type: ${signalGeneratorType}`);
-        }
-      }
-
-      motionMasterClient.sendRequest({ setSignalGeneratorParameters }, messageId);
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'startSignalGenerator': {
-      exitOnMessageReceived(messageId, 2147483647, MotionMasterMessage.Status.SignalGenerator.Success.Code.DONE);
-
-      motionMasterClient.requestStartSignalGenerator(deviceAddress, messageId);
-
-      break;
-    }
-    case 'stopSignalGenerator': {
-      motionMasterClient.requestStopSignalGenerator(deviceAddress, messageId);
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'startMonitoringDeviceParameterValues': {
-      const parameters = args.slice(1).map(paramToIndexSubindex) as MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[];
-      validateParameters(parameters);
-      const getDeviceParameterValues = { deviceAddress, parameters };
-      const topic = args[0];
-
-      requestStartMonitoringDeviceParameterValues({ getDeviceParameterValues, interval: cmd.interval, topic });
-      break;
-    }
-    case 'stopMonitoringDeviceParameterValues': {
-      const startMonitoringRequestId = args[0];
-
-      motionMasterClient.requestStopMonitoringDeviceParameterValues(startMonitoringRequestId, messageId);
-
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'getEthercatNetworkState': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetEthercatNetworkState(deviceAddress, messageId);
-
-      break;
-    }
-    case 'setEthercatNetworkState': {
-      exitOnMessageReceived(messageId);
-
-      const state = parseInt(args[0], 10);
-      motionMasterClient.requestSetEthercatNetworkState(deviceAddress, state, messageId);
-
-      break;
-    }
-    case 'startNarrowAngleCalibration': {
-      exitOnMessageReceived(messageId, 180000, MotionMasterMessage.Status.NarrowAngleCalibration.Success.Code.DONE);
-
-      motionMasterClient.requestStartNarrowAngleCalibration(deviceAddress);
-
-      break;
-    }
-    case 'setSystemClientTimeout': {
-      const timeoutMs = parseInt(args[0], 10);
-      motionMasterClient.requestSetSystemClientTimeout(timeoutMs, messageId);
-
-      process.exit(ExitStatus.SUCCESS);
-      break;
-    }
-    case 'getCirculoEncoderMagnetDistance': {
-      exitOnMessageReceived(messageId);
-
-      const encoderOrdinal = parseInt(args[0], 10);
-      const ringRevision = parseInt(args[1], 10);
-      motionMasterClient.requestGetCirculoEncoderMagnetDistance(deviceAddress, encoderOrdinal, ringRevision, messageId);
-
-      break;
-    }
-    case 'startCirculoEncoderNarrowAngleCalibrationProcedure': {
-      exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.DONE);
-
-      const encoderOrdinal = parseInt(args[0], 10);
-      motionMasterClient.requestStartCirculoEncoderNarrowAngleCalibrationProcedure(deviceAddress, encoderOrdinal, messageId);
-
-      break;
-    }
-    case 'getDeviceCia402State': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetDeviceCia402State(deviceAddress, messageId);
-
-      break;
-    }
-    case 'setDeviceCia402State': {
-      exitOnMessageReceived(messageId);
-
-      const state = parseInt(args[0], 10);
-      motionMasterClient.requestSetDeviceCia402State(deviceAddress, state, messageId);
-
-      break;
-    }
-    case 'getSystemLog': {
-      exitOnMessageReceived(messageId);
-
-      motionMasterClient.requestGetSystemLog(messageId);
-
-      break;
-    }
-    case 'startDeviceSiiRestore': {
-      exitOnMessageReceived(messageId, 120000, MotionMasterMessage.Status.DeviceSiiRestore.Success.Code.DONE);
-
-      const devicePosition = parseInt(args[0], 10);
-
-      const filepath = args[1];
-      const firmwarePackageContent = fs.readFileSync(filepath);
-
-      motionMasterClient.requestStartDeviceSiiRestore(devicePosition, firmwarePackageContent, messageId);
-
-      break;
-    }
-    case 'startOpenLoopFieldControl': {
-      exitOnMessageReceived(messageId, 2147483647, MotionMasterMessage.Status.OpenLoopFieldControl.Success.Code.DONE);
-
-      const properties: MotionMasterMessage.Request.IStartOpenLoopFieldControl = {
-        deviceAddress,
-        angle: parseInt(args[0], 10),
-        velocity: parseInt(args[1], 10),
-        acceleration: parseInt(args[2], 10),
-        torque: parseInt(args[3], 10),
-        torqueSpeed: parseInt(args[4], 10),
-      };
-
-      motionMasterClient.requestStartOpenLoopFieldControl(properties, messageId);
-
-      break;
-    }
-    case 'computeFullAutoTuningGains': {
-      const tuningType = parseInt(args[0], 10); // POSITION (0), VELOCITY (1)
-      const controllerType = args[1] // UNSPECIFIED (0), PI_P (1), P_PI (2)
-        ? parseInt(args[1], 10)
-        : MotionMasterMessage.Request.ComputeFullAutoTuningGains.ControllerType.UNSPECIFIED;
-
-      switch (tuningType) {
-        case 0: {
-          exitOnMessageReceived(messageId, 10000, MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_DONE);
-
-          motionMasterClient.requestComputeFullAutoTuningGains(deviceAddress, tuningType, controllerType, messageId);
-
-          break;
-        }
-        case 1: {
-          exitOnMessageReceived(messageId, 10000, MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_DONE);
-
-          motionMasterClient.requestComputeFullAutoTuningGains(deviceAddress, tuningType, controllerType, messageId);
-
-          break;
-        }
-        default: {
-          throw new Error(`Unknown compute auto-tuning gains type: ${tuningType}`);
-        }
-      }
-      break;
-    }
-    case 'startFullAutoTuning': {
-      const tuningType = parseInt(args[0], 10); // POSITION (0), VELOCITY (1)
-      const controllerType = args[1] // UNSPECIFIED (0), PI_P (1), P_PI (2)
-        ? parseInt(args[1], 10)
-        : MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.UNSPECIFIED;
-
-      switch (tuningType) {
-        case 0: {
-          exitOnMessageReceived(messageId, 10000, MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_DONE);
-
-          motionMasterClient.requestStartFullAutoTuning(deviceAddress, tuningType, controllerType, messageId);
-
-          break;
-        }
-        case 1: {
-          exitOnMessageReceived(messageId, 10000, MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_DONE);
-
-          motionMasterClient.requestStartFullAutoTuning(deviceAddress, tuningType, controllerType, messageId);
-
-          break;
-        }
-        default: {
-          throw new Error(`Unknown start auto-tuning type: ${tuningType}`);
-        }
-      }
-      break;
-    }
-    case 'stopFullAutoTuning': {
-      motionMasterClient.requestStopFullAutoTuning(deviceAddress, messageId);
-
-      break;
-    }
-    case 'startCirculoEncoderConfiguration': {
-      exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.CirculoEncoderConfiguration.Success.Code.DONE);
-
-      const encoderOrdinal = parseInt(args[0], 10);
-
-      motionMasterClient.requestStartCirculoEncoderConfiguration(deviceAddress, encoderOrdinal, messageId);
-
-      break;
-    }
-    case 'startOsCommand': {
-      exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.OsCommand.Success.Code.DONE);
-
-      const timeoutMs = parseInt(args[0], 10);
-
-      const filepath = args[1];
-      const command = fs.readFileSync(filepath);
-
-      motionMasterClient.requestStartOsCommand(deviceAddress, timeoutMs, command, messageId);
-
-      break;
-    }
-    default: {
-      throw new Error(`Request "${type}" doesn\'t exist`);
-    }
-  }
-}
-
-async function uploadAction(params: string[], cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-  const sendProgress = cmd.sendProgress;
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-  exitOnMessageReceived(messageId);
-
-  const parameters: MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[] = params.map(paramToIndexSubindex);
-  validateParameters(parameters);
-  const getDeviceParameterValues: MotionMasterMessage.Request.IGetDeviceParameterValues = { deviceAddress, parameters, sendProgress };
-
-  motionMasterClient.sendRequest({ getDeviceParameterValues }, messageId);
-}
-
-async function downloadAction(paramValues: string[], cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-  exitOnMessageReceived(messageId);
-
-  const deviceParameterInfo = await getDeviceParameterInfoAsync(deviceAddress);
-  const parameterValues = paramValues.map((paramValue) => paramToIndexSubIndexValue(paramValue, deviceParameterInfo));
-  const setDeviceParameterValues: MotionMasterMessage.Request.ISetDeviceParameterValues = { deviceAddress, parameterValues };
-
-  motionMasterClient.sendRequest({ setDeviceParameterValues }, messageId);
-}
-
-async function getDeviceFileContentAction(name: string, cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-
-  motionMasterClient.selectMessage(messageId).pipe(
-    first(),
-  ).subscribe((message) => {
-    if (message && message.status && message.status.deviceFile) {
-      const error = message.status.deviceFile.error;
-      if (error) {
-        throw new Error(`${error.code}: ${error.message}`);
-      } else {
-        const content = message.status.deviceFile.content;
-        if (content) {
-          const contentDecoded = new StringDecoder('utf-8').write(Buffer.from(content));
-          console.log(contentDecoded);
-          process.exit(ExitStatus.SUCCESS);
-        } else {
-          throw new Error('Device file content is empty');
-        }
-      }
-    } else {
-      throw new Error('The received message is not "deviceFile"');
-    }
-  });
-
-  const getDeviceFile: MotionMasterMessage.Request.IGetDeviceFile = { deviceAddress, name };
-
-  motionMasterClient.sendRequest({ getDeviceFile }, messageId);
-}
-
-async function getDeviceLogContentAction(cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-
-  motionMasterClient.selectMessage(messageId).pipe(
-    first(),
-  ).subscribe((message) => {
-    if (message && message.status && message.status.deviceLog) {
-      const error = message.status.deviceLog.error;
-      if (error) {
-        throw new Error(`${error.code}: ${error.message}`);
-      } else {
-        const content = message.status.deviceLog.content;
-        if (content) {
-          const contentDecoded = new StringDecoder('utf-8').write(Buffer.from(content));
-          console.log(contentDecoded);
-          process.exit(ExitStatus.SUCCESS);
-        } else {
-          throw new Error('Device log content is empty');
-        }
-      }
-    } else {
-      throw new Error('The received message is not "deviceLog"');
-    }
-  });
-
-  const getDeviceLog: MotionMasterMessage.Request.IGetDeviceLog = { deviceAddress };
-
-  motionMasterClient.sendRequest({ getDeviceLog }, messageId);
-}
-
-async function getCoggingTorqueDataContent(cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-
-  motionMasterClient.selectMessage(messageId).pipe(
-    first(),
-  ).subscribe((message) => {
-    if (message && message.status && message.status.coggingTorqueData) {
-      const error = message.status.coggingTorqueData.error;
-      if (error) {
-        throw new Error(`${error.code}: ${error.message}`);
-      } else {
-        const table = message.status.coggingTorqueData.table;
-        if (table && table.data) {
-          console.log(table.data.join(', '));
-          process.exit(ExitStatus.SUCCESS);
-        } else {
-          throw new Error('Cogging torque table content data is empty');
-        }
-      }
-    } else {
-      throw new Error('The received message is not "coggingTorqueData"');
-    }
-  });
-
-  const getCoggingTorqueData: MotionMasterMessage.Request.IGetCoggingTorqueData = { deviceAddress };
-
-  motionMasterClient.sendRequest({ getCoggingTorqueData }, messageId);
-}
-
-async function startOffsetDetectionAction(cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-  exitOnMessageReceived(messageId, 180000, MotionMasterMessage.Status.OffsetDetection.Success.Code.DONE);
-
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-  const startOffsetDetection: MotionMasterMessage.Request.IStartOffsetDetection = { deviceAddress };
-
-  motionMasterClient.sendRequest({ startOffsetDetection }, messageId);
-}
-
-async function startCoggingTorqueRecordingAction(cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-  exitOnMessageReceived(messageId, 300000, MotionMasterMessage.Status.CoggingTorqueRecording.Success.Code.DONE);
-
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-  const skipAutoTuning = cmd.skipAutoTuning;
-  const startCoggingTorqueRecording: MotionMasterMessage.Request.IStartCoggingTorqueRecording = { deviceAddress, skipAutoTuning };
-
-  motionMasterClient.sendRequest({ startCoggingTorqueRecording }, messageId);
-}
-
-async function startPlantIdentificationAction(
-  durationSeconds: any,
-  torqueAmplitude: any,
-  startFrequency: any,
-  endFrequency: any,
-  cutoffFrequency: any,
-  cmd: Command,
-) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-  exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.PlantIdentification.Success.Code.DONE);
-
-  durationSeconds = parseFloat(durationSeconds);
-  torqueAmplitude = parseInt(torqueAmplitude, 10);
-  startFrequency = parseInt(startFrequency, 10);
-  endFrequency = parseInt(endFrequency, 10);
-  cutoffFrequency = parseInt(cutoffFrequency, 10);
-
-  const startPlantIdentification: MotionMasterMessage.Request.IStartPlantIdentification = {
-    deviceAddress,
-    durationSeconds,
-    torqueAmplitude,
-    startFrequency,
-    endFrequency,
-    cutoffFrequency,
-  };
-
-  motionMasterClient.sendRequest({ startPlantIdentification }, messageId);
-}
-
-async function startSystemIdentificationAction(
-  durationSeconds: any,
-  torqueAmplitude: any,
-  startFrequency: any,
-  endFrequency: any,
-  cmd: Command,
-) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-  exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.SystemIdentification.Success.Code.DONE);
-
-  durationSeconds = parseFloat(durationSeconds);
-  torqueAmplitude = parseInt(torqueAmplitude, 10);
-  startFrequency = parseFloat(startFrequency);
-  endFrequency = parseFloat(endFrequency);
-
-  const startSystemIdentification: MotionMasterMessage.Request.IStartSystemIdentification = {
-    deviceAddress,
-    durationSeconds,
-    torqueAmplitude,
-    startFrequency,
-    endFrequency,
-  };
-
-  motionMasterClient.sendRequest({ startSystemIdentification }, messageId);
-}
-
-async function startCirculoEncoderNarrowAngleCalibrationProcedureAction(
-  encoderOrdinal: any,
-  cmd: Command,
-) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const messageId = v4();
-  printOnMessageReceived(messageId, cmd.parent.outputFormat as OutputFormat);
-  exitOnMessageReceived(messageId, 60000, MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.DONE);
-
-  encoderOrdinal = parseInt(encoderOrdinal, 10);
-
-  const startCirculoEncoderNarrowAngleCalibrationProcedure: MotionMasterMessage.Request.IStartCirculoEncoderNarrowAngleCalibrationProcedure = {
-    deviceAddress,
-    encoderOrdinal,
-  };
-
-  motionMasterClient.sendRequest({ startCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
-}
-
-async function monitorAction(topic: string, params: string[], cmd: Command) {
-  connectToMotionMaster(cmd.parent);
-  const deviceAddress = await getCommandDeviceAddressAsync(cmd.parent);
-
-  const parameters = params.map(paramToIndexSubindex);
-  const getDeviceParameterValues = { deviceAddress, parameters };
-
-  requestStartMonitoringDeviceParameterValues({ getDeviceParameterValues, interval: cmd.interval, topic });
-}
-
-//
-// helper functions
-//
-
-function connectToMotionMaster(cmd: Command) {
-
-  if (cmd.config) {
-    const contents = fs.readFileSync(cmd.config, { encoding: 'utf8' });
-    const json = JSON.parse(contents);
-    Object.assign(config, json);
-  }
-
-  // ping Motion Master in regular intervals
-  const pingSystemInterval = interval(config.pingSystemInterval);
-  pingSystemInterval.subscribe(() => motionMasterClient.sendRequest({ pingSystem: {} }));
-
-  // connect to server endpoint
-  const serverSocket = zmq.socket('dealer');
-  debug(`Using identity for ZeroMQ DEALER socket: ${config.identity}`);
-  serverSocket.identity = config.identity;
-  serverSocket.connect(config.serverEndpoint);
-  debug(`Connected to ZeroMQ DEALER socket server endpoint: ${config.serverEndpoint}`);
-
-  // feed data coming from Motion Master to MotionMasterClient
-  serverSocket.on('message', (data) => {
-    motionMasterClient.input$.next(decodeMotionMasterMessage(data));
-  });
-
-  // send data fed from MotionMasterClient to Motion Master
-  motionMasterClient.output$.subscribe((message) => {
-    // log outgoing messages and skip ping messages
-    if (!(message && message.request && message.request.pingSystem)) {
-      debug(
-        util.inspect(message, inspectOptions),
-      );
-    }
-    serverSocket.send(Buffer.from(encodeMotionMasterMessage(message)));
-  });
-
-  // connnect to notification endpoint
-  const notificationSocket = zmq.socket('sub').connect(config.notificationEndpoint);
-  debug(`Connected to ZeroMQ SUB socket notification endpoint: ${config.notificationEndpoint}`);
-
-  // subscribe to all topics
-  notificationSocket.subscribe('');
-
-  // exit process when a heartbeat message is not received for more than the time specified
-  motionMasterClient.selectMessageStatus('systemPong').pipe(
-    timeout(config.motionMasterHeartbeatTimeoutDue),
-  ).subscribe({
-    error: (err) => {
-      console.error(`${err.name}: Heartbeat message not received for more than ${config.motionMasterHeartbeatTimeoutDue} ms. Check if Motion Master process is running.`);
-      process.exit(ExitStatus.TIMEOUT);
-    },
-  });
-
-  // feed notification data coming from Motion Master to MotionMasterNotification
-  notificationSocket.on('message', (topic: Uint8Array, message: Uint8Array) => {
-    motionMasterNotification.input$.next({ topic: topic.toString(), messages: [decodeMotionMasterMessage(message)] });
-  });
-}
-
-function requestStartMonitoringDeviceParameterValues(startMonitoringDeviceParameterValues: MotionMasterMessage.Request.IStartMonitoringDeviceParameterValues) {
-  const messageId = v4();
-
-  motionMasterNotification.selectMessagesByTopic(startMonitoringDeviceParameterValues.topic || '').subscribe((messages) => {
-    const timestamp = Date.now();
-    const topic = startMonitoringDeviceParameterValues.topic;
-    console.log(
-      util.inspect({ timestamp, topic, messages }, inspectOptions),
-    );
-  });
-
-  motionMasterClient.sendRequest({ startMonitoringDeviceParameterValues }, messageId);
-}
-
-async function getDeviceParameterInfoAsync(deviceAddress: DeviceAddressType) {
-  if (!deviceAddress) {
-    return null;
-  }
-
-  if (deviceParameterInfoMap.has(deviceAddress)) {
-    return deviceParameterInfoMap.get(deviceAddress); // retrieve from cache
-  }
-
-  const getDeviceParameterInfo = { deviceAddress };
-  const messageId = v4();
-  motionMasterClient.sendRequest({ getDeviceParameterInfo }, messageId);
-
-  const deviceParameterInfo = await motionMasterClient.selectMessage(messageId).pipe(
-    first(),
-    map((message) => message && message.status ? message.status.deviceParameterInfo : null),
-  ).toPromise();
-
-  deviceParameterInfoMap.set(deviceAddress, deviceParameterInfo); // cache
-
-  return deviceParameterInfo;
-}
-
-function paramToIndexSubindex(paramValue: string) {
-  const [indexStr, subindexStr] = paramValue.split(':');
-  const index = parseInt(indexStr, 16);
-  const subindex = parseInt(subindexStr, 10) || 0;
-  return { index, subindex };
-}
-
-function paramToIndexSubIndexValue(paramValue: string, deviceParameterInfo: MotionMasterMessage.Status.IDeviceParameterInfo | null | undefined) {
-  const [param, value] = paramValue.split('=');
-  const { index, subindex } = paramToIndexSubindex(param);
-
-  const parameterValue: MotionMasterMessage.Status.DeviceParameterValues.IParameterValue = { index, subindex };
-
-  if (deviceParameterInfo) {
-    if (deviceParameterInfo.parameters) {
-      const parameter = deviceParameterInfo.parameters.find((p) => p.index === index && p.subindex === subindex);
-      if (parameter) {
-        const VT = MotionMasterMessage.Status.DeviceParameterInfo.Parameter.ValueType;
-        switch (parameter.valueType) {
-          case VT.UNSPECIFIED:
-          case VT.INTEGER8:
-          case VT.INTEGER16:
-          case VT.INTEGER32: {
-            parameterValue.intValue = parseInt(value, 10);
-            break;
-          }
-          case VT.BOOLEAN:
-          case VT.UNSIGNED8:
-          case VT.UNSIGNED16:
-          case VT.UNSIGNED32: {
-            parameterValue.uintValue = parseInt(value, 10);
-            break;
-          }
-          case VT.REAL32: {
-            parameterValue.floatValue = parseFloat(value);
-            break;
-          }
-          case VT.VISIBLE_STRING:
-          case VT.OCTET_STRING:
-          case VT.UNICODE_STRING:
-          case VT.TIME_OF_DAY: {
-            parameterValue.stringValue = value;
-            break;
-          }
-        }
-      }
-    }
-  }
-
-  return parameterValue;
-}
-
-function validateParameters(parameters: MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[]) {
-  let error = null;
-
-  if (parameters.some((p) => p.index === 0)) {
-    error = new Error('Parameter with index 0 is requested.');
-  }
-
-  if (parameters.some((p) => isNaN(p.index as number) || isNaN(p.subindex as number))) {
-    error = new Error('Parameter with unparsable index or subindex is requested.');
-  }
-
-  if (error) {
-    error.message += '\nExample of correct formats: "0x2002 0x100A:0 0x2003:4".';
-    console.error(`${error.name}: ${error.message}`);
-    console.error(util.inspect(parameters, inspectOptions));
-    process.exit(ExitStatus.INCORRECT_PARAMETER_FORMAT);
-  }
-}
-
-async function getCommandDeviceAddressAsync(cmd: Command): Promise<DeviceAddressType | null> {
-  if (cmd.deviceAddress) {
-    return cmd.deviceAddress;
-  } else if (Number.isInteger(cmd.devicePosition)) {
-    const device = await motionMasterClient.selectDeviceAtPosition(cmd.devicePosition).toPromise();
-    if (device) {
-      return device.deviceAddress;
-    } else {
-      console.warn(`WARNING: Cannot get device at position ${cmd.devicePosition} or device list is empty.`);
-      return null;
-    }
-  } else {
-    return null;
-  }
-}
-
-function exitOnMessageReceived(messageId: string, due = 10000, exitOnSuccessCode?: number) {
-  motionMasterClient.selectMessage(messageId).pipe(
-    first((message) => {
-      if (exitOnSuccessCode === undefined) {
-        return true;
-      } else {
-        if (message && message.status) {
-          const key = Object.keys(message.status)[0] as StatusType;
-          const status = message.status[key] as { success: any, error: any };
-          if (status && ((status.success && status.success.code === exitOnSuccessCode) || status.error)) {
-            return true;
-          }
-        }
-        return false;
-      }
-    }),
-    timeout(due),
-  ).subscribe({
-    next: () => {
-      debug(`Exit on message received ${messageId}`);
-      process.exit(ExitStatus.SUCCESS);
-    },
-    error: (err) => {
-      console.error(`${err.name}: Status message ${messageId} not received for more than ${due} ms.`);
-      process.exit(ExitStatus.TIMEOUT);
-    },
-  });
-}
-
-function printOnMessageReceived(messageId: string, outputFormat: OutputFormat = 'inspect') {
-  motionMasterClient.selectMessage(messageId).subscribe((message) => {
-    const timestamp = Date.now();
-    const outputObj = { timestamp, message };
-
-    switch (outputFormat) {
-      case 'json': {
-        console.log(JSON.stringify(outputObj));
-        break;
-      }
-      case 'yaml': {
-        console.log(YAML.stringify(outputObj));
-        break;
-      }
-      default: {
-        console.log(
-          util.inspect(outputObj, inspectOptions),
-        );
-      }
-    }
-  });
-}
-
-function parseOptionValueAsInt(value: string) {
-  return parseInt(value, 10);
-}