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

package/dist/cli.js.map

@@ -1 +0,0 @@
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package/dist/index.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,qCAAqC,EAAE,MAAM,8CAA8C,CAAC;AACrG,OAAO,EAAE,kBAAkB,EAAE,MAAM,wBAAwB,CAAC;AAC5D,OAAO,EAAE,sCAAsC,EAAE,MAAM,6CAA6C,CAAC;AACrG,OAAO,EAAE,2CAA2C,EAAE,MAAM,oDAAoD,CAAC;AACjH,OAAO,EAAE,wBAAwB,EAAE,MAAM,8BAA8B,CAAC;AAExE,cAAc,QAAQ,CAAC"}

package/dist/index.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":";;;;;;;;;;;;AAAA,2GAAqG;AAA5F,mKAAA,qCAAqC,OAAA;AAC9C,+DAA4D;AAAnD,0HAAA,kBAAkB,OAAA;AAE3B,uHAAiH;AAAxG,+KAAA,2CAA2C,OAAA;AACpD,2EAAwE;AAA/D,sIAAA,wBAAwB,OAAA;AAEjC,yCAAuB"}

package/dist/motion-master-client-web-socket-connection.d.ts

@@ -1,43 +0,0 @@
-import { BehaviorSubject, Observable } from 'rxjs';
-import { WebSocketSubject } from 'rxjs/webSocket';
-import { MotionMasterClient } from './motion-master-client';
-import { MotionMasterMessage } from './util';
-export declare class MotionMasterClientWebSocketConnection {
-    wssUrl: string;
-    pingSystemPeriod: number;
-    aliveTimeout: number;
-    /**
-     * An instance of MotionMasterClient bound to this WebSocket connection.
-     */
-    readonly client: MotionMasterClient;
-    /**
-     * Emits a boolean value when connection gets opened or closed.
-     */
-    readonly connected$: BehaviorSubject<boolean>;
-    /**
-     * Emits a boolean value when Motion Master is considered alive. True when messages are received
-     * in regular interval, or false when alive timeout expires.
-     */
-    readonly alive$: BehaviorSubject<boolean>;
-    private pingSystemIntervalObserver;
-    private pingSystemIntervalSubscription;
-    private aliveTimeoutId;
-    private closeObserver;
-    private openObserver;
-    private wssConfig;
-    readonly wss$: WebSocketSubject<Uint8Array>;
-    readonly message$: Observable<MotionMasterMessage>;
-    private messageSubscription;
-    private clientOutputSubscription;
-    /**
-     * MotionMasterClientWebSocketConnection constructor.
-     * @param wssUrl Motion Master Bridge WebSocket client URL.
-     * @param pingSystemPeriod timeframe in which to send ping system message to Motion Master.
-     * @param aliveTimeout how long to wait for Motion Master message before emitting it's not alive.
-     */
-    constructor(wssUrl?: string, pingSystemPeriod?: number, aliveTimeout?: number);
-    close(): void;
-    open(): void;
-    private keepalive;
-}
-//# sourceMappingURL=motion-master-client-web-socket-connection.d.ts.map

package/dist/motion-master-client-web-socket-connection.d.ts.map

@@ -1 +0,0 @@
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package/dist/motion-master-client-web-socket-connection.js

@@ -1,91 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.MotionMasterClientWebSocketConnection = void 0;
-var rxjs_1 = require("rxjs");
-var operators_1 = require("rxjs/operators");
-var webSocket_1 = require("rxjs/webSocket");
-var motion_master_client_1 = require("./motion-master-client");
-var util_1 = require("./util");
-var MotionMasterClientWebSocketConnection = /** @class */ (function () {
-    /**
-     * MotionMasterClientWebSocketConnection constructor.
-     * @param wssUrl Motion Master Bridge WebSocket client URL.
-     * @param pingSystemPeriod timeframe in which to send ping system message to Motion Master.
-     * @param aliveTimeout how long to wait for Motion Master message before emitting it's not alive.
-     */
-    function MotionMasterClientWebSocketConnection(wssUrl, pingSystemPeriod, aliveTimeout) {
-        var _this = this;
-        if (wssUrl === void 0) { wssUrl = "ws://" + location.hostname + ":63524"; }
-        if (pingSystemPeriod === void 0) { pingSystemPeriod = 150; }
-        if (aliveTimeout === void 0) { aliveTimeout = 1000; }
-        this.wssUrl = wssUrl;
-        this.pingSystemPeriod = pingSystemPeriod;
-        this.aliveTimeout = aliveTimeout;
-        /**
-         * An instance of MotionMasterClient bound to this WebSocket connection.
-         */
-        this.client = new motion_master_client_1.MotionMasterClient();
-        /**
-         * Emits a boolean value when connection gets opened or closed.
-         */
-        this.connected$ = new rxjs_1.BehaviorSubject(false);
-        /**
-         * Emits a boolean value when Motion Master is considered alive. True when messages are received
-         * in regular interval, or false when alive timeout expires.
-         */
-        this.alive$ = new rxjs_1.BehaviorSubject(false);
-        this.pingSystemIntervalObserver = { next: function () { return _this.client.requestPingSystem(); } };
-        this.pingSystemIntervalSubscription = new rxjs_1.Subscription();
-        this.aliveTimeoutId = 0;
-        this.closeObserver = {
-            next: function () {
-                _this.pingSystemIntervalSubscription.unsubscribe();
-                _this.connected$.next(false);
-                self.clearTimeout(_this.aliveTimeoutId);
-                _this.alive$.next(false);
-            },
-        };
-        this.openObserver = {
-            next: function () {
-                _this.pingSystemIntervalSubscription = rxjs_1.interval(_this.pingSystemPeriod).subscribe(_this.pingSystemIntervalObserver);
-                _this.connected$.next(true);
-            },
-        };
-        this.wssConfig = {
-            binaryType: 'arraybuffer',
-            closeObserver: this.closeObserver,
-            deserializer: function (e) { return new Uint8Array(e.data); },
-            openObserver: this.openObserver,
-            serializer: function (value) { return value; },
-            url: this.wssUrl,
-        };
-        this.wss$ = webSocket_1.webSocket(this.wssConfig);
-        this.message$ = this.wss$.pipe(operators_1.map(function (data) { return util_1.MotionMasterMessage.decode(data); }));
-        this.messageSubscription = new rxjs_1.Subscription();
-        this.clientOutputSubscription = new rxjs_1.Subscription();
-    }
-    MotionMasterClientWebSocketConnection.prototype.close = function () {
-        this.messageSubscription.unsubscribe();
-        this.clientOutputSubscription.unsubscribe();
-    };
-    MotionMasterClientWebSocketConnection.prototype.open = function () {
-        var _this = this;
-        this.messageSubscription = this.message$.pipe(operators_1.tap(function () { return _this.keepalive(); }), operators_1.filter(function (message) { return message && message.status ? !message.status.systemPong : false; })).subscribe(function (message) {
-            _this.client.input$.next(message);
-        });
-        this.clientOutputSubscription = this.client.output$.subscribe(function (message) {
-            _this.wss$.next(util_1.MotionMasterMessage.encode(message).finish());
-        });
-    };
-    MotionMasterClientWebSocketConnection.prototype.keepalive = function () {
-        var _this = this;
-        if (this.alive$.getValue() === false) {
-            this.alive$.next(true);
-        }
-        self.clearTimeout(this.aliveTimeoutId);
-        this.aliveTimeoutId = self.setTimeout(function () { return _this.alive$.next(false); }, this.aliveTimeout);
-    };
-    return MotionMasterClientWebSocketConnection;
-}());
-exports.MotionMasterClientWebSocketConnection = MotionMasterClientWebSocketConnection;
-//# sourceMappingURL=motion-master-client-web-socket-connection.js.map

package/dist/motion-master-client-web-socket-connection.js.map

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package/dist/motion-master-client.d.ts

@@ -1,105 +0,0 @@
-import { Observable, Subject } from 'rxjs';
-import { IMotionMasterMessage, MotionMasterMessage } from './util';
-export declare type RequestType = keyof MotionMasterMessage.IRequest;
-export declare type StatusType = keyof MotionMasterMessage.IStatus;
-export declare type SignalGeneratorType = keyof MotionMasterMessage.Request.ISetSignalGeneratorParameters;
-export declare type ComputeAutoTuningGainsType = keyof MotionMasterMessage.Request.IComputeAutoTuningGains;
-export declare type DeviceAddressType = number | null | undefined;
-/**
- * Select observable of Status message based on status type argument.
- * @see https://www.typescriptlang.org/docs/handbook/advanced-types.html#conditional-types
- */
-export declare type StatusTypeObservable<T extends StatusType> = T extends 'systemPong' ? Observable<MotionMasterMessage.Status.SystemPong> : T extends 'systemVersion' ? Observable<MotionMasterMessage.Status.SystemVersion> : T extends 'systemEvent' ? Observable<MotionMasterMessage.Status.SystemEvent> : T extends 'deviceInfo' ? Observable<MotionMasterMessage.Status.DeviceInfo> : T extends 'deviceParameterInfo' ? Observable<MotionMasterMessage.Status.DeviceParameterInfo> : T extends 'deviceParameterValues' ? Observable<MotionMasterMessage.Status.DeviceParameterValues> : T extends 'multiDeviceParameterValues' ? Observable<MotionMasterMessage.Status.MultiDeviceParameterValues> : T extends 'deviceFileList' ? Observable<MotionMasterMessage.Status.DeviceFileList> : T extends 'deviceFile' ? Observable<MotionMasterMessage.Status.DeviceFile> : T extends 'deviceEvent' ? Observable<MotionMasterMessage.Status.DeviceEvent> : T extends 'deviceFirmwareInstallation' ? Observable<MotionMasterMessage.Status.DeviceFirmwareInstallation> : T extends 'deviceLog' ? Observable<MotionMasterMessage.Status.DeviceLog> : T extends 'deviceFaultReset' ? Observable<MotionMasterMessage.Status.DeviceFaultReset> : T extends 'coggingTorqueRecording' ? Observable<MotionMasterMessage.Status.CoggingTorqueRecording> : T extends 'coggingTorqueData' ? Observable<MotionMasterMessage.Status.CoggingTorqueData> : T extends 'offsetDetection' ? Observable<MotionMasterMessage.Status.OffsetDetection> : T extends 'plantIdentification' ? Observable<MotionMasterMessage.Status.PlantIdentification> : T extends 'autoTuning' ? Observable<MotionMasterMessage.Status.AutoTuning> : T extends 'motionController' ? Observable<MotionMasterMessage.Status.MotionController> : T extends 'signalGenerator' ? Observable<MotionMasterMessage.Status.SignalGenerator> : T extends 'monitoringParameterValues' ? Observable<MotionMasterMessage.Status.MonitoringParameterValues> : T extends 'deviceStop' ? Observable<MotionMasterMessage.Status.DeviceStop> : T extends 'ethercatNetworkState' ? Observable<MotionMasterMessage.Status.EthercatNetworkState> : T extends 'narrowAngleCalibration' ? Observable<MotionMasterMessage.Status.NarrowAngleCalibration> : T extends 'systemIdentification' ? Observable<MotionMasterMessage.Status.SystemIdentification> : T extends 'circuloEncoderMagnetDistance' ? Observable<MotionMasterMessage.Status.CirculoEncoderMagnetDistance> : T extends 'circuloEncoderNarrowAngleCalibrationProcedure' ? Observable<MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure> : T extends 'deviceCia402State' ? Observable<MotionMasterMessage.Status.DeviceCiA402State> : T extends 'systemLog' ? Observable<MotionMasterMessage.Status.SystemLog> : T extends 'deviceSiiRestore' ? Observable<MotionMasterMessage.Status.DeviceSiiRestore> : T extends 'openLoopFieldControl' ? Observable<MotionMasterMessage.Status.OpenLoopFieldControl> : T extends 'fullAutoTuning' ? Observable<MotionMasterMessage.Status.FullAutoTuning> : T extends 'circuloEncoderConfiguration' ? Observable<MotionMasterMessage.Status.CirculoEncoderConfiguration> : T extends 'osCommand' ? Observable<MotionMasterMessage.Status.OsCommand> : Observable<any>;
-export declare class MotionMasterClient {
-    /**
-     * Decoded message instances coming from Motion Master.
-     * @see https://github.com/protobufjs/protobuf.js#toolset Message.decode
-     */
-    readonly input$: Subject<MotionMasterMessage>;
-    /**
-     * Message instances or objects going to Motion Master.
-     * @see https://github.com/protobufjs/protobuf.js#toolset Message.encode
-     */
-    readonly output$: Subject<IMotionMasterMessage>;
-    requestPingSystem(messageId?: string): Observable<MotionMasterMessage.Status.SystemPong>;
-    requestGetSystemVersion(messageId?: string): Observable<MotionMasterMessage.Status.SystemVersion>;
-    requestGetDeviceInfo(messageId?: string): Observable<MotionMasterMessage.Status.DeviceInfo>;
-    requestGetDeviceParameterInfo(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.DeviceParameterInfo>;
-    requestGetDeviceParameterValues(deviceAddress: DeviceAddressType, parameters: MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[], sendProgress?: boolean, messageId?: string): Observable<MotionMasterMessage.Status.DeviceParameterValues>;
-    requestSetDeviceParameterValues(deviceAddress: DeviceAddressType, parameterValues: MotionMasterMessage.Request.SetDeviceParameterValues.IParameterValue[], messageId?: string): Observable<MotionMasterMessage.Status.DeviceParameterValues>;
-    requestGetDeviceFileList(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.DeviceFileList>;
-    requestGetDeviceFile(deviceAddress: DeviceAddressType, name: string, messageId?: string): Observable<MotionMasterMessage.Status.DeviceFile>;
-    requestSetDeviceFile(deviceAddress: DeviceAddressType, name: string, content: Uint8Array, overwrite: boolean, messageId?: string): Observable<MotionMasterMessage.Status.DeviceFile>;
-    requestDeleteDeviceFile(deviceAddress: DeviceAddressType, name: string, messageId?: string): Observable<MotionMasterMessage.Status.DeviceFile>;
-    requestResetDeviceFault(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.DeviceFaultReset>;
-    requestStopDevice(deviceAddress: DeviceAddressType, messageId?: string): string;
-    requestStartDeviceFirmwareInstallation(deviceAddress: DeviceAddressType, firmwarePackageContent: Uint8Array, skipSiiInstallation?: boolean, messageId?: string): Observable<MotionMasterMessage.Status.DeviceFirmwareInstallation>;
-    requestGetDeviceLog(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.DeviceLog>;
-    requestStartCoggingTorqueRecording(deviceAddress: DeviceAddressType, skipAutoTuning: boolean, messageId?: string): Observable<MotionMasterMessage.Status.CoggingTorqueRecording>;
-    requestGetCoggingTorqueData(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.CoggingTorqueData>;
-    requestStartOffsetDetection(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.OffsetDetection>;
-    requestStartPlantIdentification(deviceAddress: DeviceAddressType, durationSeconds: number, torqueAmplitude: number, startFrequency: number, endFrequency: number, cutoffFrequency: number, messageId?: string): Observable<MotionMasterMessage.Status.PlantIdentification>;
-    requestComputePositionAutoTuningGains(deviceAddress: DeviceAddressType, positionParameters: MotionMasterMessage.Request.ComputeAutoTuningGains.IPositionParameters, messageId?: string): Observable<MotionMasterMessage.Status.AutoTuning>;
-    requestComputeVelocityAutoTuningGains(deviceAddress: DeviceAddressType, velocityParameters: MotionMasterMessage.Request.ComputeAutoTuningGains.IVelocityParameters, messageId?: string): Observable<MotionMasterMessage.Status.AutoTuning>;
-    requestComputeFullAutoTuningGains(deviceAddress: DeviceAddressType, type: MotionMasterMessage.Request.ComputeFullAutoTuningGains.Type, controllerType?: MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType, messageId?: string): Observable<MotionMasterMessage.Status.FullAutoTuning>;
-    requestSetMotionControllerParameters(deviceAddress: DeviceAddressType, target: number, messageId?: string): string;
-    requestEnableMotionController(deviceAddress: DeviceAddressType, controllerType: MotionMasterMessage.Request.EnableMotionController.ControllerType, filterValue: boolean, messageId?: string): Observable<MotionMasterMessage.Status.MotionController>;
-    requestDisableMotionController(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.MotionController>;
-    requestSetSignalGeneratorParameters(setSignalGeneratorParameters: MotionMasterMessage.Request.ISetSignalGeneratorParameters, messageId?: string): string;
-    requestStartSignalGenerator(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.SignalGenerator>;
-    requestStopSignalGenerator(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.SignalGenerator>;
-    requestStartMonitoringDeviceParameterValues(deviceAddress: DeviceAddressType, parameters: MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[], interval: number, topic: string, messageId?: string): Observable<MotionMasterMessage.Status.MonitoringParameterValues>;
-    requestStopMonitoringDeviceParameterValues(startMonitoringRequestId: string, messageId?: string): Observable<MotionMasterMessage.Status.MonitoringParameterValues>;
-    requestGetEthercatNetworkState(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.EthercatNetworkState>;
-    requestSetEthercatNetworkState(deviceAddress: DeviceAddressType, state: MotionMasterMessage.Request.SetEthercatNetworkState.State, messageId?: string): Observable<MotionMasterMessage.Status.EthercatNetworkState>;
-    requestStartNarrowAngleCalibration(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.NarrowAngleCalibration>;
-    requestSetSystemClientTimeout(timeoutMs: number, messageId?: string): string;
-    requestStartSystemIdentification(deviceAddress: DeviceAddressType, durationSeconds: number, torqueAmplitude: number, startFrequency: number, endFrequency: number, messageId?: string): Observable<MotionMasterMessage.Status.SystemIdentification>;
-    requestGetCirculoEncoderMagnetDistance(deviceAddress: DeviceAddressType, encoderOrdinal: number, ringRevision: number, messageId?: string): Observable<MotionMasterMessage.Status.CirculoEncoderMagnetDistance>;
-    requestStartCirculoEncoderNarrowAngleCalibrationProcedure(deviceAddress: DeviceAddressType, encoderOrdinal: number, messageId?: string): Observable<MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure>;
-    requestGetDeviceCia402State(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.DeviceCiA402State>;
-    requestSetDeviceCia402State(deviceAddress: DeviceAddressType, state: MotionMasterMessage.Status.DeviceCiA402State.State, messageId?: string): Observable<MotionMasterMessage.Status.DeviceCiA402State>;
-    requestGetSystemLog(messageId?: string): Observable<MotionMasterMessage.Status.SystemLog>;
-    requestStartDeviceSiiRestore(devicePosition: number, siiContent: Uint8Array, messageId?: string): Observable<MotionMasterMessage.Status.DeviceSiiRestore>;
-    requestStartOpenLoopFieldControl(properties: MotionMasterMessage.Request.IStartOpenLoopFieldControl, messageId?: string): Observable<MotionMasterMessage.Status.OpenLoopFieldControl>;
-    requestStartFullAutoTuning(deviceAddress: DeviceAddressType, type: MotionMasterMessage.Request.StartFullAutoTuning.Type, controllerType?: MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType, messageId?: string): Observable<MotionMasterMessage.Status.FullAutoTuning>;
-    requestStopFullAutoTuning(deviceAddress: DeviceAddressType, messageId?: string): Observable<MotionMasterMessage.Status.FullAutoTuning>;
-    requestStartCirculoEncoderConfiguration(deviceAddress: DeviceAddressType, encoderOrdinal: number, messageId?: string): Observable<MotionMasterMessage.Status.CirculoEncoderConfiguration>;
-    requestStopCirculoEncoderNarrowAngleCalibrationProcedure(deviceAddress: DeviceAddressType, encoderOrdinal: number, messageId?: string): Observable<MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure>;
-    requestStartOsCommand(deviceAddress: DeviceAddressType, timeoutMs: number, command: Uint8Array, messageId?: string): Observable<MotionMasterMessage.Status.OsCommand>;
-    /**
-     * Select device at position in EtherCAT chain. This function makes an initial request to fetch a list of devices.
-     * @param position device position in EtherCAT chain
-     * @returns an observable of device messages
-     */
-    selectDeviceAtPosition(position: number): Observable<MotionMasterMessage.Status.DeviceInfo.IDevice | null | undefined>;
-    /**
-     * Select incoming messages by id.
-     *
-     * This function filters messages by id as there can be multiple messages coming in for a single request,
-     * e.g. startOffsetDetection → started → progress → done. Ensure that you unsubscribe or use `takeWhile` operator.
-     *
-     * @param messageId
-     * @returns an observable of motion master messages
-     */
-    selectMessage(messageId: string): Observable<MotionMasterMessage>;
-    /**
-     * Select incoming messages by id (optionally) and get their status response.
-     *
-     * This function filters messages by id as there can be multiple messages coming in for a single request,
-     * e.g. startOffsetDetection → started → progress → done. Ensure that you unsubscribe or use `takeWhile` operator.
-     *
-     * @param messageId
-     * @param type of status message received as a response
-     */
-    selectMessageStatus<T extends StatusType>(type: T, messageId?: string): StatusTypeObservable<T>;
-    /**
-     * Send Request message to output.
-     * @param request proto message
-     * @param [messageId] identifies request, if no messageId is provided one is generated with uuid v4 and returned
-     * @returns passed or generated messageId
-     */
-    sendRequest(request: MotionMasterMessage.IRequest, messageId?: string): string;
-    sendMessage(message: IMotionMasterMessage): string | null | undefined;
-}
-//# sourceMappingURL=motion-master-client.d.ts.map

package/dist/motion-master-client.d.ts.map

@@ -1 +0,0 @@
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