@synapticon/motion-master-client 2.3.0-beta.0 → 6.0.0-alpha.100

package/src/index.ts

@@ -1,7 +0,0 @@
-export { MotionMasterClientWebSocketConnection } from './motion-master-client-web-socket-connection';
-export { MotionMasterClient } from './motion-master-client';
-export { IMotionMasterNotificationSubscribeData } from './motion-master-notification-subscribe-data';
-export { MotionMasterNotificationWebSocketConnection } from './motion-master-notification-web-socket-connection';
-export { MotionMasterNotification } from './motion-master-notification';
-
-export * from './util';

package/src/motion-master-client-web-socket-connection.ts

@@ -1,104 +0,0 @@
-import { BehaviorSubject, interval, Observable, Subscription } from 'rxjs';
-import { filter, map, tap } from 'rxjs/operators';
-import { webSocket, WebSocketSubject, WebSocketSubjectConfig } from 'rxjs/webSocket';
-
-import { MotionMasterClient } from './motion-master-client';
-import { MotionMasterMessage } from './util';
-
-export class MotionMasterClientWebSocketConnection {
-
-  /**
-   * An instance of MotionMasterClient bound to this WebSocket connection.
-   */
-  readonly client = new MotionMasterClient();
-
-  /**
-   * Emits a boolean value when connection gets opened or closed.
-   */
-  readonly connected$ = new BehaviorSubject<boolean>(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.
-   */
-  readonly alive$ = new BehaviorSubject<boolean>(false);
-
-  private pingSystemIntervalObserver = { next: () => this.client.requestPingSystem() };
-
-  private pingSystemIntervalSubscription = new Subscription();
-
-  private aliveTimeoutId = 0;
-
-  private closeObserver = {
-    next: () => {
-      this.pingSystemIntervalSubscription.unsubscribe();
-      this.connected$.next(false);
-      self.clearTimeout(this.aliveTimeoutId);
-      this.alive$.next(false);
-    },
-  };
-
-  private openObserver = {
-    next: () => {
-      this.pingSystemIntervalSubscription = interval(this.pingSystemPeriod).subscribe(this.pingSystemIntervalObserver);
-      this.connected$.next(true);
-    },
-  };
-
-  private wssConfig: WebSocketSubjectConfig<Uint8Array> = {
-    binaryType: 'arraybuffer',
-    closeObserver: this.closeObserver,
-    deserializer: (e: MessageEvent) => new Uint8Array(e.data),
-    openObserver: this.openObserver,
-    serializer: (value) => value,
-    url: this.wssUrl,
-  };
-
-  readonly wss$: WebSocketSubject<Uint8Array> = webSocket(this.wssConfig);
-
-  readonly message$: Observable<MotionMasterMessage> = this.wss$.pipe(
-    map((data) => MotionMasterMessage.decode(data)),
-  );
-
-  private messageSubscription = new Subscription();
-  private clientOutputSubscription = new Subscription();
-
-  /**
-   * 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(
-    public wssUrl = `ws://${location.hostname}:63524`,
-    public pingSystemPeriod = 150,
-    public aliveTimeout = 1000,
-  ) { }
-
-  close() {
-    this.messageSubscription.unsubscribe();
-    this.clientOutputSubscription.unsubscribe();
-  }
-
-  open() {
-    this.messageSubscription = this.message$.pipe(
-      tap(() => this.keepalive()),
-      filter((message) => message && message.status ? !message.status.systemPong : false),
-    ).subscribe((message) => {
-      this.client.input$.next(message);
-    });
-
-    this.clientOutputSubscription = this.client.output$.subscribe((message) => {
-      this.wss$.next(MotionMasterMessage.encode(message).finish());
-    });
-  }
-
-  private keepalive() {
-    if (this.alive$.getValue() === false) {
-      this.alive$.next(true);
-    }
-    self.clearTimeout(this.aliveTimeoutId);
-    this.aliveTimeoutId = self.setTimeout(() => this.alive$.next(false), this.aliveTimeout);
-  }
-
-}

package/src/motion-master-client.ts

@@ -1,468 +0,0 @@
-import { Observable, Subject } from 'rxjs';
-import { filter, first, map } from 'rxjs/operators';
-import { v4 } from 'uuid';
-
-import { IMotionMasterMessage, MotionMasterMessage } from './util';
-
-export type RequestType = keyof MotionMasterMessage.IRequest;
-export type StatusType = keyof MotionMasterMessage.IStatus;
-export type SignalGeneratorType = keyof MotionMasterMessage.Request.ISetSignalGeneratorParameters;
-export type ComputeAutoTuningGainsType = keyof MotionMasterMessage.Request.IComputeAutoTuningGains;
-
-export 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 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 class MotionMasterClient {
-
-  /**
-   * Decoded message instances coming from Motion Master.
-   * @see https://github.com/protobufjs/protobuf.js#toolset Message.decode
-   */
-  readonly input$ = new Subject<MotionMasterMessage>();
-
-  /**
-   * Message instances or objects going to Motion Master.
-   * @see https://github.com/protobufjs/protobuf.js#toolset Message.encode
-   */
-  readonly output$ = new Subject<IMotionMasterMessage>();
-
-  requestPingSystem(messageId?: string) {
-    const pingSystem = MotionMasterMessage.Request.PingSystem.create();
-    const id = this.sendRequest({ pingSystem }, messageId);
-    return this.selectMessageStatus('systemPong', id);
-  }
-
-  requestGetSystemVersion(messageId?: string) {
-    const getSystemVersion = MotionMasterMessage.Request.GetSystemVersion.create();
-    const id = this.sendRequest({ getSystemVersion }, messageId);
-    return this.selectMessageStatus('systemVersion', id);
-  }
-
-  requestGetDeviceInfo(messageId?: string) {
-    const getDeviceInfo = MotionMasterMessage.Request.GetDeviceInfo.create();
-    const id = this.sendRequest({ getDeviceInfo }, messageId);
-    return this.selectMessageStatus('deviceInfo', id);
-  }
-
-  requestGetDeviceParameterInfo(deviceAddress: DeviceAddressType, messageId?: string) {
-    const getDeviceParameterInfo = MotionMasterMessage.Request.GetDeviceParameterInfo.create({ deviceAddress });
-    const id = this.sendRequest({ getDeviceParameterInfo }, messageId);
-    return this.selectMessageStatus('deviceParameterInfo', id);
-  }
-
-  requestGetDeviceParameterValues(deviceAddress: DeviceAddressType, parameters: MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[], sendProgress = false, messageId?: string) {
-    const getDeviceParameterValues = MotionMasterMessage.Request.GetDeviceParameterValues.create({ deviceAddress, parameters, sendProgress });
-    const id = this.sendRequest({ getDeviceParameterValues }, messageId);
-    return this.selectMessageStatus('deviceParameterValues', id);
-  }
-
-  requestSetDeviceParameterValues(deviceAddress: DeviceAddressType, parameterValues: MotionMasterMessage.Request.SetDeviceParameterValues.IParameterValue[], messageId?: string) {
-    const setDeviceParameterValues = MotionMasterMessage.Request.SetDeviceParameterValues.create({ deviceAddress, parameterValues });
-    const id = this.sendRequest({ setDeviceParameterValues }, messageId);
-    return this.selectMessageStatus('deviceParameterValues', id);
-  }
-
-  requestGetDeviceFileList(deviceAddress: DeviceAddressType, messageId?: string) {
-    const getDeviceFileList = MotionMasterMessage.Request.GetDeviceFileList.create({ deviceAddress });
-    const id = this.sendRequest({ getDeviceFileList }, messageId);
-    return this.selectMessageStatus('deviceFileList', id);
-  }
-
-  requestGetDeviceFile(deviceAddress: DeviceAddressType, name: string, messageId?: string) {
-    const getDeviceFile = MotionMasterMessage.Request.GetDeviceFile.create({ deviceAddress, name });
-    const id = this.sendRequest({ getDeviceFile }, messageId);
-    return this.selectMessageStatus('deviceFile', id);
-  }
-
-  requestSetDeviceFile(deviceAddress: DeviceAddressType, name: string, content: Uint8Array, overwrite: boolean, messageId?: string) {
-    const setDeviceFile = MotionMasterMessage.Request.SetDeviceFile.create({ deviceAddress, name, content, overwrite });
-    const id = this.sendRequest({ setDeviceFile }, messageId);
-    return this.selectMessageStatus('deviceFile', id);
-  }
-
-  requestDeleteDeviceFile(deviceAddress: DeviceAddressType, name: string, messageId?: string) {
-    const deleteDeviceFile = MotionMasterMessage.Request.DeleteDeviceFile.create({ deviceAddress, name });
-    const id = this.sendRequest({ deleteDeviceFile }, messageId);
-    return this.selectMessageStatus('deviceFile', id);
-  }
-
-  requestResetDeviceFault(deviceAddress: DeviceAddressType, messageId?: string) {
-    const resetDeviceFault = MotionMasterMessage.Request.ResetDeviceFault.create({ deviceAddress });
-    const id = this.sendRequest({ resetDeviceFault }, messageId);
-    return this.selectMessageStatus('deviceFaultReset', id);
-  }
-
-  requestStopDevice(deviceAddress: DeviceAddressType, messageId?: string) {
-    const stopDevice = MotionMasterMessage.Request.StopDevice.create({ deviceAddress });
-    const id = this.sendRequest({ stopDevice }, messageId);
-    return id;
-  }
-
-  requestStartDeviceFirmwareInstallation(deviceAddress: DeviceAddressType, firmwarePackageContent: Uint8Array, skipSiiInstallation = false, messageId?: string) {
-    const startDeviceFirmwareInstallation = MotionMasterMessage.Request.StartDeviceFirmwareInstallation.create({ deviceAddress, firmwarePackageContent, skipSiiInstallation });
-    const id = this.sendRequest({ startDeviceFirmwareInstallation }, messageId);
-    return this.selectMessageStatus('deviceFirmwareInstallation', id);
-  }
-
-  requestGetDeviceLog(deviceAddress: DeviceAddressType, messageId?: string) {
-    const getDeviceLog = MotionMasterMessage.Request.GetDeviceLog.create({ deviceAddress });
-    const id = this.sendRequest({ getDeviceLog }, messageId);
-    return this.selectMessageStatus('deviceLog', id);
-  }
-
-  requestStartCoggingTorqueRecording(deviceAddress: DeviceAddressType, skipAutoTuning: boolean, messageId?: string) {
-    const startCoggingTorqueRecording = MotionMasterMessage.Request.StartCoggingTorqueRecording.create({ deviceAddress, skipAutoTuning });
-    const id = this.sendRequest({ startCoggingTorqueRecording }, messageId);
-    return this.selectMessageStatus('coggingTorqueRecording', id);
-  }
-
-  requestGetCoggingTorqueData(deviceAddress: DeviceAddressType, messageId?: string) {
-    const getCoggingTorqueData = MotionMasterMessage.Request.GetCoggingTorqueData.create({ deviceAddress });
-    const id = this.sendRequest({ getCoggingTorqueData }, messageId);
-    return this.selectMessageStatus('coggingTorqueData', id);
-  }
-
-  requestStartOffsetDetection(deviceAddress: DeviceAddressType, messageId?: string) {
-    const startOffsetDetection = MotionMasterMessage.Request.StartOffsetDetection.create({ deviceAddress });
-    const id = this.sendRequest({ startOffsetDetection }, messageId);
-    return this.selectMessageStatus('offsetDetection', id);
-  }
-
-  requestStartPlantIdentification(deviceAddress: DeviceAddressType, durationSeconds: number, torqueAmplitude: number, startFrequency: number, endFrequency: number, cutoffFrequency: number, messageId?: string) {
-    const startPlantIdentification = MotionMasterMessage.Request.StartPlantIdentification.create({
-      deviceAddress,
-      durationSeconds,
-      torqueAmplitude,
-      startFrequency,
-      endFrequency,
-      cutoffFrequency,
-    });
-    const id = this.sendRequest({ startPlantIdentification }, messageId);
-    return this.selectMessageStatus('plantIdentification', id);
-  }
-
-  requestComputePositionAutoTuningGains(
-    deviceAddress: DeviceAddressType,
-    positionParameters: MotionMasterMessage.Request.ComputeAutoTuningGains.IPositionParameters,
-    messageId?: string,
-  ) {
-    const computeAutoTuningGains = MotionMasterMessage.Request.ComputeAutoTuningGains.create({ deviceAddress, positionParameters });
-    const id = this.sendRequest({ computeAutoTuningGains }, messageId);
-    return this.selectMessageStatus('autoTuning', id);
-  }
-
-  requestComputeVelocityAutoTuningGains(
-    deviceAddress: DeviceAddressType,
-    velocityParameters: MotionMasterMessage.Request.ComputeAutoTuningGains.IVelocityParameters,
-    messageId?: string,
-  ) {
-    const computeAutoTuningGains = MotionMasterMessage.Request.ComputeAutoTuningGains.create({ deviceAddress, velocityParameters });
-    const id = this.sendRequest({ computeAutoTuningGains }, messageId);
-    return this.selectMessageStatus('autoTuning', id);
-  }
-
-  requestComputeFullAutoTuningGains(
-    deviceAddress: DeviceAddressType,
-    type: MotionMasterMessage.Request.ComputeFullAutoTuningGains.Type,
-    controllerType: MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType = MotionMasterMessage.Request.ComputeFullAutoTuningGains.ControllerType.UNSPECIFIED,
-    messageId?: string,
-  ) {
-    const computeFullAutoTuningGains = MotionMasterMessage.Request.ComputeFullAutoTuningGains.create({ deviceAddress, type, controllerType });
-    const id = this.sendRequest({ computeFullAutoTuningGains }, messageId);
-    return this.selectMessageStatus('fullAutoTuning', id);
-  }
-
-  requestSetMotionControllerParameters(deviceAddress: DeviceAddressType, target: number, messageId?: string) {
-    const setMotionControllerParameters = MotionMasterMessage.Request.SetMotionControllerParameters.create({
-      deviceAddress,
-      target,
-    });
-    const id = this.sendRequest({ setMotionControllerParameters }, messageId);
-    return id;
-  }
-
-  requestEnableMotionController(deviceAddress: DeviceAddressType, controllerType: MotionMasterMessage.Request.EnableMotionController.ControllerType, filterValue: boolean, messageId?: string) {
-    const enableMotionController = MotionMasterMessage.Request.EnableMotionController.create({
-      deviceAddress,
-      controllerType,
-      filter: filterValue,
-    });
-    const id = this.sendRequest({ enableMotionController }, messageId);
-    return this.selectMessageStatus('motionController', id);
-  }
-
-  requestDisableMotionController(deviceAddress: DeviceAddressType, messageId?: string) {
-    const disableMotionController = MotionMasterMessage.Request.DisableMotionController.create({ deviceAddress });
-    const id = this.sendRequest({ disableMotionController }, messageId);
-    return this.selectMessageStatus('motionController', id);
-  }
-
-  requestSetSignalGeneratorParameters(
-    setSignalGeneratorParameters: MotionMasterMessage.Request.ISetSignalGeneratorParameters,
-    messageId?: string,
-  ) {
-    const id = this.sendRequest({ setSignalGeneratorParameters }, messageId);
-    return id;
-  }
-
-  requestStartSignalGenerator(deviceAddress: DeviceAddressType, messageId?: string) {
-    const startSignalGenerator = MotionMasterMessage.Request.StartSignalGenerator.create({ deviceAddress });
-    const id = this.sendRequest({ startSignalGenerator }, messageId);
-    return this.selectMessageStatus('signalGenerator', id);
-  }
-
-  requestStopSignalGenerator(deviceAddress: DeviceAddressType, messageId?: string) {
-    const stopSignalGenerator = MotionMasterMessage.Request.StopSignalGenerator.create({ deviceAddress });
-    const id = this.sendRequest({ stopSignalGenerator }, messageId);
-    return this.selectMessageStatus('signalGenerator', id);
-  }
-
-  requestStartMonitoringDeviceParameterValues(deviceAddress: DeviceAddressType, parameters: MotionMasterMessage.Request.GetDeviceParameterValues.IParameter[], interval: number, topic: string, messageId?: string) {
-    const getDeviceParameterValues = { deviceAddress, parameters };
-    const startMonitoringDeviceParameterValues = MotionMasterMessage.Request.StartMonitoringDeviceParameterValues.create({ getDeviceParameterValues, interval, topic });
-    const id = this.sendRequest({ startMonitoringDeviceParameterValues }, messageId);
-    return this.selectMessageStatus('monitoringParameterValues', id);
-  }
-
-  requestStopMonitoringDeviceParameterValues(startMonitoringRequestId: string, messageId?: string) {
-    const stopMonitoringDeviceParameterValues = MotionMasterMessage.Request.StopMonitoringDeviceParameterValues.create({ startMonitoringRequestId });
-    const id = this.sendRequest({ stopMonitoringDeviceParameterValues }, messageId);
-    return this.selectMessageStatus('monitoringParameterValues', id);
-  }
-
-  requestGetEthercatNetworkState(deviceAddress: DeviceAddressType, messageId?: string) {
-    const getEthercatNetworkState = MotionMasterMessage.Request.GetEthercatNetworkState.create({ deviceAddress });
-    const id = this.sendRequest({ getEthercatNetworkState }, messageId);
-    return this.selectMessageStatus('ethercatNetworkState', id);
-  }
-
-  requestSetEthercatNetworkState(deviceAddress: DeviceAddressType, state: MotionMasterMessage.Request.SetEthercatNetworkState.State, messageId?: string) {
-    const setEthercatNetworkState = MotionMasterMessage.Request.SetEthercatNetworkState.create({ deviceAddress, state });
-    const id = this.sendRequest({ setEthercatNetworkState }, messageId);
-    return this.selectMessageStatus('ethercatNetworkState', id);
-  }
-
-  requestStartNarrowAngleCalibration(deviceAddress: DeviceAddressType, messageId?: string) {
-    const startNarrowAngleCalibration = MotionMasterMessage.Request.StartNarrowAngleCalibration.create({ deviceAddress });
-    const id = this.sendRequest({ startNarrowAngleCalibration }, messageId);
-    return this.selectMessageStatus('narrowAngleCalibration', id);
-  }
-
-  requestSetSystemClientTimeout(timeoutMs: number, messageId?: string) {
-    const setSystemClientTimeout = MotionMasterMessage.Request.SetSystemClientTimeout.create({ timeoutMs });
-    const id = this.sendRequest({ setSystemClientTimeout }, messageId);
-    return id;
-  }
-
-  requestStartSystemIdentification(deviceAddress: DeviceAddressType, durationSeconds: number, torqueAmplitude: number, startFrequency: number, endFrequency: number, messageId?: string) {
-    const startSystemIdentification = MotionMasterMessage.Request.StartSystemIdentification.create({
-      deviceAddress,
-      durationSeconds,
-      torqueAmplitude,
-      startFrequency,
-      endFrequency,
-    });
-    const id = this.sendRequest({ startSystemIdentification }, messageId);
-    return this.selectMessageStatus('systemIdentification', id);
-  }
-
-  requestGetCirculoEncoderMagnetDistance(deviceAddress: DeviceAddressType, encoderOrdinal: number, ringRevision: number, messageId?: string) {
-    const getCirculoEncoderMagnetDistance = MotionMasterMessage.Request.GetCirculoEncoderMagnetDistance.create({
-      deviceAddress,
-      encoderOrdinal,
-      ringRevision,
-    });
-    const id = this.sendRequest({ getCirculoEncoderMagnetDistance }, messageId);
-    return this.selectMessageStatus('circuloEncoderMagnetDistance', id);
-  }
-
-  requestStartCirculoEncoderNarrowAngleCalibrationProcedure(deviceAddress: DeviceAddressType, encoderOrdinal: number, messageId?: string) {
-    const startCirculoEncoderNarrowAngleCalibrationProcedure = MotionMasterMessage.Request.StartCirculoEncoderNarrowAngleCalibrationProcedure.create({
-      deviceAddress,
-      encoderOrdinal,
-    });
-    const id = this.sendRequest({ startCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
-    return this.selectMessageStatus('circuloEncoderNarrowAngleCalibrationProcedure', id);
-  }
-
-  requestGetDeviceCia402State(deviceAddress: DeviceAddressType, messageId?: string) {
-    const getDeviceCia402State = MotionMasterMessage.Request.GetDeviceCiA402State.create({ deviceAddress });
-    const id = this.sendRequest({ getDeviceCia402State }, messageId);
-    return this.selectMessageStatus('deviceCia402State', id);
-  }
-
-  requestSetDeviceCia402State(deviceAddress: DeviceAddressType, state: MotionMasterMessage.Status.DeviceCiA402State.State, messageId?: string) {
-    const setDeviceCia402State = MotionMasterMessage.Request.SetDeviceCiA402State.create({ deviceAddress, state });
-    const id = this.sendRequest({ setDeviceCia402State }, messageId);
-    return this.selectMessageStatus('deviceCia402State', id);
-  }
-
-  requestGetSystemLog(messageId?: string) {
-    const getSystemLog = MotionMasterMessage.Request.GetSystemLog.create({});
-    const id = this.sendRequest({ getSystemLog }, messageId);
-    return this.selectMessageStatus('systemLog', id);
-  }
-
-  requestStartDeviceSiiRestore(devicePosition: number, siiContent: Uint8Array, messageId?: string) {
-    const startDeviceSiiRestore = MotionMasterMessage.Request.StartDeviceSiiRestore.create({
-      devicePosition,
-      siiContent,
-    });
-    const id = this.sendRequest({ startDeviceSiiRestore }, messageId);
-    return this.selectMessageStatus('deviceSiiRestore', id);
-  }
-
-  requestStartOpenLoopFieldControl(properties: MotionMasterMessage.Request.IStartOpenLoopFieldControl, messageId?: string) {
-    const startOpenLoopFieldControl = MotionMasterMessage.Request.StartOpenLoopFieldControl.create(properties);
-    const id = this.sendRequest({ startOpenLoopFieldControl }, messageId);
-    return this.selectMessageStatus('openLoopFieldControl', id);
-  }
-
-  requestStartFullAutoTuning(
-    deviceAddress: DeviceAddressType,
-    type: MotionMasterMessage.Request.StartFullAutoTuning.Type,
-    controllerType: MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType = MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.UNSPECIFIED,
-    messageId?: string,
-  ) {
-    const startFullAutoTuning = MotionMasterMessage.Request.StartFullAutoTuning.create({ deviceAddress, type, controllerType });
-    const id = this.sendRequest({ startFullAutoTuning }, messageId);
-    return this.selectMessageStatus('fullAutoTuning', id);
-  }
-
-  requestStopFullAutoTuning(deviceAddress: DeviceAddressType, messageId?: string) {
-    const stopFullAutoTuning = MotionMasterMessage.Request.StopFullAutoTuning.create({ deviceAddress });
-    const id = this.sendRequest({ stopFullAutoTuning }, messageId);
-    return this.selectMessageStatus('fullAutoTuning', id);
-  }
-
-  requestStartCirculoEncoderConfiguration(deviceAddress: DeviceAddressType, encoderOrdinal: number, messageId?: string) {
-    const startCirculoEncoderConfiguration = MotionMasterMessage.Request.StartCirculoEncoderConfiguration.create({ deviceAddress, encoderOrdinal });
-    const id = this.sendRequest({ startCirculoEncoderConfiguration }, messageId);
-    return this.selectMessageStatus('circuloEncoderConfiguration', id);
-  }
-
-  requestStopCirculoEncoderNarrowAngleCalibrationProcedure(deviceAddress: DeviceAddressType, encoderOrdinal: number, messageId?: string) {
-    const stopCirculoEncoderNarrowAngleCalibrationProcedure = MotionMasterMessage.Request.StopCirculoEncoderNarrowAngleCalibrationProcedure.create({ deviceAddress, encoderOrdinal });
-    const id = this.sendRequest({ stopCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
-    return this.selectMessageStatus('circuloEncoderNarrowAngleCalibrationProcedure', id);
-  }
-
-  requestStartOsCommand(deviceAddress: DeviceAddressType, timeoutMs: number, command: Uint8Array, messageId?: string) {
-    const startOsCommand = MotionMasterMessage.Request.StartOsCommand.create({ command, deviceAddress, timeoutMs });
-    const id = this.sendRequest({ startOsCommand }, messageId);
-    return this.selectMessageStatus('osCommand', id);
-  }
-
-  /**
-   * 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) {
-    return this.requestGetDeviceInfo().pipe(
-      first(),
-      map((deviceInfo: MotionMasterMessage.Status.IDeviceInfo) => {
-        if (deviceInfo.devices) {
-          return deviceInfo.devices.find((device) => device.position === position);
-        } else {
-          return null;
-        }
-      }),
-    );
-  }
-
-  /**
-   * 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) {
-    return this.input$.pipe(
-      filter((message) => message.id === messageId),
-    );
-  }
-
-  /**
-   * Select incoming messages by id (optionally) and get their status response.
-   *
-   * This function filters messages by id as there can be multiple messages coming in for a single request,
-   * e.g. startOffsetDetection → started → progress → done. Ensure that you unsubscribe or use `takeWhile` operator.
-   *
-   * @param messageId
-   * @param type of status message received as a response
-   */
-  selectMessageStatus<T extends StatusType>(type: T, messageId?: string): StatusTypeObservable<T> {
-    const message$ = messageId === undefined
-      ? this.input$
-      : this.input$.pipe(
-        filter((message) => message.id === messageId),
-      );
-
-    // we expect Status to be ALWAYS defined on input message
-    const status$ = message$.pipe(map((message) => message.status)) as Observable<MotionMasterMessage.Status>;
-    return status$.pipe(map((status) => status[type])) as any;
-  }
-
-  /**
-   * 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) {
-    const id = messageId || v4();
-    const message = MotionMasterMessage.create({ request, id });
-    this.output$.next(message);
-    return id;
-  }
-
-  sendMessage(message: IMotionMasterMessage) {
-    this.output$.next(message);
-    return message.id;
-  }
-
-}

package/src/motion-master-notification-subscribe-data.ts

@@ -1,7 +0,0 @@
-export interface IMotionMasterNotificationSubscribeData {
-  bufferSize?: number;
-  distinct?: boolean;
-  id?: string;
-  topic: string;
-  monitoringTimeoutDue?: number;
-}