@synapticon/motion-master-client 6.0.0-alpha.26 → 6.0.0-alpha.28

package/dist/generated/Api.d.ts

@@ -1,4 +1,4 @@
-import { AlStatusCode, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, Monitoring, ObjectDataTypeInfo, ParameterCacheEntry, ProcessDataWatchdog, ProcessImageObject, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
+import { AlStatusCode, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, Monitoring, ObjectDataTypeInfo, OutputStageResult, ParameterCacheEntry, ProcessDataWatchdog, ProcessImageObject, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
 import { HttpClient, RequestParams } from "./http-client.js";
 export declare class Api<SecurityDataType = unknown> extends HttpClient<SecurityDataType> {
     /**
@@ -265,31 +265,6 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         serialNumber: number;
     }, void>>;
-    /**
-     * @description Performs a live AL-state read for the device and reports whether its CoE/SDO mailbox is active — i.e. it is in PRE-OP, SAFE-OP, or OP. This is independent of the AL error indicator: a device in SAFE-OP+error still answers mailbox requests. Only INIT (no mailbox) and BOOT (FoE-only mailbox) report inactive. The device must already be known from a prior scan. Reading one device at a time means a single missing device reports inactive without failing the others.
-     *
-     * @name GetDeviceMailboxActive
-     * @summary Check whether a device's mailbox is active
-     * @request GET:/api/devices/{slavePosition}/mailbox
-     */
-    getDeviceMailboxActive: (slavePosition: number, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<{
-        /**
-         * 1-based position on the fieldbus
-         * @example 1
-         */
-        slavePosition: number;
-        /**
-         * True when the device's CoE/SDO mailbox is active (AL state PRE-OP, SAFE-OP, or OP, regardless of the error indicator); false otherwise.
-         * @example true
-         */
-        mailboxActive: boolean;
-    }, void | {
-        /**
-         * Human-readable error message from the driver
-         * @example "FPRD slave 1: wkc=0"
-         */
-        error: string;
-    }>>;
     /**
      * @description Constructs the requested fieldbus driver, opens the network interface, and makes the driver available for subsequent calls to /api/scan. The driver defaults to SOEM when omitted. SOEM has no adapter auto-detect: a network adapter must be supplied, otherwise init fails.
      *
@@ -413,6 +388,20 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         error: string;
     }>>;
+    /**
+     * @description Re-reads the value of every readable parameter already loaded for the device at `slavePosition`, leaving the parameter list itself intact (it does not re-enumerate the object dictionary — use `POST …/parameters/init` for that).  Each value is read PDO-aware: from the live process image when the device is exchanging and the object is PDO-mapped, otherwise via an SDO upload over the mailbox.  Write-only objects are skipped.  Best-effort: an entry that fails to read keeps its cached value and the call still succeeds.  Returns the refreshed list, ordered by `(index, subindex)`.
+     *
+     * @name ReadAllDeviceParameters
+     * @summary Refresh the cached value of every parameter without re-enumerating the dictionary
+     * @request POST:/api/devices/{slavePosition}/parameters/read
+     */
+    readAllDeviceParameters: (slavePosition: number, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<DeviceParameter[], void | {
+        /**
+         * Human-readable error message from the driver
+         * @example "FPRD slave 1: wkc=0"
+         */
+        error: string;
+    }>>;
     /**
      * @description Returns the parameter list populated by the most recent call to `POST /api/devices/{slavePosition}/parameters/init`.  Empty before the first call.  Entries are ordered ascending by `(index, subindex)`.
      *
@@ -421,6 +410,46 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      * @request GET:/api/devices/{slavePosition}/parameters
      */
     getDeviceParameters: (slavePosition: number, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<DeviceParameter[], void>>;
+    /**
+     * @description Reads one parameter of the device at `slavePosition` and returns the full `DeviceParameter` (value plus metadata: data type, access, sync state). Unlike the raw `GET …/sdo/{index}/{subindex}` endpoint, this is PDO-aware. With `source=auto` (the default) the value is taken from the live process image when the device is exchanging and the object is PDO-mapped, otherwise via an SDO upload, otherwise from the cache. With `source=cache` the cached value is served with no bus access at all. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex (e.g. `0x6064` or `24676` for object 0x6064).
+     *
+     * @name ReadParameter
+     * @summary Read a single parameter value (PDO-aware, with optional cache-only mode)
+     * @request GET:/api/devices/{slavePosition}/parameters/{index}/{subindex}
+     */
+    readParameter: (slavePosition: number, index: number, subindex: number, query?: {
+        /**
+         * `auto` (default) reads PDO-when-exchanging else SDO else cache; `cache` returns the cached value with no bus access.
+         * @default "auto"
+         */
+        source?: "auto" | "cache";
+    }, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<DeviceParameter, void | {
+        /**
+         * Human-readable error message from the driver
+         * @example "FPRD slave 1: wkc=0"
+         */
+        error: string;
+    }>>;
+    /**
+     * @description Writes one parameter of the device at `slavePosition`. The value is coerced to the parameter's declared data type, then routed: staged into the process image when the device is exchanging and the object is output (RxPDO) mapped — sent on the next cycle — otherwise written via an SDO download, otherwise held in the cache as pending until the device is back online. This is the endpoint to set a target (e.g. target torque 0x6071) or the modes of operation: it knows which objects are PDO-mapped and stages them into the process data, falling back to SDO transparently. Returns the updated `DeviceParameter` (with the coerced value and resulting sync state). Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex.
+     *
+     * @name WriteParameter
+     * @summary Write a single parameter value (PDO-aware)
+     * @request PUT:/api/devices/{slavePosition}/parameters/{index}/{subindex}
+     */
+    writeParameter: (slavePosition: number, index: number, subindex: number, data: {
+        /**
+         * The value to set, coerced to the parameter's declared type. A number for integer/real objects, a string for string objects, or an array of bytes for octet/domain objects.
+         * @example 100
+         */
+        value: number | string | number[];
+    }, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<DeviceParameter, void | {
+        /**
+         * Human-readable error message from the driver
+         * @example "FPRD slave 1: wkc=0"
+         */
+        error: string;
+    }>>;
     /**
      * @description Reads `length` bytes from the ESC register at `address` on the slave at `slavePosition` using a Configured-Address Read (FPRD) datagram. Pass `address` in decimal (e.g. 272 for DL Status at 0x0110).
      *
@@ -897,6 +926,18 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         error: string;
     }>>;
+    /**
+     * @description Stages many output (RxPDO) objects at once — the "send all" action of the Process Data page. Each value is coerced to the object's declared data type and, when the object is output-mapped and its device is exchanging (SAFE-OP/OP), written into the output image so it is sent on the next real-time cycle and re-sent every cycle thereafter (set-once, sent-continuously). The batch is best-effort atomic: values are staged sequentially, so a batch can straddle two consecutive ~1 ms cycles. The request never fails as a whole — each object gets its own result, so the client can flag any object that was not cyclically staged (unknown device, coercion failure, object not output-mapped, or bus not exchanging; in the last two cases the value is still written via SDO/cache, just not cyclically driven).
+     *
+     * @name StageProcessDataOutputs
+     * @summary Stage a batch of output values into the process image
+     * @request POST:/api/process-data/outputs
+     */
+    stageProcessDataOutputs: (data: any[][], params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<{
+        results: OutputStageResult[];
+    }, {
+        error: string;
+    }>>;
     /**
      * @description Returns the static ESC configuration the master programmed into every slave during the last scan: station/alias addresses, mapped process-data sizes, the mailbox transport windows, the distributed-clock setup, and the configured Sync Managers and FMMUs. Read from cached state with no bus I/O and valid once the bus has been scanned. The list is empty before any scan, or when the active transport has no ESC (e.g. SPoE). Numeric fields (SM/FMMU type, mailbox protocol bits, SM flags) are raw register values; the client decodes them. `deviceName` is empty when no known device occupies the slave.
      *

package/dist/generated/Api.js

@@ -102,19 +102,6 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
-    /**
-     * @description Performs a live AL-state read for the device and reports whether its CoE/SDO mailbox is active — i.e. it is in PRE-OP, SAFE-OP, or OP. This is independent of the AL error indicator: a device in SAFE-OP+error still answers mailbox requests. Only INIT (no mailbox) and BOOT (FoE-only mailbox) report inactive. The device must already be known from a prior scan. Reading one device at a time means a single missing device reports inactive without failing the others.
-     *
-     * @name GetDeviceMailboxActive
-     * @summary Check whether a device's mailbox is active
-     * @request GET:/api/devices/{slavePosition}/mailbox
-     */
-    getDeviceMailboxActive = (slavePosition, params = {}) => this.request({
-        path: `/api/devices/${slavePosition}/mailbox`,
-        method: "GET",
-        format: "json",
-        ...params,
-    });
     /**
      * @description Constructs the requested fieldbus driver, opens the network interface, and makes the driver available for subsequent calls to /api/scan. The driver defaults to SOEM when omitted. SOEM has no adapter auto-detect: a network adapter must be supplied, otherwise init fails.
      *
@@ -234,6 +221,19 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description Re-reads the value of every readable parameter already loaded for the device at `slavePosition`, leaving the parameter list itself intact (it does not re-enumerate the object dictionary — use `POST …/parameters/init` for that).  Each value is read PDO-aware: from the live process image when the device is exchanging and the object is PDO-mapped, otherwise via an SDO upload over the mailbox.  Write-only objects are skipped.  Best-effort: an entry that fails to read keeps its cached value and the call still succeeds.  Returns the refreshed list, ordered by `(index, subindex)`.
+     *
+     * @name ReadAllDeviceParameters
+     * @summary Refresh the cached value of every parameter without re-enumerating the dictionary
+     * @request POST:/api/devices/{slavePosition}/parameters/read
+     */
+    readAllDeviceParameters = (slavePosition, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/parameters/read`,
+        method: "POST",
+        format: "json",
+        ...params,
+    });
     /**
      * @description Returns the parameter list populated by the most recent call to `POST /api/devices/{slavePosition}/parameters/init`.  Empty before the first call.  Entries are ordered ascending by `(index, subindex)`.
      *
@@ -247,6 +247,35 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description Reads one parameter of the device at `slavePosition` and returns the full `DeviceParameter` (value plus metadata: data type, access, sync state). Unlike the raw `GET …/sdo/{index}/{subindex}` endpoint, this is PDO-aware. With `source=auto` (the default) the value is taken from the live process image when the device is exchanging and the object is PDO-mapped, otherwise via an SDO upload, otherwise from the cache. With `source=cache` the cached value is served with no bus access at all. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex (e.g. `0x6064` or `24676` for object 0x6064).
+     *
+     * @name ReadParameter
+     * @summary Read a single parameter value (PDO-aware, with optional cache-only mode)
+     * @request GET:/api/devices/{slavePosition}/parameters/{index}/{subindex}
+     */
+    readParameter = (slavePosition, index, subindex, query, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/parameters/${index}/${subindex}`,
+        method: "GET",
+        query: query,
+        format: "json",
+        ...params,
+    });
+    /**
+     * @description Writes one parameter of the device at `slavePosition`. The value is coerced to the parameter's declared data type, then routed: staged into the process image when the device is exchanging and the object is output (RxPDO) mapped — sent on the next cycle — otherwise written via an SDO download, otherwise held in the cache as pending until the device is back online. This is the endpoint to set a target (e.g. target torque 0x6071) or the modes of operation: it knows which objects are PDO-mapped and stages them into the process data, falling back to SDO transparently. Returns the updated `DeviceParameter` (with the coerced value and resulting sync state). Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex.
+     *
+     * @name WriteParameter
+     * @summary Write a single parameter value (PDO-aware)
+     * @request PUT:/api/devices/{slavePosition}/parameters/{index}/{subindex}
+     */
+    writeParameter = (slavePosition, index, subindex, data, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/parameters/${index}/${subindex}`,
+        method: "PUT",
+        body: data,
+        type: ContentType.Json,
+        format: "json",
+        ...params,
+    });
     /**
      * @description Reads `length` bytes from the ESC register at `address` on the slave at `slavePosition` using a Configured-Address Read (FPRD) datagram. Pass `address` in decimal (e.g. 272 for DL Status at 0x0110).
      *
@@ -507,6 +536,21 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description Stages many output (RxPDO) objects at once — the "send all" action of the Process Data page. Each value is coerced to the object's declared data type and, when the object is output-mapped and its device is exchanging (SAFE-OP/OP), written into the output image so it is sent on the next real-time cycle and re-sent every cycle thereafter (set-once, sent-continuously). The batch is best-effort atomic: values are staged sequentially, so a batch can straddle two consecutive ~1 ms cycles. The request never fails as a whole — each object gets its own result, so the client can flag any object that was not cyclically staged (unknown device, coercion failure, object not output-mapped, or bus not exchanging; in the last two cases the value is still written via SDO/cache, just not cyclically driven).
+     *
+     * @name StageProcessDataOutputs
+     * @summary Stage a batch of output values into the process image
+     * @request POST:/api/process-data/outputs
+     */
+    stageProcessDataOutputs = (data, params = {}) => this.request({
+        path: `/api/process-data/outputs`,
+        method: "POST",
+        body: data,
+        type: ContentType.Json,
+        format: "json",
+        ...params,
+    });
     /**
      * @description Returns the static ESC configuration the master programmed into every slave during the last scan: station/alias addresses, mapped process-data sizes, the mailbox transport windows, the distributed-clock setup, and the configured Sync Managers and FMMUs. Read from cached state with no bus I/O and valid once the bus has been scanned. The list is empty before any scan, or when the active transport has no ESC (e.g. SPoE). Numeric fields (SM/FMMU type, mailbox protocol bits, SM flags) are raw register values; the client decodes them. `deviceName` is empty when no known device occupies the slave.
      *

package/dist/generated/data-contracts.d.ts

@@ -130,6 +130,33 @@ export interface ProcessImageObject {
      */
     bitLength: number;
 }
+export interface OutputStageResult {
+    /**
+     * 1-based bus position of the owning device (echoes the request)
+     * @example 1
+     */
+    slavePosition: number;
+    /**
+     * CoE object index (echoes the request)
+     * @example 24698
+     */
+    index: number;
+    /**
+     * CoE object subindex (echoes the request)
+     * @example 0
+     */
+    subindex: number;
+    /**
+     * True when the value landed in the published output image and will be sent on the next exchange cycle
+     * @example true
+     */
+    staged: boolean;
+    /**
+     * Empty on success; otherwise why the object was not cyclically staged (unknown device, coercion failure, object not output-mapped, or the bus not exchanging)
+     * @example ""
+     */
+    error: string;
+}
 export interface SyncManagerConfig {
     /**
      * Sync Manager number (0–7)

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@synapticon/motion-master-client",
-  "version": "6.0.0-alpha.26",
+  "version": "6.0.0-alpha.28",
   "description": "Isomorphic TypeScript client for Motion Master: the generated HTTP API client, the WebSocket connection, and helpers.",
   "license": "MIT",
   "repository": {