@synapticon/motion-master-client 6.0.0-alpha.31 → 6.0.0-alpha.32

package/dist/generated/Api.d.ts

@@ -1,4 +1,4 @@
-import { AlStatusCode, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, Monitoring, ObjectDataTypeInfo, OutputStageResult, ParameterCacheEntry, ProcessDataWatchdog, ProcessImageObject, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
+import { AlStatusCode, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, Monitoring, ObjectDataTypeInfo, OutputStageResult, ParameterCacheEntry, PdoMapping, PdoMappingRequest, ProcessDataWatchdog, ProcessImageObject, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
 import { HttpClient, RequestParams } from "./http-client.js";
 export declare class Api<SecurityDataType = unknown> extends HttpClient<SecurityDataType> {
     /**
@@ -274,11 +274,11 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      */
     init: (data?: {
         /**
-         * Fieldbus driver to use
+         * Fieldbus driver to use (only soem is implemented today; spoe is planned)
          * @default "soem"
          * @example "soem"
          */
-        driver?: "soem" | "spoe" | "igh";
+        driver?: "soem" | "spoe";
         /**
          * Network interface name or MAC address. Required for SOEM — there is no auto-detect, so an empty value makes init fail.
          * @example "eth0"
@@ -298,7 +298,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         error: string;
     }>>;
     /**
-     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls.
+     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised).
      *
      * @name Scan
      * @summary Scan the bus for slaves
@@ -306,7 +306,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      */
     scan: (params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<{
         /**
-         * Number of slaves discovered on the bus
+         * Number of slaves discovered on the bus (0 if empty/unpowered)
          * @example 3
          */
         slaves: number;
@@ -535,6 +535,34 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         error: string;
     }>>;
+    /**
+     * @description Reads the PDO mapping of the slave at `slavePosition` over CoE, grouped by mapping object: the sync-manager assignment (0x1C12 outputs / 0x1C13 inputs) and, for each assigned mapping object (0x16xx / 0x1Axx), its `pdoIndex` and ordered entries. `outputs` are RxPDO objects (master→slave), `inputs` are TxPDO objects (slave→master). Each entry carries its derived `bitOffset` within the direction's window. This is the grouped, round-trippable counterpart of the flat, whole-bus `GET /api/process-image`. Reads fresh over SDO, so the device's mailbox must be active (PRE-OP, SAFE-OP, or OP); a device in INIT or BOOT yields 409.
+     *
+     * @name GetDevicePdoMapping
+     * @summary Read a device's PDO mapping grouped by object (CoE)
+     * @request GET:/api/devices/{slavePosition}/pdo-mapping
+     */
+    getDevicePdoMapping: (slavePosition: number, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<PdoMapping, void | {
+        /**
+         * Human-readable error message from the driver
+         * @example "FPRD slave 1: wkc=0"
+         */
+        error: string;
+    }>>;
+    /**
+     * @description Reconfigures the PDO mapping of the slave at `slavePosition` over CoE: both directions' sync-manager assignment (0x1C12 outputs / 0x1C13 inputs) and the referenced mapping objects (0x16xx / 0x1Axx). `outputs` are RxPDO objects (master→slave), `inputs` are TxPDO objects (slave→master); the array order is the sync-manager assignment order, which fixes each object's position in the process image. Both directions must be present — an empty array clears that sync manager's assignment. **The device must be in PRE-OP.** The mapping and assignment objects are writable only in PRE-OP; in SAFE-OP/OP the sync managers are active and the slave rejects the write, and INIT/BOOT have no CoE mailbox. This is the "drop to PRE-OP, remap, climb back" flow: take the device to PRE-OP (`POST /api/devices/state`), call this, then transition it back to SAFE-OP/OP — at which point the whole-bus process image is re-mapped from the new mapping. The write follows the CoE ordering rule (clear assignment, rewrite each mapping object, then re-assign), is read back and verified, and is retried a few times so a dropped mailbox frame cannot leave the object dictionary half-configured. The response is the device's grouped read-back mapping (same shape as GET), whose `bitOffset` values are derived by the device (the request omits them). This endpoint does not itself change the AL state or re-map the process image.
+     *
+     * @name WriteDevicePdoMapping
+     * @summary Rewrite a device's PDO mapping (CoE)
+     * @request PUT:/api/devices/{slavePosition}/pdo-mapping
+     */
+    writeDevicePdoMapping: (slavePosition: number, data: PdoMappingRequest, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<PdoMapping, void | {
+        /**
+         * Human-readable error message from the driver
+         * @example "FPRD slave 1: wkc=0"
+         */
+        error: string;
+    }>>;
     /**
      * @description Performs a CoE SDO upload — reads the value of object `index:subindex` from the device at `slavePosition` and returns the raw bytes as a JSON array. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex (e.g. `0x6064` or `24676` for object 0x6064).
      *

package/dist/generated/Api.js

@@ -118,7 +118,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls.
+     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised).
      *
      * @name Scan
      * @summary Scan the bus for slaves
@@ -333,6 +333,34 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description Reads the PDO mapping of the slave at `slavePosition` over CoE, grouped by mapping object: the sync-manager assignment (0x1C12 outputs / 0x1C13 inputs) and, for each assigned mapping object (0x16xx / 0x1Axx), its `pdoIndex` and ordered entries. `outputs` are RxPDO objects (master→slave), `inputs` are TxPDO objects (slave→master). Each entry carries its derived `bitOffset` within the direction's window. This is the grouped, round-trippable counterpart of the flat, whole-bus `GET /api/process-image`. Reads fresh over SDO, so the device's mailbox must be active (PRE-OP, SAFE-OP, or OP); a device in INIT or BOOT yields 409.
+     *
+     * @name GetDevicePdoMapping
+     * @summary Read a device's PDO mapping grouped by object (CoE)
+     * @request GET:/api/devices/{slavePosition}/pdo-mapping
+     */
+    getDevicePdoMapping = (slavePosition, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/pdo-mapping`,
+        method: "GET",
+        format: "json",
+        ...params,
+    });
+    /**
+     * @description Reconfigures the PDO mapping of the slave at `slavePosition` over CoE: both directions' sync-manager assignment (0x1C12 outputs / 0x1C13 inputs) and the referenced mapping objects (0x16xx / 0x1Axx). `outputs` are RxPDO objects (master→slave), `inputs` are TxPDO objects (slave→master); the array order is the sync-manager assignment order, which fixes each object's position in the process image. Both directions must be present — an empty array clears that sync manager's assignment. **The device must be in PRE-OP.** The mapping and assignment objects are writable only in PRE-OP; in SAFE-OP/OP the sync managers are active and the slave rejects the write, and INIT/BOOT have no CoE mailbox. This is the "drop to PRE-OP, remap, climb back" flow: take the device to PRE-OP (`POST /api/devices/state`), call this, then transition it back to SAFE-OP/OP — at which point the whole-bus process image is re-mapped from the new mapping. The write follows the CoE ordering rule (clear assignment, rewrite each mapping object, then re-assign), is read back and verified, and is retried a few times so a dropped mailbox frame cannot leave the object dictionary half-configured. The response is the device's grouped read-back mapping (same shape as GET), whose `bitOffset` values are derived by the device (the request omits them). This endpoint does not itself change the AL state or re-map the process image.
+     *
+     * @name WriteDevicePdoMapping
+     * @summary Rewrite a device's PDO mapping (CoE)
+     * @request PUT:/api/devices/{slavePosition}/pdo-mapping
+     */
+    writeDevicePdoMapping = (slavePosition, data, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/pdo-mapping`,
+        method: "PUT",
+        body: data,
+        type: ContentType.Json,
+        format: "json",
+        ...params,
+    });
     /**
      * @description Performs a CoE SDO upload — reads the value of object `index:subindex` from the device at `slavePosition` and returns the raw bytes as a JSON array. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex (e.g. `0x6064` or `24676` for object 0x6064).
      *

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

@@ -98,6 +98,85 @@ export interface Monitoring {
         source: "pdo" | "sdo";
     }[];
 }
+/** One mapping entry to write. Packs to the 32-bit CoE word index<<16 | subindex<<8 | bitLength. */
+export interface PdoMappingRequestEntry {
+    /**
+     * CoE object index; 0 marks an alignment-padding gap (no bound object)
+     * @min 0
+     * @max 65535
+     * @example 24640
+     */
+    index: number;
+    /**
+     * CoE object subindex
+     * @min 0
+     * @max 255
+     * @example 0
+     */
+    subindex: number;
+    /**
+     * Width of the entry in bits
+     * @min 0
+     * @max 255
+     * @example 16
+     */
+    bitLength: number;
+}
+/** One PDO mapping object to write and its ordered entries. */
+export interface PdoMappingRequestObject {
+    /**
+     * Mapping-object index (0x16xx RxPDO for outputs, 0x1Axx TxPDO for inputs)
+     * @min 0
+     * @max 65535
+     * @example 5632
+     */
+    pdoIndex: number;
+    entries: PdoMappingRequestEntry[];
+}
+/** A device's desired PDO configuration to write. `outputs` are RxPDO objects (master→slave, assigned to 0x1C12); `inputs` are TxPDO objects (slave→master, assigned to 0x1C13). Vector order is the sync-manager assignment order. Both keys are required; an empty array clears that direction. */
+export interface PdoMappingRequest {
+    outputs: PdoMappingRequestObject[];
+    inputs: PdoMappingRequestObject[];
+}
+/** One entry of a mapping object, as read back from the device. */
+export interface PdoMappingEntry {
+    /**
+     * CoE object index; 0 marks an alignment-padding gap
+     * @example 24640
+     */
+    index: number;
+    /**
+     * CoE object subindex
+     * @example 0
+     */
+    subindex: number;
+    /**
+     * Width of the entry in bits
+     * @example 16
+     */
+    bitLength: number;
+    /**
+     * Bit offset from the start of this direction's window (derived by the device)
+     * @example 0
+     */
+    bitOffset: number;
+}
+/** One mapping object as read back, with its ordered entries (offsets included). */
+export interface PdoMappingObject {
+    /**
+     * Mapping-object index (0x16xx RxPDO for outputs, 0x1Axx TxPDO for inputs)
+     * @example 5632
+     */
+    pdoIndex: number;
+    entries: PdoMappingEntry[];
+}
+/** A device's PDO mapping grouped by mapping object — the read/write-back shape. `outputs` are RxPDO objects (0x1C12), `inputs` are TxPDO objects (0x1C13), each in sync-manager assignment order with its entries and derived bit offsets. */
+export interface PdoMapping {
+    /** RxPDO objects (master→slave), in assignment order */
+    outputs: PdoMappingObject[];
+    /** TxPDO objects (slave→master), in assignment order */
+    inputs: PdoMappingObject[];
+}
 export interface ProcessImageObject {
     /**
      * 1-based bus position of the owning device

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@synapticon/motion-master-client",
-  "version": "6.0.0-alpha.31",
+  "version": "6.0.0-alpha.32",
   "description": "Isomorphic TypeScript client for Motion Master: the generated HTTP API client, the WebSocket connection, and helpers.",
   "license": "MIT",
   "repository": {