@synapticon/motion-master-client 6.0.0-alpha.91 → 6.0.0-alpha.93

package/dist/generated/Api.d.ts

@@ -1,4 +1,4 @@
-import { AlStatusCode, AutoTuningError, AutoTuningRunRequest, AutoTuningRunResponse, AutoTuningStatus, BrakeState, Cia402Status, DcSyncStatus, DeviceDiagnostics, DeviceFile, DeviceParameter, EscRegister, EsiParseResult, FirmwareCompatibility, FirmwarePackageName, FoeErrorCode, GameLoopHealth, HardwareDescription, HrdRecording, IntegroVariant, IntegroVariantOption, MailboxErrorCode, Monitoring, ObjectDataTypeInfo, OperationModes, OutputStageResult, ParameterCacheEntry, PdoMapping, PdoMappingRequest, ProcedureListing, ProcedureRequest, ProcedureSnapshot, ProcessDataWatchdog, ProcessImageObject, SdoAbortCode, SlaveConfig, SlaveInformationInterface, UserCacheListing } from "./data-contracts.js";
+import { AlStatusCode, AutoTuningError, AutoTuningRunRequest, AutoTuningRunResponse, AutoTuningStatus, BrakeState, Cia402Status, DcSyncStatus, DeviceDiagnostics, DeviceFile, DeviceParameter, EscRegister, EsiParseResult, FirmwareCompatibility, FirmwarePackageName, FoeErrorCode, GameLoopHealth, HardwareDescription, HrdRecording, IntegroVariant, IntegroVariantOption, MailboxErrorCode, Monitoring, ObjectDataTypeInfo, OperationModes, OutputStageResult, ParameterCacheEntry, ParameterValue, PdoMapping, PdoMappingRequest, ProcedureListing, ProcedureRequest, ProcedureSnapshot, ProcessDataWatchdog, ProcessImageObject, SdoAbortCode, SlaveConfig, SlaveInformationInterface, UserCacheListing } from "./data-contracts.js";
 import { HttpClient, RequestParams } from "./http-client.js";
 export declare class Api<SecurityDataType = unknown> extends HttpClient<SecurityDataType> {
     /**
@@ -633,7 +633,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      */
     getObjectDataTypes: (params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<ObjectDataTypeInfo[], any>>;
     /**
-     * @description Enumerates the entire CoE object dictionary of the device at `slavePosition` via the SDO Info service ("Get Object List" → "Get Object Description" → "Get Entry Description") and rebuilds its parameter map. The device must be in PRE-OP, SAFE-OP, or OP (mailbox communication active).  On a fully populated drive the call can take several seconds. When `readValues=true` each entry is additionally read via SDO upload and the decoded value is stored on the parameter; entries that fail to read keep their type-appropriate default and the call still succeeds.
+     * @description Enumerates the entire CoE object dictionary of the device at `slavePosition` via the SDO Info service ("Get Object List" → "Get Object Description" → "Get Entry Description") and rebuilds its parameter map. The device must be in PRE-OP, SAFE-OP, or OP (mailbox communication active).  On a fully populated drive the call can take several seconds. When `readValues=true` each entry is additionally read via SDO upload and the decoded value is stored on the parameter. An entry that fails to read keeps the value of an earlier read with `syncState` `stale`, or the type-appropriate default with `syncState` `unknown`, and the call still succeeds. Check `syncState` to find the entries that were not read.
      *
      * @name InitializeDeviceParameters
      * @summary Initialise the parameter list for a device by enumerating its object dictionary
@@ -653,7 +653,7 @@ 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)`.
+     * @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, a `synced` entry becomes `stale`, 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
@@ -703,10 +703,10 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      */
     writeParameter: (slavePosition: number, index: number, subindex: number, data: {
         /**
-         * The value to set, converted 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.
+         * The value to set. The server converts it to the declared type of the parameter. `ParameterValue` says which JSON type each `dataType` uses.
          * @example 100
          */
-        value: number | string | number[];
+        value: ParameterValue;
     }, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<DeviceParameter, void | {
         /**
          * Human-readable error message from the driver
@@ -794,6 +794,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
     setProcessDataWatchdog: (slavePosition: number, data: {
         /**
          * Desired watchdog timeout in milliseconds; 0 disables the watchdog
+         * @format double
          * @min 0
          * @example 200
          */

package/dist/generated/Api.js

@@ -325,7 +325,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Enumerates the entire CoE object dictionary of the device at `slavePosition` via the SDO Info service ("Get Object List" → "Get Object Description" → "Get Entry Description") and rebuilds its parameter map. The device must be in PRE-OP, SAFE-OP, or OP (mailbox communication active).  On a fully populated drive the call can take several seconds. When `readValues=true` each entry is additionally read via SDO upload and the decoded value is stored on the parameter; entries that fail to read keep their type-appropriate default and the call still succeeds.
+     * @description Enumerates the entire CoE object dictionary of the device at `slavePosition` via the SDO Info service ("Get Object List" → "Get Object Description" → "Get Entry Description") and rebuilds its parameter map. The device must be in PRE-OP, SAFE-OP, or OP (mailbox communication active).  On a fully populated drive the call can take several seconds. When `readValues=true` each entry is additionally read via SDO upload and the decoded value is stored on the parameter. An entry that fails to read keeps the value of an earlier read with `syncState` `stale`, or the type-appropriate default with `syncState` `unknown`, and the call still succeeds. Check `syncState` to find the entries that were not read.
      *
      * @name InitializeDeviceParameters
      * @summary Initialise the parameter list for a device by enumerating its object dictionary
@@ -339,7 +339,7 @@ export class Api extends HttpClient {
         ...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)`.
+     * @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, a `synced` entry becomes `stale`, 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

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

@@ -100,11 +100,13 @@ export interface GameLoopHealth {
     periodUs: number;
     /**
      * Target cycle rate (1e6 / periodUs), in hertz
+     * @format double
      * @example 1000
      */
     targetHz: number;
     /**
      * Cumulative average rate since the loop started (executedCycles / uptime), in hertz; 0 before the loop starts. Below targetHz means the host cannot sustain the configured period.
+     * @format double
      * @example 999.56
      */
     achievedHz: number;
@@ -254,6 +256,7 @@ export interface ProcessDataWatchdog {
     timeoutNs: number;
     /**
      * The same timeout in milliseconds (convenience for display/editing).
+     * @format double
      * @example 100
      */
     timeoutMs: number;
@@ -1437,6 +1440,11 @@ export interface ObjectDataTypeInfo {
      */
     bitSize: number;
 }
+/**
+ * The value of one object dictionary entry, encoded by its `dataType` (ETG.1020). BOOLEAN (0x0001), INTEGER8 (0x0002), INTEGER16 (0x0003), INTEGER32 (0x0004), INTEGER64 (0x0015), UNSIGNED8 (0x0005), UNSIGNED16 (0x0006), UNSIGNED32 (0x0007), BYTE (0x001E), WORD (0x001F) and DWORD (0x0020) are a JSON integer that fits `int64`. UNSIGNED64 (0x001B) is a JSON integer that fits `uint64`, and a value above 9223372036854775807 matches only that alternative. REAL32 (0x0008) and REAL64 (0x0011) are a JSON number, which the server writes as a double, so a REAL32 shows its exact binary value. VISIBLE STRING (0x0009) and UNICODE STRING (0x000B) are a string. Every other data type, OCTET STRING and DOMAIN included, is an array of byte values. Every integer is also a valid number, so use `dataType` to choose the alternative, the way the server does. On a write, the server converts the value to the declared type of the parameter.
+ * @example 12345
+ */
+export type ParameterValue = number | string | number[];
 export interface DeviceParameter {
     /**
      * CoE object index
@@ -1484,26 +1492,26 @@ export interface DeviceParameter {
      */
     origin: "objectDictionary" | "sii";
     /**
-     * Last-known value, decoded according to `dataType`.  Initialised to a type-appropriate zero (0 for numbers, "" for strings, [] for raw bytes) before the first read.  After a successful SDO upload, holds the decoded value; the JSON encoding follows the variant alternative — number, string, or array of byte values.
+     * Last-known value, decoded according to `dataType`.  Initialised to a type-appropriate zero (0 for numbers, "" for strings, [] for raw bytes) before the first read.  After a successful SDO upload, holds the decoded value. `ParameterValue` says which JSON type each `dataType` uses.
      * @example 12345
      */
-    value: number | string | number[];
+    value: ParameterValue;
     /**
      * ETG.1004 unit code reported by the slave for this entry.  Absent when the slave does not populate the Unit field of the SDO Info response.  The 32-bit code decomposes into prefix, base SI unit, and exponent per ETG.1004.
      * @example 0
      */
     unit?: number;
     /** Slave-reported default value, decoded with the same logic as `value`.  Absent when the slave does not report a default. */
-    defaultValue?: number | string | number[];
+    defaultValue?: ParameterValue;
     /** Slave-reported minimum value, decoded with the same logic as `value`.  Absent when the slave does not report a minimum. */
-    minValue?: number | string | number[];
+    minValue?: ParameterValue;
     /** Slave-reported maximum value, decoded with the same logic as `value`.  Absent when the slave does not report a maximum. */
-    maxValue?: number | string | number[];
+    maxValue?: ParameterValue;
     /**
-     * Freshness of `value` relative to the device. `synced` — matches the device (last successful read or write); `pending` — set locally while offline or after a failed write, not yet confirmed on the device; `unknown` — never read, `value` is the type-appropriate default.
+     * Freshness of `value` relative to the device. `synced` — matches the device (last successful read or write); `pending` — set locally while offline or after a failed write, not yet confirmed on the device; `stale` — came from an earlier read or write, and the latest read of the object failed; `unknown` — never read, `value` is the type-appropriate default. A failed read turns `synced` into `stale` and keeps the value. It leaves `unknown` and `pending` unchanged. The next successful read sets `synced` again.
      * @example "synced"
      */
-    syncState: "unknown" | "synced" | "pending";
+    syncState: "unknown" | "synced" | "pending" | "stale";
 }
 /** Parsed SII (EEPROM) image of a slave — the fixed header plus the decoded category section.  String-index fields are 1-based references into `category.strings`. */
 export interface SlaveInformationInterface {
@@ -1795,8 +1803,11 @@ export interface PlantModel {
 }
 /** One controller's gains. */
 export interface Pid {
+    /** @format double */
     kp?: number;
+    /** @format double */
     ki?: number;
+    /** @format double */
     kd?: number;
 }
 /** Controller gains. A function that tunes only the velocity loop leaves the position gains at zero. */
@@ -1814,29 +1825,52 @@ export type Bode = Record<string, (number | null)[]>;
 /** Drive configuration, as read from the drive. */
 export interface DriveConfig {
     vel_lp_type?: number;
+    /** @format double */
     vel_lp_fc?: number;
     pos_lp_type?: number;
+    /** @format double */
     pos_lp_fc?: number;
     notch_en?: number;
+    /** @format double */
     notch_fw?: number;
+    /** @format double */
     notch_fc?: number;
+    /** @format double */
     notch_dp?: number;
+    /** @format double */
     vel_ff_gain?: number;
+    /** @format double */
     vel_ff_fc?: number;
-    /** Winding inductance. */
+    /**
+     * Winding inductance.
+     * @format double
+     */
     L?: number;
-    /** Winding resistance. */
+    /**
+     * Winding resistance.
+     * @format double
+     */
     R?: number;
-    /** DC link voltage. */
+    /**
+     * DC link voltage.
+     * @format double
+     */
     vdc?: number;
+    /** @format double */
     current_ratio?: number;
+    /** @format double */
     tc_kp?: number;
+    /** @format double */
     tc_ki?: number;
     switch_F?: number;
+    /** @format double */
     tc_st?: number;
+    /** @format double */
     tc_damping?: number;
     software_version?: string;
+    /** @format double */
     rated_torque?: number;
+    /** @format double */
     max_vel_noise?: number;
 }
 /** The `data` schema depends on the value of `run`. Each variant pairs one `run` value with the inputs that function reads. `run: exit` is deliberately absent: it shuts the process down, and this endpoint refuses it with 400. */
@@ -1846,9 +1880,15 @@ export interface AutoTuneVelocityController {
     data: {
         /** Transfer function coefficients, highest order first. */
         plant_model: PlantModel;
-        /** Damping ratio. */
+        /**
+         * Damping ratio.
+         * @format double
+         */
         zeta: number;
-        /** Demanded bandwidth in Hz. */
+        /**
+         * Demanded bandwidth in Hz.
+         * @format double
+         */
         demanded_bw: number;
     };
 }
@@ -1859,10 +1899,17 @@ export interface AutoTunePositionController {
         plant_model: PlantModel;
         /** @example "PI-P" */
         controller_type: string;
+        /** @format double */
         zeta: number;
-        /** Demanded settling time in seconds. */
+        /**
+         * Demanded settling time in seconds.
+         * @format double
+         */
         demanded_st: number;
-        /** Optional. Absent means the standard tuning rule. */
+        /**
+         * Optional. Absent means the standard tuning rule.
+         * @format double
+         */
         highFrictionGain?: number;
     };
 }
@@ -1897,20 +1944,30 @@ export interface AutoTuneNotch {
 export interface AutoTuneFeedbackFilters {
     run: "auto_tune_feedback_filters";
     data: {
+        /** @format double */
         sigma_v: number;
+        /** @format double */
         sigma_p: number;
+        /** @format double */
         resVel: number;
+        /** @format double */
         resPos: number;
+        /** @format double */
         gearRatio: number;
     };
 }
 export interface ComputePositionControllerGains {
     run: "compute_position_controller_gains";
     data: {
+        /** @format double */
         pk: number;
+        /** @format double */
         pt: number;
+        /** @format double */
         omega: number;
+        /** @format double */
         alpha: number;
+        /** @format double */
         zeta: number;
         /** @example "PI-P" */
         controller_type: string;
@@ -1924,9 +1981,15 @@ export interface IdentifyPlantModel {
         csv?: string;
         /** Path to that CSV instead of its contents. */
         filepath?: string;
-        /** Chirp start frequency in Hz. */
+        /**
+         * Chirp start frequency in Hz.
+         * @format double
+         */
         f0: number;
-        /** Chirp end frequency in Hz. */
+        /**
+         * Chirp end frequency in Hz.
+         * @format double
+         */
         f1: number;
     };
 }
@@ -1943,60 +2006,98 @@ export type AutoTuningRunResponse = GainsResult | FullVelocityResult | FullPosit
 export interface GainsResult {
     /** Controller gains. A function that tunes only the velocity loop leaves the position gains at zero. */
     gains?: Gains;
+    /** @format double */
     duration?: number;
 }
 export interface FullVelocityResult {
     /** Controller gains. A function that tunes only the velocity loop leaves the position gains at zero. */
     gains?: Gains;
+    /** @format double */
     demanded_bw?: number;
+    /** @format double */
     demanded_zeta?: number;
     /** Stability margins and closed-loop metrics. */
     state?: {
+        /** @format double */
         gm?: number;
+        /** @format double */
         pm?: number;
+        /** @format double */
         msens?: number;
+        /** @format double */
         act_bw?: number;
+        /** @format double */
         vel_cl?: number;
+        /** @format double */
         noise_resp?: number;
+        /** @format double */
         max_KS?: number;
     };
+    /** @format double */
     duration?: number;
 }
 export interface FullPositionResult {
     /** Controller gains. A function that tunes only the velocity loop leaves the position gains at zero. */
     gains?: Gains;
+    /** @format double */
     demanded_st?: number;
+    /** @format double */
     demanded_zeta?: number;
+    /** @format double */
     highFrictionGain?: number;
     /** Stability margins and closed-loop metrics, position and velocity loop. */
     state?: {
+        /** @format double */
         gm_p?: number;
+        /** @format double */
         pm_p?: number;
+        /** @format double */
         msens_p?: number;
+        /** @format double */
         gm_v?: number;
+        /** @format double */
         pm_v?: number;
+        /** @format double */
         msens_v?: number;
+        /** @format double */
         noise_resp?: number;
+        /** @format double */
         max_KS?: number;
+        /** @format double */
         bw_p?: number;
+        /** @format double */
         bw_v?: number;
+        /** @format double */
         act_st?: number;
+        /** @format double */
         pos_cl?: number;
     };
+    /** @format double */
     duration?: number;
 }
 export interface NotchResult {
     notch_en?: boolean;
+    /** @format double */
     notch_fc?: number | null;
+    /** @format double */
     notch_fw?: number | null;
+    /** @format double */
     notch_dp?: number | null;
+    /** @format double */
     duration?: number;
 }
 export interface FeedbackFiltersResult {
-    /** Velocity feedback filter cut-off in Hz. */
+    /**
+     * Velocity feedback filter cut-off in Hz.
+     * @format double
+     */
     fcv?: number;
-    /** Position feedback filter cut-off in Hz. */
+    /**
+     * Position feedback filter cut-off in Hz.
+     * @format double
+     */
     fcp?: number;
+    /** @format double */
     duration?: number;
 }
 export interface IdentifyPlantModelResult {
@@ -2004,11 +2105,13 @@ export interface IdentifyPlantModelResult {
     denominators?: number[];
     /** Bode diagram data, keyed by column name, every array the same length. This comes back in the response body instead of a written CSV, which is why no auto-tuning call needs a shared filesystem. A non-finite value is null. */
     bode?: Bode;
+    /** @format double */
     duration?: number;
 }
 export interface BodeResult {
     /** Bode diagram data, keyed by column name, every array the same length. This comes back in the response body instead of a written CSV, which is why no auto-tuning call needs a shared filesystem. A non-finite value is null. */
     bode?: Bode;
+    /** @format double */
     duration?: number;
 }
 export {};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@synapticon/motion-master-client",
-  "version": "6.0.0-alpha.91",
+  "version": "6.0.0-alpha.93",
   "description": "Isomorphic TypeScript client for Motion Master: the generated HTTP API client, the WebSocket connection, and helpers.",
   "license": "MIT",
   "repository": {