ads-client 2.0.0-beta.2 → 2.0.0-beta.4

package/dist/ads-client.js

@@ -51,29 +51,39 @@ var __importDefault = (this && this.__importDefault) || function (mod) {
 };
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.Client = exports.ADS = void 0;
-const events_1 = __importDefault(require("events"));
 const net_1 = require("net");
+const events_1 = __importDefault(require("events"));
 const debug_1 = __importDefault(require("debug"));
 const long_1 = __importDefault(require("long"));
 const ADS = __importStar(require("./ads-commons"));
 const client_error_1 = __importDefault(require("./client-error"));
+/**
+ * Common ADS constants and helper functions
+ *
+ * @category Client
+ */
 exports.ADS = __importStar(require("./ads-commons"));
 /**
  * A class for handling TwinCAT ADS protocol communication.
  *
  * Settings are provided in constructor - see {@link Client.constructor} and {@link AdsClientSettings}.
  *
- * A client instance should be created for each target, however, a single client
- * can also be used to communicate with multiple endpoints.
+ * A client instance should be created for each target.
+ * However, a single client instance can also be used to communicate with
+ * multiple endpoints using the `targetOpts` parameter available in all methods.
  *
- * @example
+ * Client also emits different events, such as `client.on('connect', ...)`.
+ * See {@link AdsClientEvents} for all available events.
  *
+ * @example
  * ```js
  * const client = new Client({
  *  targetAmsNetId: "192.168.4.1.1.1",
  *  targetAdsPort: 851
  * });
  * ```
+ *
+ * @category Client
  */
 class Client extends events_1.default {
     /**
@@ -222,7 +232,8 @@ class Client extends events_1.default {
             connectionDownDelay: 5000,
             allowHalfOpen: false,
             rawClient: false,
-            disableCaching: false
+            disableCaching: false,
+            deleteUnknownSubscriptions: true
         };
         /**
          * Active connection information.
@@ -247,6 +258,17 @@ class Client extends events_1.default {
         };
     }
     ;
+    /**
+     * Emits a warning, which results in a `warning` event, and a console message if `hideConsoleWarnings` is not set.
+     *
+     * @param message Warning message
+     */
+    warn(message) {
+        if (!this.settings.hideConsoleWarnings) {
+            console.log(`WARNING: ${message}`);
+        }
+        this.emit('warning', message);
+    }
     /**
      * Clears given timer if it's available and increases the ID.
      *
@@ -409,13 +431,13 @@ class Client extends events_1.default {
                         }
                         //allowHalfOpen allows this, but show some warnings..
                         if (!this.metaData.tcSystemState) {
-                            !this.settings.hideConsoleWarnings && console.log(`WARNING: "allowHalfOpen" setting is active. Target is connected but no connection to TwinCAT system. If target is not PLC runtime, use setting "rawClient" instead of "allowHalfOpen".`);
+                            this.warn(`"allowHalfOpen" setting is active. Target is connected but no connection to TwinCAT system. If target is not PLC runtime, use setting "rawClient" instead of "allowHalfOpen".`);
                         }
                         else if (this.metaData.tcSystemState.adsState !== ADS.ADS_STATE.Run) {
-                            !this.settings.hideConsoleWarnings && console.log(`WARNING: "allowHalfOpen" setting is active. Target is connected but TwinCAT system is in ${this.metaData.tcSystemState.adsStateStr} instead of run mode. No connection to PLC runtime.`);
+                            this.warn(`"allowHalfOpen" setting is active. Target is connected but TwinCAT system is in ${this.metaData.tcSystemState.adsStateStr} instead of run mode. No connection to PLC runtime.`);
                         }
                         else {
-                            !this.settings.hideConsoleWarnings && console.log(`WARNING: "allowHalfOpen" setting is active. No connection to PLC runtime. Check "targetAdsPort" setting and PLC status`);
+                            this.warn(`"allowHalfOpen" setting is active. No connection to PLC runtime. Check "targetAdsPort" setting and PLC status`);
                         }
                     }
                 }
@@ -488,6 +510,7 @@ class Client extends events_1.default {
                     connected: false
                 };
                 this.metaData = { ...this.defaultMetaData };
+                this.activeSubscriptions = {};
                 this.socket?.removeAllListeners();
                 this.socket?.destroy();
                 this.socket = undefined;
@@ -508,6 +531,7 @@ class Client extends events_1.default {
                     connected: false
                 };
                 this.metaData = { ...this.defaultMetaData };
+                this.activeSubscriptions = {};
                 this.socket?.removeAllListeners();
                 this.socket?.destroy();
                 this.socket = undefined;
@@ -525,6 +549,7 @@ class Client extends events_1.default {
                     connected: false
                 };
                 this.metaData = { ...this.defaultMetaData };
+                this.activeSubscriptions = {};
                 this.debug(`disconnectFromTarget(): Connection closing failed, connection was forced to close`);
                 this.emit("disconnect", isReconnecting);
                 return reject(new client_error_1.default(`disconnect(): Disconnected with errors: ${disconnectError.message}`, err));
@@ -555,11 +580,11 @@ class Client extends events_1.default {
                 //Trying to subscribe to previous subscriptions again
                 const failures = await this.restoreSubscriptions();
                 if (!failures.length) {
-                    isReconnecting && !this.settings.hideConsoleWarnings && console.log(`Reconnected and all subscriptions were restored!`);
+                    isReconnecting && this.warn(`Reconnected and all subscriptions were restored!`);
                     this.debug(`reconnectToTarget(): Reconnected and all subscriptions were restored!`);
                 }
                 else {
-                    !this.settings.hideConsoleWarnings && console.log(`WARNING: Reconnected but failed to restore following subscriptions:\n - ${failures.join('\n - ')}`);
+                    this.warn(`Reconnected but failed to restore following subscriptions:\n - ${failures.join('\n - ')}`);
                     this.debug(`reconnectToTarget(): Reconnected but failed to restore following subscriptions: ${failures.join(', ')}`);
                 }
                 this.emit('reconnect', !failures.length, failures);
@@ -634,7 +659,7 @@ class Client extends events_1.default {
             };
             this.socket?.once('error', errorHandler);
             try {
-                await this.socketWrite(packet);
+                this.socketWrite(packet);
             }
             catch (err) {
                 this.socket?.off('error', errorHandler);
@@ -690,15 +715,45 @@ class Client extends events_1.default {
             //Sometimes close event is not received, so resolve already here
             this.socket.once('end', () => {
                 this.debugD(`unregisterAdsPort(): Socket connection ended, connection closed.`);
+                clearTimeout(this.portRegisterTimeoutTimer);
+                this.amsTcpCallback = undefined;
                 this.socket?.destroy();
                 resolve();
             });
+            this.amsTcpCallback = (res) => {
+                this.amsTcpCallback = undefined;
+                clearTimeout(this.portRegisterTimeoutTimer);
+                if (res.amsTcp.command === ADS.AMS_HEADER_FLAG.AMS_TCP_PORT_CLOSE) {
+                    this.debug(`unregisterAdsPort(): ADS port unregistered`);
+                    this.socket?.destroy();
+                    resolve();
+                }
+            };
+            //Timeout (if no answer from router)
+            this.portRegisterTimeoutTimer = setTimeout(() => {
+                //Callback is no longer needed, delete it
+                this.amsTcpCallback = undefined;
+                //Create a custom "ads error" so that the info is passed onwards
+                const adsError = {
+                    ads: {
+                        error: true,
+                        errorCode: -1,
+                        errorStr: `Timeout - no response in ${this.settings.timeoutDelay} ms`
+                    }
+                };
+                this.debug(`unregisterAdsPort(): Failed to unregister ADS port: Timeout - no response in ${this.settings.timeoutDelay} ms`);
+                return reject(new client_error_1.default(`unregisterAdsPort(): Timeout - no response in ${this.settings.timeoutDelay} ms`, adsError));
+            }, this.settings.timeoutDelay);
             try {
-                await this.socketWrite(buffer);
+                this.socketWrite(buffer);
             }
             catch (err) {
                 reject(err);
             }
+            finally {
+                this.amsTcpCallback = undefined;
+                clearTimeout(this.portRegisterTimeoutTimer);
+            }
         });
     }
     /**
@@ -906,7 +961,7 @@ class Client extends events_1.default {
                 await this.restoreSubscriptions();
             }
             catch (err) {
-                !this.settings.hideConsoleWarnings && console.log(`WARNING: Target PLC symbol version changed and all subscriptions were not restored (data might be lost from now on). Error info: ${JSON.stringify(err)}`);
+                this.warn(`Target PLC symbol version changed and all subscriptions were not restored (data might be lost from now on). Error info: ${JSON.stringify(err)}`);
                 this.debug(`onPlcSymbolVersionChanged(): Failed to restore all subscriptions. Error: %o`, err);
             }
         }
@@ -920,7 +975,7 @@ class Client extends events_1.default {
      * See also {@link Client.socketErrorHandler} which is `onSocketError.bind(this)`
      */
     onSocketError(err) {
-        !this.settings.hideConsoleWarnings && console.log(`WARNING: Socket connection to target closed to an an error, disconnecting: ${JSON.stringify(err)}`);
+        this.warn(`Socket connection to target closed to an an error, disconnecting: ${JSON.stringify(err)}`);
         this.onConnectionLost(true);
     }
     /**
@@ -936,12 +991,12 @@ class Client extends events_1.default {
         this.connection.connected = false;
         this.emit('connectionLost', socketFailure);
         if (this.settings.autoReconnect !== true) {
-            !this.settings.hideConsoleWarnings && console.log("WARNING: Connection to target was lost and setting autoReconnect was false -> disconnecting");
+            this.warn("Connection to target was lost and setting autoReconnect was false -> disconnecting");
             await this.disconnectFromTarget(true).catch();
             return;
         }
         this.socketConnectionLostHandler && this.socket?.off('close', this.socketConnectionLostHandler);
-        !this.settings.hideConsoleWarnings && console.log("WARNING: Connection to target was lost. Trying to reconnect automatically...");
+        this.warn("Connection to target was lost. Trying to reconnect automatically...");
         const tryToReconnect = async (firstRetryAttempt, timerId) => {
             //If the timer has changed, quit here (to prevent multiple timers)
             if (this.reconnectionTimer.id !== timerId) {
@@ -958,7 +1013,7 @@ class Client extends events_1.default {
                 //Reconnecting failed
                 if (firstRetryAttempt) {
                     this.debug(`onConnectionLost()/tryToReconnect(): Reconnecting failed, keeping trying in the background (${err.message}`);
-                    !this.settings.hideConsoleWarnings && console.log(`WARNING: Reconnecting failed. Keeping trying in the background every ${this.settings.reconnectInterval} ms...`);
+                    this.warn(`Reconnecting failed. Keeping trying in the background every ${this.settings.reconnectInterval} ms...`);
                 }
                 //If this is still a valid timer, start over again
                 if (this.reconnectionTimer.id === timerId) {
@@ -1354,7 +1409,12 @@ class Client extends events_1.default {
             //AMS port unregister
             case ADS.AMS_HEADER_FLAG.AMS_TCP_PORT_CLOSE:
                 packet.amsTcp.commandStr = 'Port unregister';
-                //No action at the moment
+                if (this.amsTcpCallback) {
+                    this.amsTcpCallback(packet);
+                }
+                else {
+                    this.debug(`onAmsTcpPacketReceived(): Port unregister response received but no callback was assigned (${packet.amsTcp.commandStr})`);
+                }
                 break;
             //AMS port register
             case ADS.AMS_HEADER_FLAG.AMS_TCP_PORT_CONNECT:
@@ -1434,12 +1494,24 @@ class Client extends events_1.default {
                             })
                                 .catch(err => {
                                 this.debug(`onAdsCommandReceived(): Notification received but parsing Javascript object failed: %o`, err);
-                                this.emit('client-error', new client_error_1.default(`onAdsCommandReceived(): Ntification received but parsing data to Javascript object failed. Subscription: ${JSON.stringify(subscription)}`, err));
+                                this.emit('client-error', new client_error_1.default(`An ADS notification received but parsing data to a Javascript object failed. Subscription: ${JSON.stringify(subscription)}`, err));
+                            });
+                        }
+                        else if (this.settings.deleteUnknownSubscriptions) {
+                            this.debug(`onAdsCommandReceived(): An ADS notification with an unknown handle ${sample.notificationHandle} was received from ${key}. Trying to delete it to save resources (deleteUnknownSubscriptions is set).`);
+                            this.deleteNotificationHandle(sample.notificationHandle, packet.ams.sourceAmsAddress)
+                                .then(() => {
+                                this.debug(`onAdsCommandReceived(): An ADS notification with an unknown handle ${sample.notificationHandle} was received from ${key} and automatically deleted`);
+                                this.warn(`An ADS notification with an unknown handle ${sample.notificationHandle} was received from ${key} and automatically deleted`);
+                            })
+                                .catch(err => {
+                                this.debug(`onAdsCommandReceived(): Failed to delete an unknown ADS notification handle ${sample.notificationHandle} (from ${key}): %o`, err);
+                                this.emit('client-error', new client_error_1.default(`Failed to delete an unknown ADS notification handle ${sample.notificationHandle} (from ${key})`, err));
                             });
                         }
                         else {
-                            this.debugD(`onAdsCommandReceived(): Notification received with unknown handle ${sample.notificationHandle} (${key}). Use unsubscribe() to save resources`);
-                            this.emit('client-error', new client_error_1.default(`onAdsCommandReceived(): Notification received with unknown handle ${sample.notificationHandle} (${key}). Use unsubscribe() to save resources.`));
+                            this.debug(`onAdsCommandReceived(): Notification received with unknown handle ${sample.notificationHandle} (${key})`);
+                            this.warn(`An ADS notification with an unknown handle ${sample.notificationHandle} was received from ${key}. Use unsubscribe() or deleteUnknownSubscriptions setting to save resources.`);
                         }
                     }
                 }
@@ -1454,7 +1526,7 @@ class Client extends events_1.default {
                 }
                 else {
                     this.debugD(`onAdsCommandReceived(): Ads command received with unknown invokeId "${packet.ams.invokeId}"`);
-                    this.emit('client-error', new client_error_1.default(`onAdsCommandReceived(): Ads command received with unknown invokeId "${packet.ams.invokeId}"`));
+                    this.emit('client-error', new client_error_1.default(`Ads command received with unknown invokeId "${packet.ams.invokeId}"`));
                 }
                 break;
         }
@@ -1486,7 +1558,7 @@ class Client extends events_1.default {
             this.clearTimer(this.tcSystemStatePollerTimer);
             this.debug("onRouterStateChanged(): Local loopback connection active, monitoring router state. Reconnecting when router is back running.");
             if (this.metaData.routerState.state === ADS.AMS_ROUTER_STATE.START) {
-                !this.settings.hideConsoleWarnings && console.log(`WARNING: Local AMS router state has changed to ${this.metaData.routerState.stateStr}. Reconnecting...`);
+                this.warn(`Local AMS router state has changed to ${this.metaData.routerState.stateStr}. Reconnecting...`);
                 this.onConnectionLost();
             }
             else {
@@ -1859,7 +1931,7 @@ class Client extends events_1.default {
         }
         //If extended flag RefactorInfo is set
         if ((symbol.extendedFlags & ADS.ADS_SYMBOL_FLAGS_2.RefactorInfo) === ADS.ADS_SYMBOL_FLAGS_2.RefactorInfo) {
-            !this.settings.hideConsoleWarnings && console.log(`WARNING: Symbol ${symbol.name} (${symbol.type}) has extended flag "RefactorInfo" which is not supported. Things might not work now. Please open an issue at Github`);
+            this.warn(`Symbol ${symbol.name} (${symbol.type}) has extended flag "RefactorInfo" which is not supported. Things might not work now. Please open an issue at Github`);
         }
         //Reserved, if any
         symbol.reserved = data.subarray(pos);
@@ -2164,7 +2236,7 @@ class Client extends events_1.default {
         if ((dataType.flags & ADS.ADS_DATA_TYPE_FLAGS.RefactorInfo) === ADS.ADS_DATA_TYPE_FLAGS.RefactorInfo) {
             //TODO: this is not working now
             //Things probably break now
-            !this.settings.hideConsoleWarnings && console.log(`WARNING: Data type ${dataType.name} (${dataType.type}) has flag "RefactorInfo" which is not supported. Things might not work now. Please open an issue at Github`);
+            this.warn(`Data type ${dataType.name} (${dataType.type}) has flag "RefactorInfo" which is not supported. Things might not work now. Please open an issue at Github`);
         }
         //If flag ExtendedFlags set
         if ((dataType.flags & ADS.ADS_DATA_TYPE_FLAGS.ExtendedFlags) === ADS.ADS_DATA_TYPE_FLAGS.ExtendedFlags) {
@@ -2181,13 +2253,13 @@ class Client extends events_1.default {
         if ((dataType.flags & ADS.ADS_DATA_TYPE_FLAGS.ExtendedEnumInfos) === ADS.ADS_DATA_TYPE_FLAGS.ExtendedEnumInfos) {
             //TODO: this is not working now
             //Things probably break now
-            !this.settings.hideConsoleWarnings && console.log(`WARNING: Data type ${dataType.name} (${dataType.type}) has flag "ExtendedEnumInfos" which is not supported. Things might not work now. Please open an issue at Github`);
+            this.warn(`Data type ${dataType.name} (${dataType.type}) has flag "ExtendedEnumInfos" which is not supported. Things might not work now. Please open an issue at Github`);
         }
         //If flag SoftwareProtectionLevels set
         if ((dataType.flags & ADS.ADS_DATA_TYPE_FLAGS.SoftwareProtectionLevels) === ADS.ADS_DATA_TYPE_FLAGS.SoftwareProtectionLevels) {
             //TODO: this is not working now
             //Things probably break now
-            !this.settings.hideConsoleWarnings && console.log(`WARNING: Data type ${dataType.name} (${dataType.type}) has flag "SoftwareProtectionLevels" which is not supported. Things might not work now. Please open an issue at Github`);
+            this.warn(`Data type ${dataType.name} (${dataType.type}) has flag "SoftwareProtectionLevels" which is not supported. Things might not work now. Please open an issue at Github`);
         }
         //Reserved, if any
         dataType.reserved = data.subarray(pos);
@@ -2288,6 +2360,7 @@ class Client extends events_1.default {
                 if (err.adsError && err.adsError?.errorCode === 1808) {
                     //Type wasn't found.
                     //Might be TwinCAT 2 system that doesn't provide pseudo or base data types by ADS --> check if we know the type ourselves
+                    const originalName = name;
                     if (ADS.BASE_DATA_TYPES.isPseudoType(name)) {
                         //This converts e.g. PVOID to a primitive type
                         if (knownSize === undefined) {
@@ -2321,6 +2394,11 @@ class Client extends events_1.default {
                             extendedFlags: 0,
                             reserved: Buffer.alloc(0)
                         };
+                        //Adding to cache, even though it's not read from the target
+                        //With TwinCAT 2, this prevents trying to read base types again and again from the target (as there aren't any)
+                        if (!this.settings.disableCaching && !targetOpts.adsPort && !targetOpts.amsNetId) {
+                            this.metaData.plcDataTypes[originalName.toLowerCase()] = dataType;
+                        }
                     }
                     else {
                         //Type is unknown - we can't do anything
@@ -2364,7 +2442,7 @@ class Client extends events_1.default {
                 }
             }
             else if ((((dataType.type === '' && !ADS.BASE_DATA_TYPES.isPseudoType(dataType.name)) || ADS.BASE_DATA_TYPES.isKnownType(dataType.name))
-                && dataType.flagsStr.includes('DataType')
+                && (dataType.flagsStr.includes('DataType') || ADS.BASE_DATA_TYPES.isKnownType(dataType.name)) //isKnownType() call is for TwinCAT 2 support, as base types (like INT16) do not have DataType flag (but it's the final base type)
                 && !dataType.flagsStr.includes('EnumInfos')
                 && dataType.arrayDimension === 0)) {
                 //This is final form (no need to go deeper)
@@ -2372,8 +2450,10 @@ class Client extends events_1.default {
             }
             else if (dataType.arrayDimension > 0) {
                 //Data type is an array - get array subtype
+                //TwinCAT 2 support - calculate size if it's array of pointer etc.
+                const size = dataType.size / dataType.arrayInfos.reduce((total, dimension) => total * dimension.length, 1);
                 builtType = {
-                    ...(await this.buildDataType(dataType.type, targetOpts, false))
+                    ...(await this.buildDataType(dataType.type, targetOpts, false, size))
                 };
                 builtType.arrayInfos = [...dataType.arrayInfos, ...builtType.arrayInfos];
             }
@@ -2901,14 +2981,44 @@ class Client extends events_1.default {
      * - {@link Client.unsubscribe}() - `DeleteNotification` command
      * - {@link Client.readWriteRaw}() - `ReadWrite` command
      *
-     * @template T ADS response type. If omitted, generic {@link AdsResponse} type is used
-     *
-     * @throws Throws an error if sending the command fails or if target responds with an error
-     *
      * @example
      * ```js
-     * TODO - DOCUMENTATION ONGOING
+     * try {
+     *  //Creating readRaw(16448, 414816, 2) command manually and sending it using sendAdsCommand()
+     *
+     *  const data = Buffer.alloc(12);
+     *  let pos = 0;
+     *
+     *  //0..3 IndexGroup
+     *  data.writeUInt32LE(16448, pos);
+     *  pos += 4;
+     *
+     *  //4..7 IndexOffset
+     *  data.writeUInt32LE(414816, pos);
+     *  pos += 4;
+     *
+     *  //8..11 Read data length
+     *  data.writeUInt32LE(2, pos);
+     *  pos += 4;
+     *
+     *  const res = await this.sendAdsCommand<AdsReadResponse>({
+     *    adsCommand: ADS.ADS_COMMAND.Read,
+     *    targetAmsNetId: targetOpts.amsNetId,
+     *    targetAdsPort: targetOpts.adsPort,
+     *    payload: data
+     *  });
+     *
+     *  console.log(res.ads.payload); //<Buffer ff 7f>
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
      * ```
+     *
+     * @template T In Typescript, the type of the ADS response. If omitted, generic {@link AdsResponse} type is used.
+     *
+     * @throws Throws an error if sending the command fails or if target responds with an error
+     *
      */
     async sendAdsCommand(command) {
         return new Promise(async (resolve, reject) => {
@@ -3221,7 +3331,7 @@ class Client extends events_1.default {
             this.debug(`setTcSystemToRun(): TwinCAT system at ${this.targetToString(targetOpts)} set to run mode`);
             if (reconnect) {
                 this.debug(`setTcSystemToRun(): Reconnecting after TwinCAT system restart`);
-                !this.settings.hideConsoleWarnings && console.log("WARNING: Reconnecting after TwinCAT system restart");
+                this.warn("Reconnecting after TwinCAT system restart");
                 this.onConnectionLost();
             }
         }
@@ -3300,7 +3410,7 @@ class Client extends events_1.default {
         this.debug(`restartTcSystem(): TwinCAT system was restarted`);
     }
     /**
-     * Returns symbol for given variable path, such as `GVL_Test.ExampleStruct`.
+     * Returns a symbol object for given variable path, such as `GVL_Test.ExampleStruct`.
      *
      * Returns previously cached value if available, otherwise reads it from the target
      * and caches it.
@@ -3314,7 +3424,7 @@ class Client extends events_1.default {
      * @example
      * ```js
      * try {
-     *  const symbol = await client.getSymbol('GVL_Test.ExampleStruct');
+     *  const symbol = await client.getSymbol('GVL_Read.StandardTypes.INT_');
      * } catch (err) {
      *  console.log("Error:", err);
      * }
@@ -3610,7 +3720,7 @@ class Client extends events_1.default {
      * //Checks if value has changed every 100ms
      * //Callback is called only when the value has changed
      * await client.subscribeValue(
-     *  'GVL_Test.ExampleStruct.',
+     *  'GVL_Subscription.NumericValue_10ms',
      *  (data, subscription) => {
      *   console.log(`Value of ${subscription.symbol.name} has changed: ${data.value}`);
      *  },
@@ -3671,7 +3781,7 @@ class Client extends events_1.default {
         }
     }
     /**
-     * Subscribes to raw value change notifications (ADS notifications) by raw ADS address (index group, index offset and data length).
+     * Subscribes to raw value change notifications (ADS notifications) by a raw ADS address (index group, index offset and data length).
      *
      * Provided callback is called with the latest value when the value changes or when
      * enough time has passed (depending on settings).
@@ -3758,7 +3868,7 @@ class Client extends events_1.default {
      * //Checks if value has changed every 100ms
      * //Callback is called only when the value has changed
      * await client.subscribe({
-     *  target: 'GVL_Test.ExampleStruct',
+     *  target: 'GVL_Subscription.NumericValue_10ms',
      *  callback: (data, subscription) => {
      *    console.log(`Value of ${subscription.symbol.name} has changed: ${data.value}`);
      *  },
@@ -3830,19 +3940,8 @@ class Client extends events_1.default {
             throw new client_error_1.default(`unsubscribe(): Client is not connected. Use connect() to connect to the target first.`);
         }
         this.debug(`unsubscribe(): Unsubscribing %o`, subscription);
-        //Allocating bytes for request
-        const data = Buffer.alloc(4);
-        let pos = 0;
-        //0..3 Notification handle
-        data.writeUInt32LE(subscription.notificationHandle, pos);
-        pos += 4;
         try {
-            const res = await this.sendAdsCommand({
-                adsCommand: ADS.ADS_COMMAND.DeleteNotification,
-                targetAmsNetId: subscription.remoteAddress.amsNetId,
-                targetAdsPort: subscription.remoteAddress.adsPort,
-                payload: data
-            });
+            await this.deleteNotificationHandle(subscription.notificationHandle, subscription.remoteAddress);
             const address = ADS.amsAddressToString(subscription.remoteAddress);
             if (this.activeSubscriptions[address]) {
                 delete this.activeSubscriptions[address][subscription.notificationHandle];
@@ -3854,6 +3953,33 @@ class Client extends events_1.default {
             throw new client_error_1.default(`unsubscribe(): Unsubscribing failed`, err);
         }
     }
+    /**
+     * Sends a delete ADS notification command to the target system.
+     *
+     * Doesn't delete subscriptions, just sends the ADS command.
+     *
+     * @param notificationHandle Notification handle to delete (number)
+     * @param targetAmsAddress Target system address
+     *
+     * @throws NOTE: Throws error if failed
+     */
+    async deleteNotificationHandle(notificationHandle, targetAmsAddress) {
+        this.debug(`deleteNotificationHandle(): Sending DeleteNotification command for handle ${notificationHandle} to ${ADS.amsAddressToString(targetAmsAddress)}`);
+        //Allocating bytes for request
+        const data = Buffer.alloc(4);
+        let pos = 0;
+        //0..3 Notification handle
+        data.writeUInt32LE(notificationHandle, pos);
+        pos += 4;
+        const res = await this.sendAdsCommand({
+            adsCommand: ADS.ADS_COMMAND.DeleteNotification,
+            targetAmsNetId: targetAmsAddress.amsNetId,
+            targetAdsPort: targetAmsAddress.adsPort,
+            payload: data
+        });
+        this.debug(`deleteNotificationHandle(): Notification for handle ${notificationHandle} (${ADS.amsAddressToString(targetAmsAddress)}) deleted!`);
+        return res.ads;
+    }
     /**
      * Unsubscribes all active subscription (deletes all ADS notifications).
      *
@@ -4268,16 +4394,30 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Reads raw data from the target system by a raw ADS address (index group, index offset and data length).
+     *
+     * This is the ADS protocol `Read` command.
      *
-     * Reads raw byte data from the target system by provided index group, index offset and data length (bytes)
+     * @example
+     * ```js
+     * try {
+     *  const data = await client.readRaw(16448, 414816, 2);
+     *  console.log(data); //<Buffer ff 7f>
      *
-     * This is the `ADS read` command in ADS protocol.
+     *  const converted = await client.convertFromRaw(data, 'INT');
+     *  console.log(converted); //32767
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param indexGroup Index group (address) of the data to read
      * @param indexOffset Index offset (address) of the data to read
      * @param size Data length to read (bytes)
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readRaw(indexGroup, indexOffset, size, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4312,16 +4452,28 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Writes raw data to the target system by a raw ADS address (index group, index offset and data length).
+     *
+     * This is the ADS protocol `Write` command.
      *
-     * Writes raw byte data to the target system by provided index group and index offset.
+     * @example
+     * ```js
+     * try {
+     *  const data = await client.convertToRaw(32767, 'INT');
+     *  console.log(data); //<Buffer ff 7f>
      *
-     * This is the `ADS write` command in ADS protocol.
+     *  await client.writeRaw(16448, 414816, data);
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param indexGroup Index group (address) of the data to write to
      * @param indexOffset Index offset (address) of the data to write to
      * @param value Data to write
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async writeRaw(indexGroup, indexOffset, value, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4357,16 +4509,45 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Sends multiple `readRaw()` commands in one ADS packet.
      *
-     * Sends multiple readRaw() commands in one ADS packet
+     * Reads raw data from the target system by a raw ADS addresses (index group, index offset and data length).
+     * Results are returned for each command separately - see {@link ReadRawMultiResult} for details.
      *
-     * Reads raw byte data from the target system by provided index group, index offset and data length (bytes)
+     * Uses ADS sum command under the hood (better and faster performance).
+     * See [Beckhoff Information System](https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_adsdll2/9007199379576075.html&id=9180083787138954512) for more info.
      *
-     * Uses ADS sum command under the hood (better performance)
+     * @example
+     * ```js
+     * try {
+     *  const results = await client.readRawMulti([
+     *    {
+     *      indexGroup: 16448,
+     *      indexOffset: 414816,
+     *      size: 2
+     *    },
+     *    {
+     *      indexGroup: 16448,
+     *      indexOffset: 414900,
+     *      size: 128
+     *    }
+     *  ]);
+     *
+     *  if(results[0].success) {
+     *    console.log(`First result: ${results[0].value}`); //First result: <Buffer ff 7f>
+     *  } else {
+     *    console.log(`First read command failed: ${results[0].errorStr}`);
+     *  }
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param commands Array of read commands
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readRawMulti(commands, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4442,16 +4623,50 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Sends multiple `writeRaw()` commands in one ADS packet.
+     *
+     * Writes raw data to the target system by a raw ADS addresses (index group and index offset).
+     * Results are returned for each command separately - see {@link WriteRawMultiResult} for details.
      *
-     * Sends multiple writeRaw() commands in one ADS packet
+     * Uses ADS sum command under the hood (better and faster performance).
+     * See [Beckhoff Information System](https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_adsdll2/9007199379576075.html&id=9180083787138954512) for more info.
      *
-     * Writes raw byte data to the target system by provided index group and index offset.
+     * @example
+     * ```js
+     * try {
+     *  const data1 = await client.convertToRaw(32767, 'INT');
+     *  console.log(data1); //<Buffer ff 7f>
+     *
+     *  const data2 = Buffer.alloc(128); //example
+     *
+     *  const results = await client.writeRawMulti([
+     *    {
+     *      indexGroup: 16448,
+     *      indexOffset: 414816,
+     *      value: data1
+     *    },
+     *    {
+     *      indexGroup: 16448,
+     *      indexOffset: 414900,
+     *      value: data2
+     *    }
+     *  ]);
+     *
+     *  if(results[0].success) {
+     *    console.log(`First write command successful`);
+     *  } else {
+     *    console.log(`First write command failed: ${results[0].errorStr}`);
+     *  }
      *
-     * Uses ADS sum command under the hood (better performance)
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param commands Array of write commands
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async writeRawMulti(commands, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4523,16 +4738,37 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Reads raw data from the target system by variable path (such as `GVL_Test.ExampleStruct`).
      *
-     * Reads raw byte data from the target system by symbol path.
+     * Supports also reading `POINTER` and `REFERENCE` values (see example).
      *
-     * Supports also reading POINTER and REFERENCE values by using deference operator in path (`^`)
+     * This uses the ADS `READ_SYMVAL_BYNAME` under the hood, so only one
+     * round-trip is needed.
      *
-     * This uses the ADS command `READ_SYMVAL_BYNAME` under the hood
+     * @example
+     * ```js
+     * try {
+     *  const data = await client.readRawByPath('GVL_Read.StandardTypes.INT_');
+     *  console.log(data); //<Buffer ff 7f>
+     *
+     *  const converted = await client.convertFromRaw(data, 'INT');
+     *  console.log(converted); //32767
+     *
+     * //Reading a POINTER value (Note the dereference operator ^)
+     * const ptrValue = await client.readRawByPath('GVL_Read.ComplexTypes.POINTER_^');
+     *
+     * //Reading a REFERENCE value
+     * const refValue = await client.readRawByPath('GVL_Read.ComplexTypes.REFERENCE_');
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param path Variable path in the PLC to read (such as `GVL_Test.ExampleStruct`)
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readRawByPath(path, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4574,17 +4810,38 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Writes raw data to the target system by variable path (such as `GVL_Test.ExampleStruct`).
      *
-     * Writes raw byte data to the target system by symbol path.
+     * Supports also writing `POINTER` and `REFERENCE` values (see example).
      *
-     * Supports also reading POINTER and REFERENCE values by using deference operator in path (`^`)
+     * NOTE: Unlike with {@link readRawByPath}(), this command uses multiple ADS requests for the operation.
      *
-     * Unlike `readRawByPath()`, this uses variable handles under the hood, the as there is no direct ADS command available for this.
+     * @example
+     * ```js
+     * try {
+     *  const data = await client.convertToRaw(32767, 'INT');
+     *  console.log(data); //<Buffer ff 7f>
      *
-     * @param path Variable path in the PLC to read (such as `GVL_Test.ExampleStruct`)
+     *  await client.writeRawByPath('GVL_Write.StandardTypes.INT_', data);
+     *
+     * //Writing a POINTER value (Note the dereference operator ^)
+     * const ptrValue = ...
+     * await client.writeRawByPath('GVL_Read.ComplexTypes.POINTER_^', ptrValue);
+     *
+     * //Writing a REFERENCE value
+     * const refValue = ...
+     * await client.readRawByPath('GVL_Read.ComplexTypes.REFERENCE_');
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param path Variable path in the PLC to write (such as `GVL_Test.ExampleStruct`)
      * @param value Data to write
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async writeRawByPath(path, value, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4594,12 +4851,12 @@ class Client extends events_1.default {
         try {
             let handle = null;
             try {
-                handle = await this.createVariableHandle(path);
-                await this.writeRawByHandle(handle, value);
+                handle = await this.createVariableHandle(path, targetOpts);
+                await this.writeRawByHandle(handle, value, targetOpts);
             }
             finally {
                 if (handle) {
-                    await this.deleteVariableHandle(handle);
+                    await this.deleteVariableHandle(handle, targetOpts);
                 }
             }
             this.debug(`writeRawByPath(): Writing raw data to ${path} done (${value.byteLength} bytes)`);
@@ -4610,25 +4867,41 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Writes raw data to the target system by a raw ADS address (index group, index offset)
+     * and reads the result as raw data.
+     *
+     * This is the ADS protocol `ReadWrite` command.
      *
-     * Writes raw data to the target and reads the result as raw data
+     * @example
+     * ```js
+     * const { ADS } = require('../dist/ads-client');
      *
-     * Uses `ADS ReadWrite` command
+     * try {
+     *  //Reading raw value by symbol path (= same as readRawByPath())
+     *  const path = ADS.encodeStringToPlcStringBuffer('GVL_Read.StandardTypes.INT_');
+     *  const data = await client.readWriteRaw(ADS.ADS_RESERVED_INDEX_GROUPS.SymbolValueByName, 0, 0xFFFFFFFF, path);
+     *  console.log(data); //<Buffer ff 7f>
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param indexGroup Address index group
      * @param indexOffset Address index offset
-     * @param size How many bytes to read
-     * @param writeData Data to write
+     * @param size Data length to read (bytes)
+     * @param value Value to write
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
-    async readWriteRaw(indexGroup, indexOffset, size, writeData, targetOpts = {}) {
+    async readWriteRaw(indexGroup, indexOffset, size, value, targetOpts = {}) {
         if (!this.connection.connected) {
             throw new client_error_1.default(`readWriteRaw(): Client is not connected. Use connect() to connect to the target first.`);
         }
-        this.debug(`readWriteRaw(): Sending ReadWrite command (${JSON.stringify({ indexGroup, indexOffset, size })} with ${writeData.byteLength} bytes of data`);
+        this.debug(`readWriteRaw(): Sending ReadWrite command (${JSON.stringify({ indexGroup, indexOffset, size })} with ${value.byteLength} bytes of data`);
         //Allocating bytes for request
-        const data = Buffer.alloc(16 + writeData.byteLength);
+        const data = Buffer.alloc(16 + value.byteLength);
         let pos = 0;
         //0..3 IndexGroup 
         data.writeUInt32LE(indexGroup, pos);
@@ -4640,11 +4913,11 @@ class Client extends events_1.default {
         data.writeUInt32LE(size, pos);
         pos += 4;
         //12..15 Write data length
-        data.writeUInt32LE(writeData.byteLength, pos);
+        data.writeUInt32LE(value.byteLength, pos);
         pos += 4;
         //16..n Write data
-        writeData.copy(data, pos);
-        pos += writeData.byteLength;
+        value.copy(data, pos);
+        pos += value.byteLength;
         try {
             const res = await this.sendAdsCommand({
                 adsCommand: ADS.ADS_COMMAND.ReadWrite,
@@ -4661,14 +4934,52 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Sends multiple `readWriteRaw()` commands in one ADS packet.
+     *
+     * Writes raw data to the target system by a raw ADS address (index group, index offset)
+     * and reads the result as raw data.
+     *
+     * Uses ADS sum command under the hood (better and faster performance).
+     * See [Beckhoff Information System](https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_adsdll2/9007199379576075.html&id=9180083787138954512) for more info.
+     *
+     * @example
+     * ```js
+     * try {
+     *  //Reading raw values by symbol paths (= same as readRawByPath())
+     *  const path = ADS.encodeStringToPlcStringBuffer('GVL_Read.StandardTypes.INT_');
+     *  const path2 = ADS.encodeStringToPlcStringBuffer('GVL_Read.StandardTypes.REAL_');
+     *
+     *  const results = await client.readWriteRawMulti([
+     *    {
+     *      indexGroup: ADS.ADS_RESERVED_INDEX_GROUPS.SymbolValueByName,
+     *      indexOffset: 0,
+     *      size: 0xFFFF,
+     *      value: path
+     *    },
+     *    {
+     *      indexGroup: ADS.ADS_RESERVED_INDEX_GROUPS.SymbolValueByName,
+     *      indexOffset: 0,
+     *      size: 0xFFFF,
+     *      value: path2
+     *    }
+     *  ]);
+     *
+     *  if(results[0].success) {
+     *    console.log(`First result: ${results[0].value}`); //First result: <Buffer ff 7f>
+     *  } else {
+     *    console.log(`First read/write command failed: ${results[0].errorStr}`);
+     *  }
      *
-     * Sends multiple readWriteRaw() commands in one ADS packet
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
      *
-     * Uses ADS sum command under the hood (better performance)
+     * ```
      *
-     * @param commands Array of read write commands
+     * @param commands Array of read/write commands
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readWriteRawMulti(commands, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4676,7 +4987,7 @@ class Client extends events_1.default {
         }
         this.debug(`readWriteRawMulti(): Sending ${commands.length} ReadWrite commands`);
         const totalSize = commands.reduce((total, command) => total + command.size, 0);
-        const totalWriteSize = commands.reduce((total, command) => total + command.writeData.byteLength, 0);
+        const totalWriteSize = commands.reduce((total, command) => total + command.value.byteLength, 0);
         //Allocating bytes for request
         const data = Buffer.alloc(16 + commands.length * 16 + totalWriteSize);
         let pos = 0;
@@ -4704,13 +5015,13 @@ class Client extends events_1.default {
             data.writeUInt32LE(command.size, pos);
             pos += 4;
             //12..15 Write data length
-            data.writeUInt32LE(command.writeData.byteLength, pos);
+            data.writeUInt32LE(command.value.byteLength, pos);
             pos += 4;
         });
         //data
         commands.forEach(command => {
-            command.writeData.copy(data, pos);
-            pos += command.writeData.byteLength;
+            command.value.copy(data, pos);
+            pos += command.value.byteLength;
         });
         try {
             const res = await this.sendAdsCommand({
@@ -4759,16 +5070,32 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Reads variable's value from the target system by a variable path (such as `GVL_Test.ExampleStruct`)
+     * and returns the value as a Javascript object.
      *
-     * Reads a value by a variable path (such as `GVL_Test.ExampleStruct`) and converts the value to a Javascript object.
+     * Returns variable's
+     * - converted value
+     * - raw value
+     * - data type
+     * - symbol
      *
-     * Returns the converted value, the raw value, the data type and the symbol.
+     * **NOTE:** This requires that the target is a PLC runtime or has equivalent ADS protocol support.
      *
-     * @param path Variable path in the PLC to read (such as `GVL_Test.ExampleStruct`)
+     * @example
+     * ```js
+     * try {
+     *  const res = await client.readValue('GVL_Read.StandardTypes.INT_');
+     *  console.log(res.value);
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param path Variable path in the PLC (such as `GVL_Test.ExampleStruct`)
      * @param targetOpts Optional target settings that override values in `settings`
      *
      * @template T In Typescript, the data type of the value, for example `readValue<number>(...)` or `readValue<ST_TypedStruct>(...)` (default: `any`)
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readValue(path, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4789,7 +5116,8 @@ class Client extends events_1.default {
         let dataType;
         try {
             this.debugD(`readValue(): Getting data type for ${path}`);
-            dataType = await this.buildDataType(symbol.type, targetOpts);
+            //Also passing size for TC2 pointer/pseudo type support
+            dataType = await this.buildDataType(symbol.type, targetOpts, true, symbol.size);
         }
         catch (err) {
             this.debug(`readValue(): Getting data type for ${path} failed: %o`, err);
@@ -4824,16 +5152,34 @@ class Client extends events_1.default {
         };
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Reads variable's value from the target system by a symbol object (acquired using `getSymbol()`)
+     * and returns the value as a Javascript object.
      *
-     * Reads a value by a symbol and converts the value to a Javascript object.
+     * Returns variable's
+     * - converted value
+     * - raw value
+     * - data type
+     * - symbol
      *
-     * Returns the converted value, the raw value, the data type and the symbol.
+     * **NOTE:** This requires that the target is a PLC runtime or has equivalent ADS protocol support.
+     *
+     * @example
+     * ```js
+     * try {
+     *  const symbol = await client.getSymbol('GVL_Read.StandardTypes.INT_');
      *
-     * @param symbol Symbol (acquired using `getSymbol()`)
+     *  const res = await client.readValueBySymbol(symbol);
+     *  console.log(res.value);
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param symbol Symbol object
      * @param targetOpts Optional target settings that override values in `settings`
      *
      * @template T In Typescript, the data type of the value, for example `readValueBySymbol<number>(...)` or `readValueBySymbol<ST_TypedStruct>(...)` (default: `any`)
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readValueBySymbol(symbol, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4842,20 +5188,39 @@ class Client extends events_1.default {
         return this.readValue(symbol.name, targetOpts);
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Writes variable's value to the target system by a variable path (such as `GVL_Test.ExampleStruct`).
+     * Converts the value from a Javascript object to a raw value.
      *
-     * Writes a value by a variable path (such as `GVL_Test.ExampleStruct`). Converts the value from a Javascript object to a raw value.
+     * Returns variable's
+     * - converted value
+     * - raw value
+     * - data type
+     * - symbol
      *
-     * Returns the converted value, the raw value, the data type and the symbol.
+     * **NOTE:** Do not use `autoFill` for `UNION` types, it doesn't work correctly.
      *
-     * **NOTE:** Do not use `autoFill` for `UNION` types, it works without errors but the result isn't probably the desired one
+     * **NOTE:** This requires that the target is a PLC runtime or has equivalent ADS protocol support.
      *
-     * @param path Variable path in the PLC to read (such as `GVL_Test.ExampleStruct`)
+     * @example
+     * ```js
+     * try {
+     *  const value = {
+     *    example: true
+     *  };
+     *
+     *  const res = await client.writeValue('GVL_Read.StandardTypes.INT_', value);
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param path Variable path in the PLC (such as `GVL_Test.ExampleStruct`)
      * @param value Value to write
      * @param targetOpts Optional target settings that override values in `settings`
-     * @param autoFill If true and data type is a container (`STRUCT`, `FUNCTION_BLOCK` etc.), missing properties are automatically **set to default values** (usually `0` or `''`)
+     * @param autoFill If set and the data type is a container (`STRUCT`, `FUNCTION_BLOCK` etc.), missing properties are automatically set to active values read from target (kept as-is).
      *
      * @template T In Typescript, the data type of the value, for example `writeValue<number>(...)` or `writeValue<ST_TypedStruct>(...)`
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async writeValue(path, value, autoFill = false, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4876,7 +5241,8 @@ class Client extends events_1.default {
         let dataType;
         try {
             this.debugD(`writeValue(): Getting data type for ${path}`);
-            dataType = await this.buildDataType(symbol.type, targetOpts);
+            //Also passing size for TC2 pointer/pseudo type support
+            dataType = await this.buildDataType(symbol.type, targetOpts, true, symbol.size);
         }
         catch (err) {
             this.debug(`writeValue(): Getting data type for ${path} failed: %o`, err);
@@ -4934,20 +5300,37 @@ class Client extends events_1.default {
         };
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Writes variable's value to the target system by a symbol object (acquired using `getSymbol()`).
+     * Converts the value from a Javascript object to a raw value.
      *
-     * Writes a value by symbol. Converts the value from a Javascript object to a raw value.
+     * Returns variable's
+     * - converted value
+     * - raw value
+     * - data type
+     * - symbol
      *
-     * Returns the converted value, the raw value, the data type and the symbol.
+     * **NOTE:** Do not use `autoFill` for `UNION` types, it doesn't work correctly.
      *
-     * **NOTE:** Do not use `autoFill` for `UNION` types, it works without errors but the result isn't probably the desired one
+     * **NOTE:** This requires that the target is a PLC runtime or has equivalent ADS protocol support.
+     *
+     * @example
+     * ```js
+     * try {
+     *  const symbol = await client.getSymbol('GVL_Read.StandardTypes.INT_');
      *
-     * @param symbol Symbol (acquired using `getSymbol()`)
+     *  const res = await client.writeValueBySymbol(symbol, 32767);
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param symbol Symbol object
      * @param value Value to write
      * @param targetOpts Optional target settings that override values in `settings`
-     * @param autoFill If true and data type is a container (`STRUCT`, `FUNCTION_BLOCK` etc.), missing properties are automatically **set to default values** (usually `0` or `''`)
+     * @param autoFill If set and the data type is a container (`STRUCT`, `FUNCTION_BLOCK` etc.), missing properties are automatically set to active values read from target (kept as-is).
      *
      * @template T In Typescript, the data type of the value, for example `writeValue<number>(...)` or `writeValue<ST_TypedStruct>(...)`
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async writeValueBySymbol(symbol, value, autoFill = false, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4956,14 +5339,27 @@ class Client extends events_1.default {
         return this.writeValue(symbol.name, value, autoFill, targetOpts);
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
-     *
      * Returns a default (empty) Javascript object representing provided PLC data type.
      *
-     * @param dataType Data type name in the PLC as string (such as `ST_Struct`) or `AdsDataType` object
+     * @example
+     * ```js
+     * try {
+     *  const res = await client.getDefaultPlcObject('INT');
+     *  console.log(res); //0
+  
+     *  const res2 = await client.getDefaultPlcObject('Tc2_Standard.TON');
+     *  console.log(res2); //{ IN: false, PT: 0, Q: false, ET: 0, M: false, StartTime: 0 }
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param dataType Data type name in the PLC as string (such as `ST_Struct`) or data type object (acquired using {@link getDataType}())
      * @param targetOpts Optional target settings that override values in `settings`
      *
-     * @template T Typescript data type of the PLC data, for example `readValue<number>(...)` or `readValue<ST_TypedStruct>(...)`
+     * @template T Typescript data type of the PLC data, for example `getDefaultPlcObject<number>(...)` or `getDefaultPlcObject<ST_TypedStruct>(...)`
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async getDefaultPlcObject(dataType, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -4987,15 +5383,28 @@ class Client extends events_1.default {
         return value;
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Converts raw data to a Javascript object by using the provided data type.
+     *
+     * @example
+     * ```js
+     * try {
+     *  const data = await client.readRaw(16448, 414816, 2);
+     *  console.log(data); //<Buffer ff 7f>
      *
-     * Converts a raw byte value to a Javascript object.
+     *  const converted = await client.convertFromRaw(data, 'INT');
+     *  console.log(converted); //32767
      *
-     * @param data Raw PLC data as Buffer (read for example with `readRaw()`)
-     * @param dataType Data type name in the PLC as string (such as `ST_Struct`) or `AdsDataType` object
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param data Raw data (acquired for example using {@link readRaw}())
+     * @param dataType Data type name in the PLC as string (such as `ST_Struct`) or data type object (acquired using {@link getDataType}())
      * @param targetOpts Optional target settings that override values in `settings`
      *
      * @template T Typescript data type of the PLC data, for example `convertFromRaw<number>(...)` or `convertFromRaw<ST_TypedStruct>(...)`
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async convertFromRaw(data, dataType, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5027,18 +5436,27 @@ class Client extends events_1.default {
         return value;
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Converts a Javascript object to raw data by using the provided data type.
      *
-     * Converts a Javascript object to raw byte data.
+     * **NOTE:** Do not use `autoFill` for `UNION` types, it doesn't work correctly.
+     
+     * @example
+     * ```js
+     * try {
+     *  const data = await client.convertToRaw(32767, 'INT');
+     *  console.log(data); //<Buffer ff 7f>
      *
-     * **NOTE:** Do not use `autoFill` for `UNION` types, it works without errors but the result isn't probably the desired one
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
-     * @param value Javascript object that represents the `dataType` in target system
-     * @param dataType Data type name in the PLC as string (such as `ST_Struct`) or `AdsDataType` object
-     * @param autoFill If true and data type is a container (`STRUCT`, `FUNCTION_BLOCK` etc.), missing properties are automatically **set to default values** (usually `0` or `''`)
+     * @param value Value to convert
+     * @param dataType Data type name in the PLC as string (such as `ST_Struct`) or data type object (acquired using {@link getDataType}())
+     * @param autoFill autoFill If set and the data type is a container (`STRUCT`, `FUNCTION_BLOCK` etc.), missing properties are automatically set to default values (`0` or empty string).
      * @param targetOpts Optional target settings that override values in `settings`
      *
-     * @template T Typescript data type of the PLC data, for example `convertFromRaw<number>(...)` or `convertFromRaw<ST_TypedStruct>(...)`
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async convertToRaw(value, dataType, autoFill = false, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5094,14 +5512,39 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Creates a handle to a variable at the target system by variable path (such as `GVL_Test.ExampleStruct`).
      *
-     * Creates a variable handle for a PLC symbol by given variable path
+     * The handle can be then used for reading and writing the value.
      *
-     * Variable value can be accessed by using the handle with `readRawByHandle()` and `writeRawByHandle()`
+     * Reading and writing dereferenced `POINTER` and `REFERENCE` values is also possible.
+     * See {@link readRawByHandle}() and {@link writeRawByHandle}().
      *
-     * @param path Full variable path in the PLC (such as `GVL_Test.ExampleStruct`)
-     * @param targetOpts Optional target settings that override values in `settings` (**NOTE:** If used, no caching is available -> possible performance impact)
+     * NOTE: The handle should be deleted after it's no longer needed,
+     * as there is a limited amount of handles available. See {@link deleteVariableHandle}().
+     *
+     * @example
+     * ```js
+     * try {
+     *  //POINTER value (Note the dereference operator ^)
+     *  const handle1 = await client.createVariableHandle('GVL_Read.ComplexTypes.POINTER_^');
+     *  const value = await client.readRawByHandle(handle1);
+     *  await client.deleteVariableHandle(handle1);
+     *
+     *  const handle2 = await client.createVariableHandle('GVL_Read.StandardTypes.INT_');
+     *  const value2 = await client.readRawByHandle(handle2);
+     *  await client.deleteVariableHandle(handle2);
+     *
+     *  //Now you use convertFromRaw() to get actual values
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param path Variable path in the PLC to read (such as `GVL_Test.ExampleStruct`)
+     * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async createVariableHandle(path, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5159,18 +5602,44 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Sends multiple {@link createVariableHandle}() commands in one ADS packet.
      *
-     * Sends multiple createVariableHandle() commands in one ADS packet
+     * Creates a handle to a variable at the target system by variable path (such as `GVL_Test.ExampleStruct`).
      *
-     * Creates a variable handle for a PLC symbol by given variable path
+     * The handle can be then used for reading and writing the value.
      *
-     * Variable value can be accessed by using the handle with `readRawByHandle()` and `writeRawByHandle()`
+     * Reading and writing dereferenced `POINTER` and `REFERENCE` values is also possible.
+     * See {@link readRawByHandle}() and {@link writeRawByHandle}().
      *
-     * Uses ADS sum command under the hood (better perfomance)
+     * NOTE: The handle should be deleted after it's no longer needed,
+     * as there is a limited amount of handles available. See {@link deleteVariableHandle}().
+     *
+     * Uses ADS sum command under the hood (better and faster performance).
+     * See [Beckhoff Information System](https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_adsdll2/9007199379576075.html&id=9180083787138954512) for more info.
+     *
+     * @example
+     * ```js
+     * try {
+     *  const results = await client.createVariableHandleMulti([
+     *    'GVL_Read.StandardTypes.INT_',
+     *    'GVL_Read.StandardTypes.REAL_'
+     *  ]);
      *
-     * @param paths Array of full variable paths in the PLC (such as `GVL_Test.ExampleStruct`)
+     *  if(results[0].success) {
+     *    console.log(`First handle: ${results[0].handle}`);
+     *  } else {
+     *    console.log(`Creating first handle failed: ${results[0].errorStr}`);
+     *  }
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param paths Array of variable paths in the PLC to read (such as `GVL_Test.ExampleStruct`)
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async createVariableHandleMulti(paths, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5275,12 +5744,26 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Deletes a variable handle that was previously created
+     * using {@link createVariableHandle}().
+     *
+     * @example
+     * ```js
+     * try {
+     *  const handle = createVariableHandle(...);
      *
-     * Deletes a variable handle that was previously created using `createVariableHandle()`
+     *  //After use, deleting the handle
+     *  await client.deleteVariableHandle(handle);
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param handle Variable handle to delete
-     * @param targetOpts Optional target settings that override values in `settings` (**NOTE:** If used, no caching is available -> possible performance impact)
+     * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async deleteVariableHandle(handle, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5318,16 +5801,38 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Sends multiple {@link deleteVariableHandle}() commands in one ADS packet.
+     *
+     * Deletes a variable handle that was previously created
+     * using {@link createVariableHandle}().
+     *
+     * Uses ADS sum command under the hood (better and faster performance).
+     * See [Beckhoff Information System](https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_adsdll2/9007199379576075.html&id=9180083787138954512) for more info.
      *
-     * Sends multiple deleteVariableHandle() commands in one ADS packet
+     * @example
+     * ```js
+     * try {
+     *  const handle1 = createVariableHandle(...);
+     *  const handle2 = createVariableHandle(...);
      *
-     * Deletes a variable handle that was previously created using `createVariableHandle()`
+     *  //After use, deleting the handles
+     *  const results = await client.deleteVariableHandleMulti([handle1, handle2]);
      *
-     * Uses ADS sum command under the hood (better performance)
+     *  if(results[0].success) {
+     *    console.log(`First deleted`);
+     *  } else {
+     *    console.log(`Deleting first handle failed: ${results[0].errorStr}`);
+     *  }
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param handles Array of variable handles to delete
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async deleteVariableHandleMulti(handles, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5399,13 +5904,24 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Reads raw data from the target system by a previously created variable handle (acquired using {@link createVariableHandle}())
      *
-     * Reads raw byte data from the target system by previously created variable handle
+     * @example
+     * ```js
+     * try {
+     *  const handle = await client.createVariableHandle('GVL_Read.StandardTypes.INT_'');
+     *  const value = await client.readRawByHandle(handle);
+     *  await client.deleteVariableHandle(handle);
      *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      * @param handle Variable handle
      * @param size Optional data length to read (bytes) - as default, size in handle is used if available. Uses 0xFFFFFFFF as fallback.
-     * @param targetOpts Optional target settings that override values in `settings` (**NOTE:** If used, no caching is available -> possible performance impact)
+     * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readRawByHandle(handle, size, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5429,13 +5945,28 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Writes raw data to the target system by a previously created variable handle (acquired using {@link createVariableHandle}())
      *
-     * Writes raw byte data to the target system by previously created variable handle
+     * @example
+     * ```js
+     * try {
+     *  const value = await client.convertToRaw(32767, 'INT');
+     *  console.log(value); //<Buffer ff 7f>
+     *
+     *  const handle = await client.createVariableHandle('GVL_Read.StandardTypes.INT_');
+     *  await client.writeRawByHandle(handle, value);
+     *  await client.deleteVariableHandle(handle);
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
      *
      * @param handle Variable handle
      * @param value Data to write
-     * @param targetOpts Optional target settings that override values in `settings` (**NOTE:** If used, no caching is available -> possible performance impact)
+     * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async writeRawByHandle(handle, value, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5453,12 +5984,23 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Reads raw data from the target system by a symbol object (acquired using `getSymbol()`)
      *
-     * Reads raw data by symbol
+     * @example
+     * ```js
+     * try {
+     *  const symbol = await client.getSymbol('GVL_Read.StandardTypes.INT_');
+     *  const value = await client.readRawBySymbol(symbol);
      *
-     * @param symbol Symbol (acquired using `getSymbol()`)
-     * @param targetOpts Optional target settings that override values in `settings` (**NOTE:** If used, no caching is available -> possible performance impact)
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param symbol Symbol
+     * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async readRawBySymbol(symbol, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5476,13 +6018,27 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Writes raw data to the target system by a symbol object (acquired using `getSymbol()`)
      *
-     * Writes raw data by symbol
+     * @example
+     * ```js
+     * try {
+     *  const value = await client.convertToRaw(32767, 'INT');
+     *  console.log(value); //<Buffer ff 7f>
      *
-     * @param symbol Symbol (acquired using `getSymbol()`)
+     *  const symbol = await client.getSymbol('GVL_Read.StandardTypes.INT_');
+     *  await client.writeRawBySymbol(symbol, value);
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param symbol Symbol
      * @param value Data to write
      * @param targetOpts Optional target settings that override values in `settings`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async writeRawBySymbol(symbol, value, targetOpts = {}) {
         if (!this.connection.connected) {
@@ -5499,21 +6055,40 @@ class Client extends events_1.default {
         }
     }
     /**
-     * **TODO - DOCUMENTATION ONGOING**
+     * Invokes a function block RPC method on the target system.
      *
-     * Invokes/calls a function block RPC method from PLC
+     * Returns the return value of the method and outputs (if any).
      *
-     * Returns method return value and/or outputs (if any)
+     * NOTE: In the PLC, `{attribute 'TcRpcEnable'}` is required above the `METHOD` definition.
      *
-     * For RPC support, the method needs to have `{attribute 'TcRpcEnable'}` attribute above the `METHOD` definition
+     * @example
+     * ```js
+     * try {
+     *  const res = await client.invokeRpcMethod('GVL_RPC.RpcBlock', 'Calculator', {
+     *    Value1: 1,
+     *    Value2: 123
+     *  });
      *
-     * @param path Full function block instance path in the PLC (such as `GVL_Test.ExampleBlock`)
-     * @param method Function block method name to call
-     * @param parameters Function block method parameters (inputs) (if any)
+     *  console.log(res);
+     *  //{
+     *  //  returnValue: true,
+     *  //  outputs: { Sum: 124, Product: 123, Division: 0.008130080997943878 }
+     *  //}
+     *
+     * } catch (err) {
+     *  console.log("Error:", err);
+     * }
+     * ```
+     *
+     * @param path Variable path in the PLC of the function block instance (such as `GVL_Test.ExampleBlock`)
+     * @param method Function block method name
+     * @param parameters Method parameters (inputs) (if any)
      * @param targetOpts Optional target settings that override values in `settings`
      *
      * @template T Typescript data type of the method return value, for example `invokeRpcMethod<number>(...)` or `invokeRpcMethod<ST_TypedStruct>(...)`
      * @template U Typescript data type of the method outputs object, for example `invokeRpcMethod<number, ST_TypedStruct>(...)`
+     *
+     * @throws Throws an error if sending the command fails or if the target responds with an error.
      */
     async invokeRpcMethod(path, method, parameters = {}, targetOpts = {}) {
         if (!this.connection.connected) {