motion-master-client 0.0.11 → 0.0.13

package/src/lib/motion-master-req-res-client.js.map

@@ -1 +0,0 @@
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package/src/lib/motion-master-req-res-socket.d.ts

@@ -1,38 +0,0 @@
-import { BehaviorSubject, Observable } from "rxjs";
-import { MotionMasterMessage } from "./types";
-export interface MotionMasterReqResSocket {
-    /**
-     * Emits a boolean value when socket gets opened or closed.
-     */
-    readonly opened$: BehaviorSubject<boolean>;
-    /**
-     * Motion Master is considered alive when it sends messages in regular time interval.
-     */
-    readonly alive$: BehaviorSubject<boolean>;
-    /**
-     * Decoded message instances coming from Motion Master.
-     */
-    readonly message$: Observable<MotionMasterMessage>;
-    /**
-     * URL set in call to open.
-     */
-    get url(): string | undefined;
-    /**
-     * Open socket.
-     *
-     * The connected$ and eventually alive$ observables will emit true values.
-     */
-    open(url: string, pingSystemInterval?: number, systemAliveTimeout?: number): void;
-    /**
-     * Close socket.
-     *
-     * The opened$ and alive$ observables will emit false values.
-     */
-    close(): void;
-    /**
-     * Send an instance of a message.
-     *
-     * Subscribe to the message$ observable in order to receive the response messages.
-     */
-    send(message: MotionMasterMessage): void;
-}

package/src/lib/motion-master-req-res-socket.js

@@ -1,3 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-//# sourceMappingURL=motion-master-req-res-socket.js.map

package/src/lib/motion-master-req-res-socket.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"motion-master-req-res-socket.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/motion-master-req-res-socket.ts"],"names":[],"mappings":""}

package/src/lib/motion-master-req-res-web-socket.d.ts

@@ -1,20 +0,0 @@
-import { BehaviorSubject, Subject } from "rxjs";
-import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
-import { MotionMasterMessage } from "./types";
-export declare class MotionMasterReqResWebSocket implements MotionMasterReqResSocket {
-    readonly opened$: BehaviorSubject<boolean>;
-    readonly alive$: BehaviorSubject<boolean>;
-    readonly message$: Subject<MotionMasterMessage>;
-    private aliveTimeoutId;
-    private pingSystem;
-    private pingSystemObserver;
-    private pingSystemSubscription;
-    private webSocket$?;
-    private _url?;
-    get url(): string | undefined;
-    open(url: string, pingSystemInterval?: number, systemAliveTimeout?: number): void;
-    close(): void;
-    send(message: MotionMasterMessage): void;
-    private createWebSocket;
-    private keepalive;
-}

package/src/lib/motion-master-req-res-web-socket.js

@@ -1,100 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.MotionMasterReqResWebSocket = void 0;
-const rxjs_1 = require("rxjs");
-const webSocket_1 = require("rxjs/webSocket");
-const logger_1 = require("./logger");
-const types_1 = require("./types");
-class MotionMasterReqResWebSocket {
-    constructor() {
-        this.opened$ = new rxjs_1.BehaviorSubject(false);
-        this.alive$ = new rxjs_1.BehaviorSubject(false);
-        this.message$ = new rxjs_1.Subject();
-        this.aliveTimeoutId = 0;
-        this.pingSystem = types_1.MotionMasterMessage.create({
-            request: { pingSystem: types_1.MotionMasterMessage.Request.PingSystem.create() }
-        });
-        this.pingSystemObserver = { next: () => this.send(this.pingSystem) };
-        this.pingSystemSubscription = new rxjs_1.Subscription();
-    }
-    get url() {
-        return this._url;
-    }
-    open(url, pingSystemInterval = 250, systemAliveTimeout = 1000) {
-        var _a;
-        if (this.opened$.getValue() === true) {
-            throw new Error('MotionMasterReqResWebSocket is already opened!');
-        }
-        this._url = url;
-        this.webSocket$ = this.createWebSocket(url, pingSystemInterval);
-        (_a = this.webSocket$) === null || _a === void 0 ? void 0 : _a.pipe((0, rxjs_1.map)((data) => types_1.MotionMasterMessage.decode(data)), (0, rxjs_1.tap)(() => this.keepalive(systemAliveTimeout)), (0, rxjs_1.filter)((message) => { var _a; return !((_a = message.status) === null || _a === void 0 ? void 0 : _a.systemPong); }), (0, rxjs_1.tap)((message) => {
-            if (message.status) {
-                const keys = Object.keys(message.status).join();
-                const motionMasterMessage = message.toJSON ? message.toJSON() : message;
-                logger_1.logger.info({
-                    namespace: 'reqResMessage',
-                    motionMasterMessage,
-                    type: message.type,
-                }, `Received ${keys}`);
-            }
-        })).subscribe({
-            next: (message) => this.message$.next(message),
-            error: (err) => {
-                console.error(err);
-            },
-        });
-    }
-    close() {
-        var _a;
-        clearTimeout(this.aliveTimeoutId);
-        this.pingSystemSubscription.unsubscribe();
-        (_a = this.webSocket$) === null || _a === void 0 ? void 0 : _a.unsubscribe();
-    }
-    send(message) {
-        var _a, _b;
-        if (!((_a = message.request) === null || _a === void 0 ? void 0 : _a.pingSystem)) {
-            if (message.request) {
-                const keys = Object.keys(message.request).join();
-                const motionMasterMessage = message.toJSON ? message.toJSON() : message;
-                logger_1.logger.info({
-                    namespace: 'reqResMessage',
-                    motionMasterMessage,
-                    type: message.type,
-                }, `Send ${keys}`);
-            }
-        }
-        (_b = this.webSocket$) === null || _b === void 0 ? void 0 : _b.next(types_1.MotionMasterMessage.encode(message).finish());
-    }
-    createWebSocket(url, pingSystemInterval = 250) {
-        const webSocketConfig = {
-            binaryType: 'arraybuffer',
-            closeObserver: {
-                next: () => {
-                    this.opened$.next(false);
-                    logger_1.logger.info(`Connection closed ${url}`);
-                },
-            },
-            deserializer: (e) => new Uint8Array(e.data),
-            openObserver: {
-                next: () => {
-                    this.pingSystemSubscription = (0, rxjs_1.interval)(pingSystemInterval)
-                        .subscribe(this.pingSystemObserver);
-                    this.opened$.next(true);
-                    logger_1.logger.info(`Connection opened ${url}`);
-                },
-            },
-            serializer: (value) => value,
-            url,
-        };
-        return (0, webSocket_1.webSocket)(webSocketConfig);
-    }
-    keepalive(systemAliveTimeout = 1000) {
-        if (this.alive$.getValue() === false) {
-            this.alive$.next(true);
-        }
-        clearTimeout(this.aliveTimeoutId);
-        this.aliveTimeoutId = setTimeout(() => this.alive$.next(false), systemAliveTimeout);
-    }
-}
-exports.MotionMasterReqResWebSocket = MotionMasterReqResWebSocket;
-//# sourceMappingURL=motion-master-req-res-web-socket.js.map

package/src/lib/motion-master-req-res-web-socket.js.map

@@ -1 +0,0 @@
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package/src/lib/motion-master-req-res-worker-socket.d.ts

@@ -1,15 +0,0 @@
-import { BehaviorSubject, Subject } from "rxjs";
-import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
-import { MotionMasterMessage } from "./types";
-export declare class MotionMasterReqResWorkerSocket implements MotionMasterReqResSocket {
-    readonly worker: Worker;
-    readonly opened$: BehaviorSubject<boolean>;
-    readonly alive$: BehaviorSubject<boolean>;
-    readonly message$: Subject<MotionMasterMessage>;
-    private _url?;
-    constructor(worker: Worker);
-    get url(): string | undefined;
-    open(url: string, pingSystemInterval?: number, systemAliveTimeout?: number): void;
-    close(): void;
-    send(message: MotionMasterMessage): void;
-}

package/src/lib/motion-master-req-res-worker-socket.js

@@ -1,53 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.MotionMasterReqResWorkerSocket = void 0;
-const rxjs_1 = require("rxjs");
-const logger_1 = require("./logger");
-const util_1 = require("./util");
-class MotionMasterReqResWorkerSocket {
-    constructor(worker) {
-        this.worker = worker;
-        this.opened$ = new rxjs_1.BehaviorSubject(false);
-        this.alive$ = new rxjs_1.BehaviorSubject(false);
-        this.message$ = new rxjs_1.Subject();
-    }
-    get url() {
-        return this._url;
-    }
-    open(url, pingSystemInterval = 250, systemAliveTimeout = 1000) {
-        if (this.opened$.getValue() === true) {
-            throw new Error('MotionMasterReqResWorkerSocket is already opened!');
-        }
-        this._url = url;
-        this.worker.onmessage = ({ data }) => {
-            if ('opened' in data) {
-                const { opened } = data;
-                this.opened$.next(opened);
-                logger_1.logger.info(opened ? `Opened req/res 🔌 ${url}` : `Closed req/res 🔌 ${url}`);
-            }
-            else if ('alive' in data) {
-                const { alive } = data;
-                this.alive$.next(alive);
-                logger_1.logger.info(alive ? `System is alive 💓` : 'System is as dead as 🦤');
-            }
-            else if ('message' in data) {
-                const { message: motionMasterMessage } = data;
-                this.message$.next(motionMasterMessage);
-                logger_1.logger.info({ namespace: 'reqResMessage', motionMasterMessage, type: motionMasterMessage.type }, `Received ${motionMasterMessage.status.type}`);
-            }
-        };
-        this.worker.postMessage({
-            open: { url, pingSystemInterval, systemAliveTimeout },
-        });
-    }
-    close() {
-        this.worker.postMessage({ close: true });
-    }
-    send(message) {
-        const motionMasterMessage = (0, util_1.createPlainObjectFromMotionMasterMessage)(message);
-        logger_1.logger.info({ namespace: 'reqResMessage', motionMasterMessage, type: motionMasterMessage.type }, `Send ${motionMasterMessage.request.type}`);
-        this.worker.postMessage({ message });
-    }
-}
-exports.MotionMasterReqResWorkerSocket = MotionMasterReqResWorkerSocket;
-//# sourceMappingURL=motion-master-req-res-worker-socket.js.map

package/src/lib/motion-master-req-res-worker-socket.js.map

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package/src/lib/operators.d.ts

@@ -1,21 +0,0 @@
-import { Observable } from 'rxjs';
-import { MotionMasterMessage, ParameterValueType, StatusKey } from './types';
-export declare function selectMotionMasterMessageStatusByMessageId<T>(key: StatusKey, id?: string): import("rxjs").UnaryFunction<Observable<MotionMasterMessage>, Observable<T>>;
-export declare function extendStatus<T>(data: {
-    statusKey: StatusKey;
-    messageId: string;
-}): import("rxjs").UnaryFunction<Observable<T>, Observable<T & {
-    messageId: string;
-    request: import("./types").RequestStatus;
-}>>;
-export declare function transformMotionMasterMessageToStatus<T>(statusKey: StatusKey, requestTimeout: number, messageId: string): import("rxjs").UnaryFunction<Observable<MotionMasterMessage>, Observable<T & {
-    messageId: string;
-    request: import("./types").RequestStatus;
-}>>;
-export declare function selectMotionMasterMessageByTopic<T>(topic: string): import("rxjs").UnaryFunction<Observable<[string, T]>, Observable<T>>;
-export declare function selectMotionMasterMessageStatusByKey<T>(key: keyof MotionMasterMessage.IStatus): import("rxjs").UnaryFunction<Observable<MotionMasterMessage>, Observable<T>>;
-/**
- * Retry (resubscribe) to the source observable a number of attempts with delay timeout.
- */
-export declare function retryWithDelay<T>(delayTimeout?: number, attempts?: number): import("rxjs").UnaryFunction<Observable<T>, Observable<T>>;
-export declare function mapMonitoringParameterValuesStatusMessageToParameterValues(): import("rxjs").UnaryFunction<Observable<MotionMasterMessage>, Observable<ParameterValueType[]>>;

package/src/lib/operators.js

@@ -1,71 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.mapMonitoringParameterValuesStatusMessageToParameterValues = exports.retryWithDelay = exports.selectMotionMasterMessageStatusByKey = exports.selectMotionMasterMessageByTopic = exports.transformMotionMasterMessageToStatus = exports.extendStatus = exports.selectMotionMasterMessageStatusByMessageId = void 0;
-const rxjs_1 = require("rxjs");
-const util_1 = require("./util");
-const request_status_resolver_1 = require("./request-status-resolver");
-function selectMotionMasterMessageStatusByMessageId(key, id) {
-    return (0, rxjs_1.pipe)((0, rxjs_1.filter)((message) => message.id === id), (0, rxjs_1.map)((message) => {
-        var _a, _b, _c;
-        // Handling the special case when Motion Master sends SystemEvent instead of e.g. DeviceParameterInfo status for
-        // GetDeviceParameterInfo request message. This typically happens when request contains an invalid device address.
-        if (((_a = message.status) === null || _a === void 0 ? void 0 : _a.systemEvent) && key !== 'systemEvent') {
-            if (message.status.systemEvent.error) {
-                throw new Error(`Error selecting message: ${(_b = message.status.systemEvent.error.message) !== null && _b !== void 0 ? _b : ''}`);
-            }
-            else {
-                throw new Error(`Error selecting message. Received System Event instead of "${key.toString()}": ${JSON.stringify(message)}`);
-            }
-        }
-        return (_c = message.status) === null || _c === void 0 ? void 0 : _c[key];
-    }));
-}
-exports.selectMotionMasterMessageStatusByMessageId = selectMotionMasterMessageStatusByMessageId;
-function extendStatus(data) {
-    return (0, rxjs_1.pipe)((0, rxjs_1.map)((status) => {
-        var _a;
-        const { statusKey, messageId } = data;
-        const request = (_a = request_status_resolver_1.requestStatusResolver[statusKey]) === null || _a === void 0 ? void 0 : _a.call(request_status_resolver_1.requestStatusResolver, status);
-        return Object.assign(Object.assign({}, status), { messageId, request });
-    }));
-}
-exports.extendStatus = extendStatus;
-function transformMotionMasterMessageToStatus(statusKey, requestTimeout, messageId) {
-    if (typeof requestTimeout !== 'number') {
-        throw new Error(`Invalid requestTimeout=${requestTimeout} provided for ${statusKey}`);
-    }
-    return (0, rxjs_1.pipe)(selectMotionMasterMessageStatusByMessageId(statusKey, messageId), (0, rxjs_1.timeout)(requestTimeout), extendStatus({ statusKey, messageId }), (0, rxjs_1.takeWhile)((status) => status.request !== 'succeeded' && status.request !== 'failed', true));
-}
-exports.transformMotionMasterMessageToStatus = transformMotionMasterMessageToStatus;
-function selectMotionMasterMessageByTopic(topic) {
-    return (0, rxjs_1.pipe)((0, rxjs_1.filter)(([t]) => t === topic), (0, rxjs_1.map)(([, data]) => data));
-}
-exports.selectMotionMasterMessageByTopic = selectMotionMasterMessageByTopic;
-function selectMotionMasterMessageStatusByKey(key) {
-    return (0, rxjs_1.pipe)((0, rxjs_1.filter)((message) => !!(message.status && message.status[key])), (0, rxjs_1.map)((message) => { var _a; return (_a = message.status) === null || _a === void 0 ? void 0 : _a[key]; }));
-}
-exports.selectMotionMasterMessageStatusByKey = selectMotionMasterMessageStatusByKey;
-/**
- * Retry (resubscribe) to the source observable a number of attempts with delay timeout.
- */
-function retryWithDelay(delayTimeout = 1000, attempts = 3) {
-    return (0, rxjs_1.pipe)((0, rxjs_1.retryWhen)((errors) => (0, rxjs_1.concat)(errors.pipe((0, rxjs_1.delay)(delayTimeout), (0, rxjs_1.take)(attempts)), errors.pipe((0, rxjs_1.map)(error => {
-        throw error; // rethrow the source observable error if all attempts fail
-    })))));
-}
-exports.retryWithDelay = retryWithDelay;
-function mapMonitoringParameterValuesStatusMessageToParameterValues() {
-    return (0, rxjs_1.pipe)((0, rxjs_1.map)((message) => {
-        var _a, _b, _c;
-        if ((_a = message.status) === null || _a === void 0 ? void 0 : _a.monitoringParameterValues) {
-            const { timestamp, deviceParameterValues } = message.status.monitoringParameterValues;
-            return [
-                timestamp,
-                ...((_c = (_b = deviceParameterValues === null || deviceParameterValues === void 0 ? void 0 : deviceParameterValues.parameterValues) === null || _b === void 0 ? void 0 : _b.map((parameterValue) => (0, util_1.getParameterValue)(parameterValue))) !== null && _c !== void 0 ? _c : []),
-            ];
-        }
-        return [];
-    }));
-}
-exports.mapMonitoringParameterValuesStatusMessageToParameterValues = mapMonitoringParameterValuesStatusMessageToParameterValues;
-//# sourceMappingURL=operators.js.map

package/src/lib/operators.js.map

@@ -1 +0,0 @@
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package/src/lib/options.d.ts

@@ -1,34 +0,0 @@
-import { ModesOfOperation } from './cia402';
-import { MotionMasterMessage } from './types';
-export declare const parameterValueTypeOptions: {
-    intValue: string;
-    uintValue: string;
-    floatValue: string;
-    stringValue: string;
-    rawValue: string;
-};
-export declare const ethercatNetworkStateOptions: typeof MotionMasterMessage.Status.EthercatNetworkState.State;
-export declare const positionControllerTypeOptions: typeof MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType;
-export declare const controlwordOptions: {
-    Shutdown: number;
-    'Switch on': number;
-    'Switch on + enable operation': number;
-    'Disable voltage': number;
-    'Quick stop': number;
-    'Disable operation': number;
-    'Enable operation': number;
-    Fault: number;
-};
-export declare const modesOfOperationOptions: {
-    'Open loop field mode': ModesOfOperation;
-    'Diagnostics mode': ModesOfOperation;
-    'Cogging compensation recording mode': ModesOfOperation;
-    'No mode assigned': ModesOfOperation;
-    'Profile position mode': ModesOfOperation;
-    'Profile velocity mode': ModesOfOperation;
-    'Torque profile mode': ModesOfOperation;
-    'Homing mode': ModesOfOperation;
-    'Cyclic synchronous position mode': ModesOfOperation;
-    'Cyclic synchronous velocity mode': ModesOfOperation;
-    'Cyclic synchronous torque mode': ModesOfOperation;
-};

package/src/lib/options.js

@@ -1,38 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.modesOfOperationOptions = exports.controlwordOptions = exports.positionControllerTypeOptions = exports.ethercatNetworkStateOptions = exports.parameterValueTypeOptions = void 0;
-const cia402_1 = require("./cia402");
-const types_1 = require("./types");
-exports.parameterValueTypeOptions = {
-    'intValue': 'intValue',
-    'uintValue': 'uintValue',
-    'floatValue': 'floatValue',
-    'stringValue': 'stringValue',
-    'rawValue': 'rawValue',
-};
-exports.ethercatNetworkStateOptions = types_1.MotionMasterMessage.Status.EthercatNetworkState.State;
-exports.positionControllerTypeOptions = types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType;
-exports.controlwordOptions = {
-    'Shutdown': 0b00000110,
-    'Switch on': 0b00000111,
-    'Switch on + enable operation': 0b00001111,
-    'Disable voltage': 0b00000000,
-    'Quick stop': 0b00000010,
-    'Disable operation': 0b00000111,
-    'Enable operation': 0b00001111,
-    'Fault': 0b10000000, // fault reset 15
-};
-exports.modesOfOperationOptions = {
-    'Open loop field mode': cia402_1.ModesOfOperation.OPEN_LOOP_FIELD_MODE,
-    'Diagnostics mode': cia402_1.ModesOfOperation.DIAGNOSTICS_MODE,
-    'Cogging compensation recording mode': cia402_1.ModesOfOperation.COGGING_COMPENSATION_RECORDING_MODE,
-    'No mode assigned': cia402_1.ModesOfOperation.NO_MODE_ASSIGNED,
-    'Profile position mode': cia402_1.ModesOfOperation.PROFILE_POSITION_MODE,
-    'Profile velocity mode': cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE,
-    'Torque profile mode': cia402_1.ModesOfOperation.TORQUE_PROFILE_MODE,
-    'Homing mode': cia402_1.ModesOfOperation.HOMING_MODE,
-    'Cyclic synchronous position mode': cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE,
-    'Cyclic synchronous velocity mode': cia402_1.ModesOfOperation.CYCLIC_SYNC_VELOCITY_MODE,
-    'Cyclic synchronous torque mode': cia402_1.ModesOfOperation.CYCLIC_SYNC_TORQUE_MODE,
-};
-//# sourceMappingURL=options.js.map

package/src/lib/options.js.map

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package/src/lib/parameter.d.ts

@@ -1,65 +0,0 @@
-import { MotionMasterMessage, ParameterTypeValueKey, ParameterValueType } from "./types";
-export interface Parameter extends MotionMasterMessage.Status.DeviceParameterInfo.IParameter, MotionMasterMessage.Status.DeviceParameterValues.IParameterValue {
-    index: number;
-    subindex: number;
-    name: string;
-    value: ParameterValueType;
-    typeValue: ParameterTypeValueKey;
-}
-export declare type ParameterIndexSubindex = Pick<Parameter, 'index' | 'subindex'>;
-/**
- * Make parameter id by providing a tuple of index and subindex.
- *
- * @param tuple - an array of index and subindex
- * @throws {Error} if index or subindex are less than 0
- * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
- */
-export declare function makeParameterId(tuple: [(number | null | undefined), (number | null | undefined)]): string;
-/**
- * Make parameter id by providing an object which has index and subindex properties.
- *
- * @param parameter - an object with optional index and subindex properties
- * @throws {Error} if index or subindex are less than 0
- * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
- */
-export declare function makeParameterId(parameter: {
-    index?: (number | null);
-    subindex?: (number | null);
-}): string;
-/**
- * Make parameter id by providing index and subindex.
- *
- * @param index - from 0x0000 to 0xFFFF for objects defined in ESI and >0xFFFF for custom object
- * @param subindex - defaults to 0 if not provided
- * @throws {Error} if index or subindex are less than 0
- * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
- */
-export declare function makeParameterId(index?: (number | null), subindex?: (number | null)): string;
-/**
- * Make parameter id by providing different arguments.
- *
- * The purpose of this declaration is to expose the signature of the implementation for {@link makeDeviceParameterId} function.
- *
- * @param a - number or an object with index and subindex or tuple of index and subindex
- * @param b - optional subindex, defaults to 0 if not provided
- * @throws {Error} if index or subindex are less than 0
- * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
- */
-export declare function makeParameterId(a?: (number | null) | {
-    index?: (number | null);
-    subindex?: (number | null);
-} | [(number | null | undefined), (number | null | undefined)], b?: (number | null)): string;
-/**
- * Example of parameter id is "0x2110:1A" where:
- * - 0x2110 is object index in hexadecimal format
- * - 1A is subindex in hexadecimal format
- */
-export declare const parameterIdRegExp: RegExp;
-/**
- * Split device parameter id into parts.
- *
- * @param id - parameter id like "0x2110:1A"
- * @returns tuple of index and subindex
- */
-export declare function splitParameterId(id: string): [number, number];
-export declare function isParameterId(id: string): boolean;