motion-master-client 0.0.121 → 0.0.123

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Files changed (7) hide show
  1. package/package.json +1 -1
  2. package/src/lib/motion-master-client.d.ts +6 -1
  3. package/src/lib/motion-master-client.js +74 -0
  4. package/src/lib/motion-master-client.js.map +1 -1
  5. package/src/lib/types.d.ts +26 -0
  6. package/src/lib/types.js +3 -0
  7. package/src/lib/types.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.121",
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+ "version": "0.0.123",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/lib/motion-master-client.d.ts CHANGED
@@ -4,7 +4,7 @@ import { MotionMasterPubSubClient } from "./motion-master-pub-sub-client";
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  import { MotionMasterPubSubSocket } from "./motion-master-pub-sub-socket";
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  import { MotionMasterReqResClient } from "./motion-master-req-res-client";
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  import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
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- import { DeviceParameterIds, DeviceRef, ParameterValueType } from "./types";
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+ import { DeviceParameterIds, DeviceRef, ParameterValueType, PositionProfileConfig, TorqueProfileConfig, VelocityProfileConfig } from "./types";
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  import { DeviceParameter } from "./device-parameter";
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  export declare function createMotionMasterClient(hostname: string, pingSystemInterval?: number, systemAliveTimeout?: number): MotionMasterClient;
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  export declare class MotionMasterClient {
@@ -69,6 +69,11 @@ export declare class MotionMasterClient {
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  trackTargetReached(deviceRef: DeviceRef, monitoringInterval?: number): Observable<boolean>;
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  waitUntilTargetReached(deviceRef: DeviceRef, monitoringInterval?: number, requestTimeout?: number): Observable<true>;
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  whenTargetReached(deviceRef: DeviceRef, monitoringInterval?: number, requestTimeout?: number): Promise<true>;
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+ waitUntilParameterValueEquals(id: string | [DeviceRef, number, number], value: number, window?: number, monitoringInterval?: number, requestTimeout?: number): Observable<true>;
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+ whenParameterValueEquals(id: string | [DeviceRef, number, number], value: number, window?: number, monitoringInterval?: number, requestTimeout?: number): Promise<true>;
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+ runTorqueProfile(deviceRef: DeviceRef, config: TorqueProfileConfig): Promise<void>;
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+ runVelocityProfile(deviceRef: DeviceRef, config: VelocityProfileConfig): Promise<void>;
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+ runPositionProfile(deviceRef: DeviceRef, config: PositionProfileConfig): Promise<void>;
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  subscribeToSystemEvent(): void;
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  stopMonitoring(messageId: string): void;
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  stopMonitoringAll(): void;
package/src/lib/motion-master-client.js CHANGED
@@ -1,6 +1,7 @@
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  "use strict";
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  Object.defineProperty(exports, "__esModule", { value: true });
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  exports.MotionMasterClient = exports.createMotionMasterClient = void 0;
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+ const tslib_1 = require("tslib");
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  const rxjs_1 = require("rxjs");
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  const uuid_1 = require("uuid");
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  const motion_master_pub_sub_client_1 = require("./motion-master-pub-sub-client");
@@ -9,6 +10,8 @@ const motion_master_req_res_client_1 = require("./motion-master-req-res-client")
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  const motion_master_req_res_web_socket_1 = require("./motion-master-req-res-web-socket");
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  const operators_1 = require("./operators");
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  const types_1 = require("./types");
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+ const cia402_1 = require("./cia402");
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+ const util_1 = require("./util");
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  function createMotionMasterClient(hostname, pingSystemInterval = 250, systemAliveTimeout = 1000) {
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  const reqResSocket = new motion_master_req_res_web_socket_1.MotionMasterReqResWebSocket();
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  const pubSubSocket = new motion_master_pub_sub_web_socket_1.MotionMasterPubSubWebSocket();
@@ -166,6 +169,77 @@ class MotionMasterClient {
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  whenTargetReached(deviceRef, monitoringInterval = 20, requestTimeout = 5000) {
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  return (0, rxjs_1.firstValueFrom)(this.waitUntilTargetReached(deviceRef, monitoringInterval, requestTimeout));
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  }
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+ waitUntilParameterValueEquals(id, value, window = 0, monitoringInterval = 20, requestTimeout = 5000) {
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+ return this.startMonitoringValue(id, monitoringInterval).pipe((0, rxjs_1.distinctUntilChanged)(), (0, rxjs_1.map)((v) => {
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+ return v >= (value - window) && v <= (value + window);
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+ }), (0, rxjs_1.filter)(Boolean), (0, rxjs_1.timeout)(requestTimeout));
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+ }
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+ whenParameterValueEquals(id, value, window = 0, monitoringInterval = 20, requestTimeout = 5000) {
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+ return (0, rxjs_1.firstValueFrom)(this.waitUntilParameterValueEquals(id, value, window, monitoringInterval, requestTimeout));
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+ }
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+ runTorqueProfile(deviceRef, config) {
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+ var _a, _b;
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+ return tslib_1.__awaiter(this, void 0, void 0, function* () {
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+ yield this.request.download(deviceRef, 0x6071, 0, config.amplitude);
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+ yield this.request.download(deviceRef, 0x6087, 0, config.torqueSlope);
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+ yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.TORQUE_PROFILE_MODE));
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+ yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
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+ try {
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+ yield this.whenParameterValueEquals([deviceRef, 0x6077, 0], config.amplitude, (_a = config.targetWindow) !== null && _a !== void 0 ? _a : 0, 1, (_b = config.targetReachedTimeout) !== null && _b !== void 0 ? _b : 10000);
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+ if (config.holdingDuration && config.holdingDuration > 0) {
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+ yield (0, util_1.resolveAfter)(config.holdingDuration);
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+ }
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+ }
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+ finally {
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+ if (!config.skipQuickStop) {
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+ yield this.request.quickStop(deviceRef);
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+ }
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+ }
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+ });
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+ }
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+ runVelocityProfile(deviceRef, config) {
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+ var _a, _b;
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+ return tslib_1.__awaiter(this, void 0, void 0, function* () {
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+ yield this.request.download(deviceRef, 0x60FF, 0, config.amplitude);
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+ yield this.request.download(deviceRef, 0x6083, 0, config.acceleration);
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+ yield this.request.download(deviceRef, 0x6084, 0, config.deceleration);
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+ yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE));
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+ yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
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+ try {
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+ yield this.whenParameterValueEquals([deviceRef, 0x606C, 0], config.amplitude, (_a = config.targetWindow) !== null && _a !== void 0 ? _a : 0, 1, (_b = config.targetReachedTimeout) !== null && _b !== void 0 ? _b : 10000);
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+ if (config.holdingDuration && config.holdingDuration > 0) {
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+ yield (0, util_1.resolveAfter)(config.holdingDuration);
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+ }
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+ }
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+ finally {
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+ if (!config.skipQuickStop) {
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+ yield this.request.quickStop(deviceRef);
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+ }
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+ }
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+ });
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+ }
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+ runPositionProfile(deviceRef, config) {
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+ return tslib_1.__awaiter(this, void 0, void 0, function* () {
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+ yield this.request.download(deviceRef, 0x607A, 0, config.amplitude);
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+ yield this.request.download(deviceRef, 0x6081, 0, config.velocity);
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+ yield this.request.download(deviceRef, 0x6083, 0, config.acceleration);
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+ yield this.request.download(deviceRef, 0x6084, 0, config.deceleration);
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+ yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_POSITION_MODE));
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+ yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
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+ yield this.request.applySetPoint(deviceRef);
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+ try {
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+ yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
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+ if (config.holdingDuration && config.holdingDuration > 0) {
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+ yield (0, util_1.resolveAfter)(config.holdingDuration);
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+ }
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+ }
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+ finally {
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+ if (!config.skipQuickStop) {
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+ yield this.request.quickStop(deviceRef);
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+ }
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+ }
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+ });
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+ }
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  subscribeToSystemEvent() {
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  this.systemEventSubscription = this.monitor.systemEvent$.subscribe(systemEvent => {
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  if (systemEvent.state === types_1.MotionMasterMessage.Status.SystemEvent.State.DEINITIALIZING) {
package/src/lib/motion-master-client.js.map CHANGED
@@ -1 +1 @@
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package/src/lib/types.d.ts CHANGED
@@ -139,3 +139,29 @@ export declare enum RestoreDefaultParametersType {
139
139
  RESTORE_MANUFACTURER_DEFAULT_PARAMETERS = 4
140
140
  }
141
141
  export type Optional<T, K extends keyof T> = Pick<Partial<T>, K> & Omit<T, K>;
142
+ export interface TorqueProfileConfig {
143
+ amplitude: number;
144
+ holdingDuration?: number;
145
+ torqueSlope: number;
146
+ skipQuickStop?: boolean;
147
+ targetWindow?: number;
148
+ targetReachedTimeout?: number;
149
+ }
150
+ export interface VelocityProfileConfig {
151
+ acceleration: number;
152
+ amplitude: number;
153
+ deceleration: number;
154
+ holdingDuration?: number;
155
+ skipQuickStop?: boolean;
156
+ targetWindow?: number;
157
+ targetReachedTimeout?: number;
158
+ }
159
+ export interface PositionProfileConfig {
160
+ acceleration: number;
161
+ amplitude: number;
162
+ deceleration: number;
163
+ holdingDuration?: number;
164
+ skipQuickStop?: boolean;
165
+ targetReachedTimeout?: number;
166
+ velocity: number;
167
+ }
package/src/lib/types.js CHANGED
@@ -26,4 +26,7 @@ var RestoreDefaultParametersType;
26
26
  RestoreDefaultParametersType[RestoreDefaultParametersType["RESTORE_ALL_DEFAULT_PARAMETERS"] = 1] = "RESTORE_ALL_DEFAULT_PARAMETERS";
27
27
  RestoreDefaultParametersType[RestoreDefaultParametersType["RESTORE_MANUFACTURER_DEFAULT_PARAMETERS"] = 4] = "RESTORE_MANUFACTURER_DEFAULT_PARAMETERS";
28
28
  })(RestoreDefaultParametersType = exports.RestoreDefaultParametersType || (exports.RestoreDefaultParametersType = {}));
29
+ ;
30
+ ;
31
+ ;
29
32
  //# sourceMappingURL=types.js.map
package/src/lib/types.js.map CHANGED
@@ -1 +1 @@
1
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