motion-master-client 0.0.129 → 0.0.130

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.129",
+  "version": "0.0.130",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -7,6 +7,8 @@ const express_1 = tslib_1.__importDefault(require("express"));
 const rxjs_1 = require("rxjs");
 const device_1 = require("./lib/device");
 const motion_master_client_1 = require("./lib/motion-master-client");
+const parameter_1 = require("./lib/parameter");
+const types_1 = require("./lib/types");
 Object.assign(globalThis, { WebSocket: require('ws') });
 const log = (0, debug_1.default)('mmapi');
 const app = (0, express_1.default)();
@@ -145,7 +147,7 @@ app.post('/api/devices/:deviceRef/start-firmware-installation', asyncHandler((re
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const buffer = req.body;
     const firmwarePackageContent = new Uint8Array(buffer);
-    const skipSiiInstallation = asBoolean(req.body['skip-sii-installation']);
+    const skipSiiInstallation = asBoolean(req.query['skip-sii-installation']);
     const startDeviceFirmwareInstalationRequest = Object.assign(Object.assign({}, deviceRefObj), { firmwarePackageContent,
         skipSiiInstallation });
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startDeviceFirmwareInstallation(startDeviceFirmwareInstalationRequest, 120000));
@@ -228,6 +230,134 @@ app.get('/api/devices/:deviceRef/transition-to-cia402-state/:state', asyncHandle
     yield client.request.transitionToCia402State(deviceRef, state);
     res.send();
 })));
+app.get('/api/devices/:deviceRef/cia402-state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const state = yield (0, rxjs_1.lastValueFrom)(client.request.getCia402State(deviceRef));
+    res.send({ state });
+})));
+app.get('/api/devices/:deviceRef/save-config', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    yield (0, rxjs_1.lastValueFrom)(client.request.saveConfig(deviceRef));
+    res.send();
+})));
+app.put('/api/devices/:deviceRef/load-config', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const buffer = req.body;
+    const content = new Uint8Array(buffer);
+    yield (0, rxjs_1.lastValueFrom)(client.request.loadConfig(deviceRef, content, { count: 20, delay: 500 }));
+    res.send();
+})));
+app.get('/api/devices/:deviceRef/start-full-auto-tuning/velocity', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _l, _m, _o;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.VELOCITY;
+    const props = Object.assign(Object.assign({}, deviceRefObj), { type });
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, 60000));
+    if (status.request === 'succeeded') {
+        const dampingRatio = (_l = status.dampingRatio) !== null && _l !== void 0 ? _l : 0;
+        const settlingTime = (_m = status.settlingTime) !== null && _m !== void 0 ? _m : 0;
+        const bandwidth = (_o = status.bandwidth) !== null && _o !== void 0 ? _o : 0;
+        const pidObj = {};
+        for (let subidx = 1; subidx < 5; subidx++) {
+            pidObj[(0, parameter_1.makeParameterId)(0x2011, subidx)] = yield client.request.upload(deviceRef, 0x2011, subidx);
+        }
+        const response = Object.assign({ dampingRatio,
+            settlingTime,
+            bandwidth }, pidObj);
+        res.send(response);
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/start-full-auto-tuning/position/:controllerType', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _p, _q, _r;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.POSITION;
+    let controllerType;
+    if (req.params['controllerType'] === 'PI_P') {
+        controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.PI_P;
+    }
+    else if (req.params['controllerType'] === 'P_PI') {
+        controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.P_PI;
+    }
+    else {
+        controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.UNSPECIFIED;
+    }
+    const props = Object.assign(Object.assign({}, deviceRefObj), { type,
+        controllerType });
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, 60000));
+    if (status.request === 'succeeded') {
+        const dampingRatio = (_p = status.dampingRatio) !== null && _p !== void 0 ? _p : 0;
+        const settlingTime = (_q = status.settlingTime) !== null && _q !== void 0 ? _q : 0;
+        const bandwidth = (_r = status.bandwidth) !== null && _r !== void 0 ? _r : 0;
+        const pidObj = {};
+        for (let subidx = 1; subidx < 9; subidx++) {
+            pidObj[(0, parameter_1.makeParameterId)(0x2012, subidx)] = yield client.request.upload(deviceRef, 0x2012, subidx);
+        }
+        const response = Object.assign({ dampingRatio,
+            settlingTime,
+            bandwidth }, pidObj);
+        res.send(response);
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/stop-full-auto-tuning', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.stopFullAutoTuning(deviceRefObj, 10000));
+    if (status.request == 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/set-halt-bit/:value', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const value = asBoolean(req.params['value']);
+    yield client.request.setHaltBit(deviceRef, value);
+    res.send();
+})));
+app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _s, _t, _u, _v, _w, _x, _y;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const dataMonitoring = client.createDataMonitoring([
+        [deviceRef, 0x20F0, 0],
+        [deviceRef, 0x606B, 0],
+        [deviceRef, 0x606C, 0],
+        [deviceRef, 0x60FF, 0], // Target velocity
+    ], 1);
+    dataMonitoring.start().subscribe();
+    const acceleration = parseInt(((_s = req.query['acceleration']) !== null && _s !== void 0 ? _s : '2000'));
+    const amplitude = parseInt(((_t = req.query['amplitude']) !== null && _t !== void 0 ? _t : '1000'));
+    const deceleration = parseInt(((_u = req.query['deceleration']) !== null && _u !== void 0 ? _u : '2000'));
+    const holdingDuration = parseInt(((_v = req.query['holding-duration']) !== null && _v !== void 0 ? _v : '1000'));
+    const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
+    const targetReachedTimeout = parseInt(((_w = req.query['target-reached-timeout']) !== null && _w !== void 0 ? _w : '5000'));
+    const window = parseInt(((_x = req.query['window']) !== null && _x !== void 0 ? _x : '10'));
+    const windowTime = parseInt(((_y = req.query['window-time']) !== null && _y !== void 0 ? _y : '5'));
+    try {
+        yield client.runVelocityProfile(deviceRef, {
+            acceleration,
+            amplitude,
+            deceleration,
+            holdingDuration,
+            skipQuickStop,
+            targetReachedTimeout,
+            window,
+            windowTime,
+        });
+    }
+    finally {
+        dataMonitoring.stop();
+        res.send(dataMonitoring.csv);
+    }
+})));
 app.listen(port, () => {
     log(`API server is now running on port ${port}.`);
 });

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package/src/lib/data-monitoring.d.ts

@@ -38,7 +38,9 @@ export declare class DataMonitoring {
      */
     clear(): void;
     /**
-     * Starts monitoring and optionally collects data until `finalize$` emits a value.
+     * Starts monitoring and, if specified, collects data until `finalize$` emits a value.
+     *
+     * NOTE: To receive and collect data, you must subscribe to the returned observable.
      */
     start(): Observable<ParameterValueType[]>;
     /**

package/src/lib/data-monitoring.js

@@ -43,7 +43,9 @@ class DataMonitoring {
         this.data.length = 0;
     }
     /**
-     * Starts monitoring and optionally collects data until `finalize$` emits a value.
+     * Starts monitoring and, if specified, collects data until `finalize$` emits a value.
+     *
+     * NOTE: To receive and collect data, you must subscribe to the returned observable.
      */
     start() {
         if (this.collect) {

package/src/lib/data-monitoring.js.map

@@ -1 +1 @@
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+{"version":3,"file":"data-monitoring.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/data-monitoring.ts"],"names":[],"mappings":";;;AAAA,+BAA2D;AAK3D;;;;;GAKG;AACH,MAAa,cAAc;IAoBzB,YACkB,MAA0B,EAC1B,GAAuB,EACvB,kBAA0B,EAC1B,MAAyB;QAHzB,WAAM,GAAN,MAAM,CAAoB;QAC1B,QAAG,GAAH,GAAG,CAAoB;QACvB,uBAAkB,GAAlB,kBAAkB,CAAQ;QAC1B,WAAM,GAAN,MAAM,CAAmB;QAtB3C;;;;WAIG;QACa,SAAI,GAA2B,EAAE,CAAC;QAElD;;;WAGG;QACI,YAAO,GAAG,IAAI,CAAC;QAEtB;;WAEG;QACK,cAAS,GAAG,IAAI,cAAO,EAAQ,CAAC;IAOpC,CAAC;IAEL;;OAEG;IACH,IAAI,GAAG;QACL,OAAO,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,EAAE,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC9D,CAAC;IAED;;OAEG;IACH,KAAK;QACH,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IACvB,CAAC;IAED;;;;OAIG;IACH,KAAK;QACH,IAAI,IAAI,CAAC,OAAO,EAAE;YAChB,OAAO,IAAI,CAAC,MAAM,CAAC,eAAe,CAAC,IAAI,CAAC,GAAG,EAAE,IAAI,CAAC,kBAAkB,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC,IAAI,CAC3F,IAAA,UAAG,EAAC,CAAC,MAAM,EAAE,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,EACvC,IAAA,gBAAS,EAAC,IAAI,CAAC,SAAS,CAAC,CAC1B,CAAC;SACH;aAAM;YACL,OAAO,IAAI,CAAC,MAAM,CAAC,eAAe,CAAC,IAAI,CAAC,GAAG,EAAE,IAAI,CAAC,kBAAkB,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC,IAAI,CAC3F,IAAA,gBAAS,EAAC,IAAI,CAAC,SAAS,CAAC,CAC1B,CAAC;SACH;IACH,CAAC;IAAA,CAAC;IAEF;;OAEG;IACH,IAAI;QACF,IAAI,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC;IACxB,CAAC;IAAA,CAAC;CAEH;AAlED,wCAkEC"}