motion-master-client 0.0.130 → 0.0.132

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (5) hide show
  1. package/package.json +1 -1
  2. package/src/api.js +12 -8
  3. package/src/api.js.map +1 -1
  4. package/src/lib/motion-master-client.js +56 -48
  5. package/src/lib/motion-master-client.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": "0.0.130",
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+ "version": "0.0.132",
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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/api.js CHANGED
@@ -38,6 +38,7 @@ app.use((req, res, next) => {
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  });
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  // Middleware to handle errors
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  app.use((err, _req, res, _next) => {
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+ log(`Error in handler: ${err.message}`);
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  res.status(500).send({ message: errmsg(err) });
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  });
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  // Async error handling middleware
@@ -46,6 +47,9 @@ const asyncHandler = (fn) => (req, res, next) => tslib_1.__awaiter(void 0, void
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  yield fn(req, res, next);
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  }
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  catch (err) {
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+ if (err instanceof Error) {
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+ log(`Error in async handler: ${err.message}`);
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+ }
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  res.status(500).send({ message: errmsg(err) });
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  }
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  });
@@ -326,13 +330,6 @@ app.get('/api/devices/:deviceRef/set-halt-bit/:value', asyncHandler((req, res) =
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  app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
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  var _s, _t, _u, _v, _w, _x, _y;
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  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
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- const dataMonitoring = client.createDataMonitoring([
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- [deviceRef, 0x20F0, 0],
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- [deviceRef, 0x606B, 0],
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- [deviceRef, 0x606C, 0],
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- [deviceRef, 0x60FF, 0], // Target velocity
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- ], 1);
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- dataMonitoring.start().subscribe();
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  const acceleration = parseInt(((_s = req.query['acceleration']) !== null && _s !== void 0 ? _s : '2000'));
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  const amplitude = parseInt(((_t = req.query['amplitude']) !== null && _t !== void 0 ? _t : '1000'));
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  const deceleration = parseInt(((_u = req.query['deceleration']) !== null && _u !== void 0 ? _u : '2000'));
@@ -341,7 +338,14 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
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  const targetReachedTimeout = parseInt(((_w = req.query['target-reached-timeout']) !== null && _w !== void 0 ? _w : '5000'));
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  const window = parseInt(((_x = req.query['window']) !== null && _x !== void 0 ? _x : '10'));
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  const windowTime = parseInt(((_y = req.query['window-time']) !== null && _y !== void 0 ? _y : '5'));
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+ const dataMonitoring = client.createDataMonitoring([
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+ [deviceRef, 0x20F0, 0],
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+ [deviceRef, 0x606B, 0],
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+ [deviceRef, 0x606C, 0],
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+ [deviceRef, 0x60FF, 0], // Target velocity
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+ ], 1);
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  try {
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+ dataMonitoring.start().subscribe();
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  yield client.runVelocityProfile(deviceRef, {
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  acceleration,
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  amplitude,
@@ -352,10 +356,10 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
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  window,
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  windowTime,
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  });
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+ res.send(dataMonitoring.csv);
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  }
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  finally {
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  dataMonitoring.stop();
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- res.send(dataMonitoring.csv);
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  }
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  })));
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  app.listen(port, () => {
package/src/api.js.map CHANGED
@@ -1 +1 @@
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package/src/lib/motion-master-client.js CHANGED
@@ -85,10 +85,7 @@ class MotionMasterClient {
85
85
  var _a, _b;
86
86
  const topic = (_a = config === null || config === void 0 ? void 0 : config.topic) !== null && _a !== void 0 ? _a : (0, uuid_1.v4)();
87
87
  const messageId = (_b = config === null || config === void 0 ? void 0 : config.messageId) !== null && _b !== void 0 ? _b : (0, uuid_1.v4)();
88
- if (!config) {
89
- config = { messageId, topic, bufferSize: 1, distinct: false };
90
- }
91
- this.request.resolveGetParameterValuesIds(ids).pipe((0, rxjs_1.mergeMap)((refs) => {
88
+ return this.request.resolveGetParameterValuesIds(ids).pipe((0, rxjs_1.mergeMap)((refs) => {
92
89
  if ((new Set(refs.map(([deviceAddress]) => deviceAddress))).size !== 1) {
93
90
  throw new Error('Start monitoring only supports a single device');
94
91
  }
@@ -106,15 +103,19 @@ class MotionMasterClient {
106
103
  topic,
107
104
  };
108
105
  return this.request.startMonitoringDeviceParameterValues(props, requestTimeout, messageId);
109
- })).subscribe();
110
- this.monitor.subscribe(config);
111
- const values$ = this.monitor.socket.data$.pipe((0, operators_1.selectMotionMasterMessageByTopic)(config.topic), (0, operators_1.mapMonitoringParameterValuesStatusMessageToParameterValues)());
112
- return new rxjs_1.Observable((observer) => {
113
- const subscription = values$.subscribe(observer).add(() => {
114
- this.stopMonitoring(messageId);
106
+ }), (0, rxjs_1.mergeMap)(() => {
107
+ if (!config) {
108
+ config = { messageId, topic, bufferSize: 1, distinct: false };
109
+ }
110
+ this.monitor.subscribe(config);
111
+ const values$ = this.monitor.socket.data$.pipe((0, operators_1.selectMotionMasterMessageByTopic)(config.topic), (0, operators_1.mapMonitoringParameterValuesStatusMessageToParameterValues)());
112
+ return new rxjs_1.Observable((observer) => {
113
+ const subscription = values$.subscribe(observer).add(() => {
114
+ this.stopMonitoring(messageId);
115
+ });
116
+ return subscription;
115
117
  });
116
- return subscription;
117
- });
118
+ }));
118
119
  });
119
120
  }
120
121
  /**
@@ -130,10 +131,7 @@ class MotionMasterClient {
130
131
  var _a, _b;
131
132
  const topic = (_a = config === null || config === void 0 ? void 0 : config.topic) !== null && _a !== void 0 ? _a : (0, uuid_1.v4)();
132
133
  const messageId = (_b = config === null || config === void 0 ? void 0 : config.messageId) !== null && _b !== void 0 ? _b : (0, uuid_1.v4)();
133
- if (!config) {
134
- config = { messageId, topic, bufferSize: 1, distinct: false };
135
- }
136
- this.request.resolveGetParameterValuesIds(ids).pipe((0, rxjs_1.mergeMap)((refs) => {
134
+ return this.request.resolveGetParameterValuesIds(ids).pipe((0, rxjs_1.mergeMap)((refs) => {
137
135
  if ((new Set(refs.map(([deviceAddress]) => deviceAddress))).size !== 1) {
138
136
  throw new Error('Start monitoring only supports a single device');
139
137
  }
@@ -151,15 +149,19 @@ class MotionMasterClient {
151
149
  topic,
152
150
  };
153
151
  return this.request.startMonitoringDeviceParameterValues(props, requestTimeout, messageId);
154
- })).subscribe();
155
- this.monitor.subscribe(config);
156
- const values$ = this.monitor.socket.data$.pipe((0, operators_1.selectMotionMasterMessageByTopic)(config.topic), (0, operators_1.mapMonitoringParameterValuesStatusMessageToDeviceParameters)(this.request));
157
- return new rxjs_1.Observable((observer) => {
158
- const subscription = values$.subscribe(observer).add(() => {
159
- this.stopMonitoring(messageId);
152
+ }), (0, rxjs_1.mergeMap)(() => {
153
+ if (!config) {
154
+ config = { messageId, topic, bufferSize: 1, distinct: false };
155
+ }
156
+ this.monitor.subscribe(config);
157
+ const values$ = this.monitor.socket.data$.pipe((0, operators_1.selectMotionMasterMessageByTopic)(config.topic), (0, operators_1.mapMonitoringParameterValuesStatusMessageToDeviceParameters)(this.request));
158
+ return new rxjs_1.Observable((observer) => {
159
+ const subscription = values$.subscribe(observer).add(() => {
160
+ this.stopMonitoring(messageId);
161
+ });
162
+ return subscription;
160
163
  });
161
- return subscription;
162
- });
164
+ }));
163
165
  });
164
166
  }
165
167
  startMonitoringValue(id, monitoringInterval, config, requestTimeout = 5000) {
@@ -196,15 +198,17 @@ class MotionMasterClient {
196
198
  }
197
199
  yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.TORQUE_PROFILE_MODE));
198
200
  yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
199
- try {
200
- yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
201
- if (config.holdingDuration && config.holdingDuration > 0) {
202
- yield (0, util_1.resolveAfter)(config.holdingDuration);
201
+ if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
202
+ try {
203
+ yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
204
+ if (config.holdingDuration && config.holdingDuration > 0) {
205
+ yield (0, util_1.resolveAfter)(config.holdingDuration);
206
+ }
203
207
  }
204
- }
205
- finally {
206
- if (!config.skipQuickStop) {
207
- yield this.request.quickStop(deviceRef);
208
+ finally {
209
+ if (!config.skipQuickStop) {
210
+ yield this.request.quickStop(deviceRef);
211
+ }
208
212
  }
209
213
  }
210
214
  });
@@ -222,15 +226,17 @@ class MotionMasterClient {
222
226
  }
223
227
  yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE));
224
228
  yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
225
- try {
226
- yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
227
- if (config.holdingDuration && config.holdingDuration > 0) {
228
- yield (0, util_1.resolveAfter)(config.holdingDuration);
229
+ if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
230
+ try {
231
+ yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
232
+ if (config.holdingDuration && config.holdingDuration > 0) {
233
+ yield (0, util_1.resolveAfter)(config.holdingDuration);
234
+ }
229
235
  }
230
- }
231
- finally {
232
- if (!config.skipQuickStop) {
233
- yield this.request.quickStop(deviceRef);
236
+ finally {
237
+ if (!config.skipQuickStop) {
238
+ yield this.request.quickStop(deviceRef);
239
+ }
234
240
  }
235
241
  }
236
242
  });
@@ -250,15 +256,17 @@ class MotionMasterClient {
250
256
  yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_POSITION_MODE));
251
257
  yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
252
258
  yield this.request.applySetPoint(deviceRef);
253
- try {
254
- yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
255
- if (config.holdingDuration && config.holdingDuration > 0) {
256
- yield (0, util_1.resolveAfter)(config.holdingDuration);
259
+ if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
260
+ try {
261
+ yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
262
+ if (config.holdingDuration && config.holdingDuration > 0) {
263
+ yield (0, util_1.resolveAfter)(config.holdingDuration);
264
+ }
257
265
  }
258
- }
259
- finally {
260
- if (!config.skipQuickStop) {
261
- yield this.request.quickStop(deviceRef);
266
+ finally {
267
+ if (!config.skipQuickStop) {
268
+ yield this.request.quickStop(deviceRef);
269
+ }
262
270
  }
263
271
  }
264
272
  });
package/src/lib/motion-master-client.js.map CHANGED
@@ -1 +1 @@
1
- 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