motion-master-client 0.0.131 → 0.0.132

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Files changed (3) hide show
  1. package/package.json +1 -1
  2. package/src/lib/motion-master-client.js +30 -24
  3. 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": "0.0.131",
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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/lib/motion-master-client.js CHANGED
@@ -198,15 +198,17 @@ class MotionMasterClient {
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  }
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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.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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+ if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
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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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- }
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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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+ 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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  });
@@ -224,15 +226,17 @@ class MotionMasterClient {
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  }
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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.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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+ if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
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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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- }
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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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+ 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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  });
@@ -252,15 +256,17 @@ class MotionMasterClient {
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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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+ if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
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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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- }
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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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+ 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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  });
package/src/lib/motion-master-client.js.map CHANGED
@@ -1 +1 @@
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