npm - motion-master-client - Versions diffs - 0.0.138 → 0.0.140 - Mend

motion-master-client 0.0.138 → 0.0.140

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 (11) hide show

package/package.json +1 -1
package/src/lib/device.d.ts +42 -1
package/src/lib/device.js.map +1 -1
package/src/lib/firmware.d.ts +21 -6
package/src/lib/firmware.js +50 -28
package/src/lib/firmware.js.map +1 -1
package/src/lib/motion-master-req-res-client.d.ts +11 -6
package/src/lib/motion-master-req-res-client.js +38 -31
package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/lib/types.d.ts +29 -0
package/src/lib/types.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.138",
+  "version": "0.0.140",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/device.d.ts CHANGED Viewed

@@ -1,13 +1,54 @@
 import { DeviceLogLine } from "./device-log-line";
-import { HardwareDescription } from "./hardware-description";
+import { HardwareDescription, StackInfo } from "./hardware-description";
+import { IntegroVariant } from "./integro-variant";
 import { DeviceRef, DeviceRefObj } from "./types";
+/**
+ * Represents a single device with extended properties beyond those provided by the Motion Master API.
+ * Certain properties, such as the ID (serial number), hardware description, and integro variant, require additional file requests from Motion Master.
+ */
 export interface Device {
+    /**
+     * The device serial number is a strong candidate for a unique identifier.
+     */
     id: string;
+    /**
+     * A unique number assigned to each device.
+     * This number is included in messages to Motion Master to reference the device.
+     * Since the device address changes with each power cycle, the client library uses {@link DeviceRef} for consistent device referencing.
+     */
     deviceAddress: number;
+    /**
+     * The type can be one of the following:
+     * - 0: UNSPECIFIED
+     * - 1: SOMANET_CIA401_ETHERCAT
+     * - 2: SOMANET_CIA402_ETHERCAT
+     */
     type?: number;
+    /**
+     * Device position in the network stack.
+     * Note: In SOEM, the position starts at 1, as 0 is reserved for broadcasting.
+     * In the IgH EtherCAT Master, the position starts at 0.
+     */
     position?: number;
+    /**
+     * EtherCAT alias number;
+     */
     alias?: number;
+    /**
+     * Parsed `.hardware_description` file.
+     * {@link HardwareDescription}
+     */
     hardwareDescription?: HardwareDescription;
+    /**
+     * Parsed `.stack_info.json` file.
+     * {@link HardwareDescription}
+     */
+    stackInfo?: StackInfo;
+    /**
+     * Parsed `.variant` file.
+     * {@link IntegroVariant}
+     */
+    integroVariant?: IntegroVariant;
 }
 export declare function getDeviceRefFromDeviceRefObj(deviceRefObj: DeviceRefObj): string | number | null;
 export declare function ensureDeviceRef(deviceRef: DeviceRef): DeviceRef;

package/src/lib/device.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/src/lib/firmware.d.ts CHANGED Viewed

@@ -1,7 +1,16 @@
-/// <reference types="node" />
-import { DeviceComponent, HardwareDescription, StackInfo } from "./hardware-description";
-import { IntegroVariant } from "./integro-variant";
+import { DeviceComponent, StackInfo } from "./hardware-description";
 import { RangeOptions } from "semver";
+import { Device } from "./device";
+export interface Firmware {
+    /**
+     * @example package_SOMANET-Servo-Node-1000-E-EtherCAT-Safety_8432-03_motion-drive_v4.2.0-alpha.5.zip
+     */
+    packageFilename: string;
+    /**
+     * @example v4.2.0-alpha.5
+     */
+    version: string;
+}
 export declare const firmwareIdRegExp: RegExp;
 export declare const newFirmwarePackageFilenameRegExp: RegExp;
 export declare const oldFirmwarePackageFilenameRegExp: RegExp;
@@ -132,7 +141,7 @@ export declare function isStackInfo(value: any): value is StackInfo;
  * @returns `true` if the firmware package filename is compatible with the device; otherwise, `false`.
  * @throws {Error} Throws an error if an invalid combination is provided, such as FWID with an old firmware package filename.
  */
-export declare function isFirmwarePackageFilenameCompatibleWithDevice(filename: string, id: string | StackInfo | HardwareDescription, integroVariant?: Buffer | IntegroVariant): boolean;
+export declare function isFirmwarePackageFilenameCompatibleWithDevice(filename: string, firmwareIdOrDevice: string | Pick<Device, 'hardwareDescription' | 'stackInfo' | 'integroVariant'>): boolean;
 /**
  * Extracts the Firmware ID (FWID) from either the new firmware package filename or the provided Hardware Description.
  * The optional Integro Variant is used if the Firmware ID includes the Fieldbus Protocol.
@@ -144,12 +153,12 @@ export declare function isFirmwarePackageFilenameCompatibleWithDevice(filename:
  * - If an assembly is present, the ID and version are taken from the assembly, while the key ID is still taken from the device.
  * - In all cases, the key ID is sourced from the device.
  *
- * @param sub The new firmware package filename or hardware description.
+ * @param firmwarePackageFilenameOrDevice The new firmware package filename or hardware description.
  * @param integroVariant The parsed Integro Variant file or its raw buffer.
  * @throws {Error} If the provided filename does not match the expected pattern.
  * @returns The Firmware ID (FWID), e.g., "9501-01-4622-1".
  */
-export declare function extractFirmwareId(sub: string | HardwareDescription, integroVariant?: Buffer | IntegroVariant): string;
+export declare function extractFirmwareId(firmwarePackageFilenameOrDevice: string | Pick<Device, 'hardwareDescription' | 'integroVariant'>): string;
 /**
  * Extracts the firmware version from the given firmware package filename, whether it's in the old or new format.
  *
@@ -198,3 +207,9 @@ export declare function isFirmwareVersionInRange(version: string, range?: string
  * The new configuration is referred to as "encoder configuration" (0x2110, 0x2112), while the older is called "sensor configuration".
  */
 export declare function isEncoderConfigurationFirmware(version?: string): boolean;
+/**
+ * Resolves the list of installable firmware versions for the specified device.
+ *
+ * @todo write tests
+ */
+export declare function resolveInstallableFirmwaresForDevice(device: Device, filenames: string[]): Firmware[];

package/src/lib/firmware.js CHANGED Viewed

@@ -1,8 +1,7 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.isEncoderConfigurationFirmware = exports.isFirmwareVersionInRange = exports.firmwareVersionSatisfies = exports.removeInvalidBuildMetadataFromFirmwareVersion = exports.isCalibrationFirmware = exports.extractFirmwareVersionFromFirmwarePackageFilename = exports.extractFirmwareId = exports.isFirmwarePackageFilenameCompatibleWithDevice = exports.isStackInfo = exports.parseOldFirmwarePackageFilename = exports.extractDeviceComponentsFromOldFirmwarePackageFilename = exports.parseNewFirmwarePackageFilename = exports.isOldFirmwarePackageFilename = exports.isNewFirmwarePackageFilename = exports.parseFirmwareId = exports.oldFirmwarePackageFilenameRegExp = exports.newFirmwarePackageFilenameRegExp = exports.firmwareIdRegExp = void 0;
+exports.resolveInstallableFirmwaresForDevice = exports.isEncoderConfigurationFirmware = exports.isFirmwareVersionInRange = exports.firmwareVersionSatisfies = exports.removeInvalidBuildMetadataFromFirmwareVersion = exports.isCalibrationFirmware = exports.extractFirmwareVersionFromFirmwarePackageFilename = exports.extractFirmwareId = exports.isFirmwarePackageFilenameCompatibleWithDevice = exports.isStackInfo = exports.parseOldFirmwarePackageFilename = exports.extractDeviceComponentsFromOldFirmwarePackageFilename = exports.parseNewFirmwarePackageFilename = exports.isOldFirmwarePackageFilename = exports.isNewFirmwarePackageFilename = exports.parseFirmwareId = exports.oldFirmwarePackageFilenameRegExp = exports.newFirmwarePackageFilenameRegExp = exports.firmwareIdRegExp = void 0;
 const hardware_description_1 = require("./hardware-description");
-const integro_variant_1 = require("./integro-variant");
 const semver_1 = require("semver");
 exports.firmwareIdRegExp = /^\d{4}-\d{2}(-\d{4})?(-\d+)*?$/;
 exports.newFirmwarePackageFilenameRegExp = /^package_(.*).zip$/;
@@ -127,24 +126,29 @@ exports.isStackInfo = isStackInfo;
  * @returns `true` if the firmware package filename is compatible with the device; otherwise, `false`.
  * @throws {Error} Throws an error if an invalid combination is provided, such as FWID with an old firmware package filename.
  */
-function isFirmwarePackageFilenameCompatibleWithDevice(filename, id, integroVariant) {
-    if (isOldFirmwarePackageFilename(filename) && !isStackInfo(id)) {
-        throw new Error('The old firmware package filename must be checked against the Stack Info to verify compatibility.');
+function isFirmwarePackageFilenameCompatibleWithDevice(filename, firmwareIdOrDevice) {
+    if (isOldFirmwarePackageFilename(filename)) {
+        if (typeof firmwareIdOrDevice === 'string') {
+            throw new Error('The old firmware package filename must be checked against the Stack Info for compatibility verification, not the FWID.');
+        }
+        else if (!firmwareIdOrDevice.stackInfo) {
+            throw new Error('The old firmware package filename must be checked against the Stack Info for compatibility verification, not the Hardware Description.');
+        }
     }
-    if (isNewFirmwarePackageFilename(filename) && isStackInfo(id)) {
-        throw new Error('The new firmware package filename must be checked against the FWID or Hardware Description to verify compatibility.');
+    if (isNewFirmwarePackageFilename(filename) && typeof firmwareIdOrDevice !== 'string' && !firmwareIdOrDevice.hardwareDescription) {
+        throw new Error('The new firmware package filename must be checked against the FWID or Hardware Description for compatibility verification, not the Stack Info.');
     }
-    if (typeof id === 'string') {
-        return id === extractFirmwareId(filename);
+    if (typeof firmwareIdOrDevice === 'string') {
+        return firmwareIdOrDevice === extractFirmwareId(filename);
     }
-    else if (isStackInfo(id)) {
+    else if (firmwareIdOrDevice.stackInfo) {
         const firmwarePackageFilenameDeviceComponents = extractDeviceComponentsFromOldFirmwarePackageFilename(filename);
-        const stackInfoDeviceComponents = (0, hardware_description_1.extractDeviceComponentsFromStackInfo)(id);
+        const stackInfoDeviceComponents = (0, hardware_description_1.extractDeviceComponentsFromStackInfo)(firmwareIdOrDevice.stackInfo);
         return (0, hardware_description_1.deviceComponentsMatch)(firmwarePackageFilenameDeviceComponents, stackInfoDeviceComponents);
     }
     else {
         const firmwarePackageFilenameFirmwareId = extractFirmwareId(filename);
-        const hardwareDescriptionFirmwareId = extractFirmwareId(id, integroVariant);
+        const hardwareDescriptionFirmwareId = extractFirmwareId(firmwareIdOrDevice);
         return firmwarePackageFilenameFirmwareId === hardwareDescriptionFirmwareId;
     }
 }
@@ -160,33 +164,33 @@ exports.isFirmwarePackageFilenameCompatibleWithDevice = isFirmwarePackageFilenam
  * - If an assembly is present, the ID and version are taken from the assembly, while the key ID is still taken from the device.
  * - In all cases, the key ID is sourced from the device.
  *
- * @param sub The new firmware package filename or hardware description.
+ * @param firmwarePackageFilenameOrDevice The new firmware package filename or hardware description.
  * @param integroVariant The parsed Integro Variant file or its raw buffer.
  * @throws {Error} If the provided filename does not match the expected pattern.
  * @returns The Firmware ID (FWID), e.g., "9501-01-4622-1".
  */
-function extractFirmwareId(sub, integroVariant) {
-    if (typeof sub === 'string') {
-        if (isNewFirmwarePackageFilename(sub)) {
-            const obj = parseNewFirmwarePackageFilename(sub);
+function extractFirmwareId(firmwarePackageFilenameOrDevice) {
+    var _a, _b, _c, _d, _e, _f, _g;
+    if (typeof firmwarePackageFilenameOrDevice === 'string') {
+        const firmwarePackageFilename = firmwarePackageFilenameOrDevice;
+        if (isNewFirmwarePackageFilename(firmwarePackageFilename)) {
+            const obj = parseNewFirmwarePackageFilename(firmwarePackageFilename);
             return obj === null || obj === void 0 ? void 0 : obj.firmwareId;
         }
         else {
-            throw new Error(`The provided filename "${sub}" does not match the expected pattern.`);
+            throw new Error(`The provided filename "${firmwarePackageFilename}" does not match the expected pattern.`);
         }
     }
     else {
-        let fwid = sub.assembly
-            ? `${sub.assembly.id}-${sub.assembly.version}`
-            : `${sub.device.id}-${sub.device.version}`;
-        if (sub.device.keyId) {
-            fwid += `-${sub.device.keyId}`;
+        const device = firmwarePackageFilenameOrDevice;
+        let fwid = ((_a = device.hardwareDescription) === null || _a === void 0 ? void 0 : _a.assembly)
+            ? `${(_b = device.hardwareDescription) === null || _b === void 0 ? void 0 : _b.assembly.id}-${(_c = device.hardwareDescription) === null || _c === void 0 ? void 0 : _c.assembly.version}`
+            : `${(_d = device.hardwareDescription) === null || _d === void 0 ? void 0 : _d.device.id}-${(_e = device.hardwareDescription) === null || _e === void 0 ? void 0 : _e.device.version}`;
+        if ((_f = device.hardwareDescription) === null || _f === void 0 ? void 0 : _f.device.keyId) {
+            fwid += `-${(_g = device.hardwareDescription) === null || _g === void 0 ? void 0 : _g.device.keyId}`;
         }
-        if (integroVariant) {
-            if (integroVariant instanceof Buffer) {
-                integroVariant = (0, integro_variant_1.parseIntegroVariantBuffer)(integroVariant);
-            }
-            const fieldbusProtocol = integroVariant.selectedOptionId['fieldbusProtocol'];
+        if (device.integroVariant) {
+            const fieldbusProtocol = device.integroVariant.selectedOptionId['fieldbusProtocol'];
             fwid += `-${fieldbusProtocol}`;
         }
         return fwid;
@@ -288,4 +292,22 @@ function isEncoderConfigurationFirmware(version) {
     }
 }
 exports.isEncoderConfigurationFirmware = isEncoderConfigurationFirmware;
+/**
+ * Resolves the list of installable firmware versions for the specified device.
+ *
+ * @todo write tests
+ */
+function resolveInstallableFirmwaresForDevice(device, filenames) {
+    return filenames.reduce((firmwares, packageFilename) => {
+        try {
+            if (isFirmwarePackageFilenameCompatibleWithDevice(packageFilename, device)) {
+                const version = extractFirmwareVersionFromFirmwarePackageFilename(packageFilename);
+                firmwares.push({ packageFilename, version });
+            }
+        }
+        catch (err) { }
+        return firmwares.sort((a, b) => a.version.localeCompare(b.version)).reverse();
+    }, []);
+}
+exports.resolveInstallableFirmwaresForDevice = resolveInstallableFirmwaresForDevice;
 //# sourceMappingURL=firmware.js.map

package/src/lib/firmware.js.map CHANGED Viewed

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1	+ {"version":3,"file":"firmware.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/firmware.ts"],"names":[],"mappings":";;;AAAA,iEAAiI;AACjI,mCAAiD;AAepC,QAAA,gBAAgB,GAAG,gCAAgC,CAAC;AACpD,QAAA,gCAAgC,GAAG,oBAAoB,CAAC;AACxD,QAAA,gCAAgC,GAAG,iCAAiC,CAAC;AA6ElF;;;;GAIG;AACH,SAAgB,eAAe,CAAC,IAAY;IAC1C,IAAI,CAAC,wBAAgB,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;QAChC,MAAM,IAAI,KAAK,CAAC,sBAAsB,IAAI,wCAAwC,CAAC,CAAC;KACrF;IACD,MAAM,CAAC,SAAS,EAAE,cAAc,EAAE,KAAK,EAAE,gBAAgB,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC,CAAC;IACzG,OAAO,EAAE,SAAS,EAAE,cAAc,EAAE,KAAK,EAAE,gBAAgB,EAAE,CAAC;AAChE,CAAC;AAND,0CAMC;AAED;;GAEG;AACH,SAAgB,4BAA4B,CAAC,QAAgB;IAC3D,OAAO,wCAAgC,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AACzD,CAAC;AAFD,oEAEC;AAED;;;;GAIG;AACH,SAAgB,4BAA4B,CAAC,QAAgB;IAC3D,OAAO,wCAAgC,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AACzD,CAAC;AAFD,oEAEC;AAED;;;;;GAKG;AACH,SAAgB,+BAA+B,CAAC,QAAgB;IAC9D,IAAI,CAAC,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC3C,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;IAED,MAAM,aAAa,GAAG,QAAQ,CAAC,OAAO,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IACxD,MAAM,CAAC,WAAW,EAAE,YAAY,EAAE,UAAU,EAAE,YAAY,EAAE,eAAe,CAAC,GAAG,aAAa,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IACxG,uBACE,WAAW;QACX,YAAY;QACZ,UAAU;QACV,YAAY;QACZ,eAAe,IACZ,CAAC,eAAe,CAAC,UAAU,CAAC,CAAC,EAChC;AACJ,CAAC;AAfD,0EAeC;AAED;;;;;;;;;;;GAWG;AACH,SAAgB,qDAAqD,CAAC,QAAgB;IACpF,IAAI,CAAC,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC3C,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;IAED,IAAI,QAAQ,CAAC,KAAK,CAAC,4BAA4B,CAAC,EAAE;QAChD,OAAO,QAAQ;aACZ,KAAK,CAAC,GAAG,CAAC;aACV,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC;aACX,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE;YACT,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,2BAA2B;YACnD,OAAO;gBACL,IAAI,EAAE,CAAC,CAAC,CAAC,CAAC;gBACV,YAAY,EAAE,EAAE;gBAChB,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;aACK,CAAC;QACvB,CAAC,CAAC,CAAC;KACN;IAED,OAAO,EAAE,CAAC;AACZ,CAAC;AApBD,sHAoBC;AAED;;;;;GAKG;AACH,SAAgB,+BAA+B,CAAC,QAAgB;;IAC9D,IAAI,CAAC,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC3C,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;IAED,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IAClC,MAAM,UAAU,GAAG,qDAAqD,CAAC,QAAQ,CAAC,CAAC;IACnF,OAAO;QACL,WAAW,EAAE,KAAK,CAAC,CAAC,CAAC;QACrB,UAAU;QACV,eAAe,EAAE,MAAA,MAAA,KAAK,aAAL,KAAK,uBAAL,KAAK,CAAE,EAAE,CAAC,CAAC,CAAC,CAAC,0CAAE,OAAO,CAAC,MAAM,EAAE,EAAE,CAAC,mCAAI,EAAE;KAC1D,CAAC;AACJ,CAAC;AAZD,0EAYC;AAED;;GAEG;AACH,SAAgB,WAAW,CAAC,KAAU;IACpC,OAAO,KAAK,CAAC,OAAO,CAAC,KAAK,aAAL,KAAK,uBAAL,KAAK,CAAE,MAAM,CAAC,CAAC;AACtC,CAAC;AAFD,kCAEC;AAED;;;;;;;;;;;;GAYG;AACH,SAAgB,6CAA6C,CAAC,QAAgB,EAAE,kBAAiG;IAE/K,IAAI,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC1C,IAAI,OAAO,kBAAkB,KAAK,QAAQ,EAAE;YAC1C,MAAM,IAAI,KAAK,CAAC,wHAAwH,CAAC,CAAC;SAC3I;aAAM,IAAI,CAAC,kBAAkB,CAAC,SAAS,EAAE;YACxC,MAAM,IAAI,KAAK,CAAC,wIAAwI,CAAC,CAAC;SAC3J;KACF;IAED,IAAI,4BAA4B,CAAC,QAAQ,CAAC,IAAI,OAAO,kBAAkB,KAAK,QAAQ,IAAI,CAAC,kBAAkB,CAAC,mBAAmB,EAAE;QAC/H,MAAM,IAAI,KAAK,CAAC,gJAAgJ,CAAC,CAAC;KACnK;IAED,IAAI,OAAO,kBAAkB,KAAK,QAAQ,EAAE;QAC1C,OAAO,kBAAkB,KAAK,iBAAiB,CAAC,QAAQ,CAAC,CAAC;KAC3D;SAAM,IAAI,kBAAkB,CAAC,SAAS,EAAE;QACvC,MAAM,uCAAuC,GAAG,qDAAqD,CAAC,QAAQ,CAAC,CAAC;QAChH,MAAM,yBAAyB,GAAG,IAAA,2DAAoC,EAAC,kBAAkB,CAAC,SAAS,CAAC,CAAC;QACrG,OAAO,IAAA,4CAAqB,EAAC,uCAAuC,EAAE,yBAAyB,CAAC,CAAC;KAClG;SAAM;QACL,MAAM,iCAAiC,GAAG,iBAAiB,CAAC,QAAQ,CAAC,CAAC;QACtE,MAAM,6BAA6B,GAAG,iBAAiB,CAAC,kBAAkB,CAAC,CAAC;QAC5E,OAAO,iCAAiC,KAAK,6BAA6B,CAAC;KAC5E;AACH,CAAC;AAzBD,sGAyBC;AAED;;;;;;;;;;;;;;;GAeG;AACH,SAAgB,iBAAiB,CAAC,+BAAgG;;IAChI,IAAI,OAAO,+BAA+B,KAAK,QAAQ,EAAE;QACvD,MAAM,uBAAuB,GAAG,+BAA+B,CAAC;QAChE,IAAI,4BAA4B,CAAC,uBAAuB,CAAC,EAAE;YACzD,MAAM,GAAG,GAAG,+BAA+B,CAAC,uBAAuB,CAAC,CAAC;YACrE,OAAO,GAAG,aAAH,GAAG,uBAAH,GAAG,CAAE,UAAU,CAAC;SACxB;aAAM;YACL,MAAM,IAAI,KAAK,CAAC,0BAA0B,uBAAuB,wCAAwC,CAAC,CAAC;SAC5G;KACF;SAAM;QACL,MAAM,MAAM,GAAG,+BAA+B,CAAC;QAE/C,IAAI,IAAI,GAAG,CAAA,MAAA,MAAM,CAAC,mBAAmB,0CAAE,QAAQ;YAC7C,CAAC,CAAC,GAAG,MAAA,MAAM,CAAC,mBAAmB,0CAAE,QAAQ,CAAC,EAAE,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,QAAQ,CAAC,OAAO,EAAE;YAC9F,CAAC,CAAC,GAAG,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,EAAE,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,OAAO,EAAE,CAAC;QAE7F,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,KAAK,EAAE;YAC5C,IAAI,IAAI,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,KAAK,EAAE,CAAC;SACxD;QAED,IAAI,MAAM,CAAC,cAAc,EAAE;YACzB,MAAM,gBAAgB,GAAG,MAAM,CAAC,cAAc,CAAC,gBAAgB,CAAC,kBAAkB,CAAC,CAAC;YACpF,IAAI,IAAI,IAAI,gBAAgB,EAAE,CAAC;SAChC;QAED,OAAO,IAAI,CAAC;KACb;AACH,CAAC;AA3BD,8CA2BC;AAED;;;;;;;GAOG;AACH,SAAgB,iDAAiD,CAAC,QAAgB;IAChF,IAAI,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC1C,MAAM,MAAM,GAAG,+BAA+B,CAAC,QAAQ,CAAC,CAAC;QACzD,OAAO,MAAM,CAAC,eAAe,CAAC;KAC/B;SAAM,IAAI,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QACjD,MAAM,MAAM,GAAG,+BAA+B,CAAC,QAAQ,CAAC,CAAC;QACzD,OAAO,MAAM,CAAC,eAAe,CAAC;KAC/B;SAAM;QACL,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;AACH,CAAC;AAVD,8GAUC;AAED;;;;;;;GAOG;AACH,SAAgB,qBAAqB,CAAC,OAAgB;;IACpD,OAAO,MAAA,OAAO,aAAP,OAAO,uBAAP,OAAO,CAAE,QAAQ,CAAC,aAAa,CAAC,mCAAI,KAAK,CAAC;AACnD,CAAC;AAFD,sDAEC;AAED;;;GAGG;AACH,SAAgB,6CAA6C,CAAC,OAAe;IAC3E,OAAO,OAAO,CAA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package/src/lib/motion-master-req-res-client.d.ts CHANGED Viewed

@@ -2,6 +2,7 @@ import { Observable } from "rxjs";
 import { RetryConfig } from "rxjs/operators";
 import { Device } from "./device";
 import { DeviceParameter } from "./device-parameter";
+import { HardwareDescription } from "./hardware-description";
 import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
 import { SystemLogLine } from "./system-log-line";
 import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo } from "./types";
@@ -819,7 +820,7 @@ export declare class MotionMasterReqResClient {
      *
      * Retrieve device information from Motion Master.
      *
-     * For each device in the list, read its .hardware_description file and assign its content to the device.
+     * For each device, it reads and parses the `.hardware_description` and `.variant` files, then assigns the data to the device object.
      */
     getDevices(requestTimeout?: number): Observable<Device[]>;
     getParameterValue<T extends ParameterValueType = number>(deviceParameterId: string, loadFromCache?: boolean, requestTimeout?: number, messageId?: string): Observable<T>;
@@ -883,11 +884,19 @@ export declare class MotionMasterReqResClient {
     /**
      * Set file.
      */
-    setFile(deviceRef: DeviceRef, name: string, content: Uint8Array, overwrite?: boolean, requestTimeout?: number, messageId?: string): Observable<Uint8Array | null | undefined>;
+    setFile(deviceRef: DeviceRef, name: string, content: Uint8Array, overwrite?: boolean, requestTimeout?: number, messageId?: string): Observable<DeviceFileStatus>;
     /**
      * Delete file.
      */
     deleteFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<DeviceFileStatus>;
+    /**
+     * Retrieve and parse the `.hardware_description` file.
+     */
+    getHardwareDescription(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<HardwareDescription>;
+    /**
+     * Retrieve and parse the `.variant` file.
+     */
+    getIntegroVariant(deviceRef: DeviceRef, requestTimeout?: number): Observable<IntegroVariant | undefined>;
     /**
      * Get system log lines.
      *
@@ -1081,10 +1090,6 @@ export declare class MotionMasterReqResClient {
      * The feed constant is defined as the ratio of feed to shaft revolutions. This function reads both parameters and calculates the feed constant.
      */
     getFeedConstant(deviceRef: DeviceRef, requestTimeout?: number): Observable<number>;
-    /**
-     * Read and parse the Integro variant file.
-     */
-    getIntegroVariant(deviceRef: DeviceRef, requestTimeout?: number): Observable<IntegroVariant | undefined>;
     /**
      * Save the modified parameter values to the config.csv file so that they are used the next time the device is power cycled.
      * The configuration is saved using the 0x1010: Store parameters object.

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

@@ -1188,6 +1188,11 @@ class MotionMasterReqResClient {
      */
     resolveDeviceAddress(deviceRef, requestTimeout = 60000) {
         const deviceRefObj = (typeof deviceRef === 'object') ? deviceRef : (0, device_1.makeDeviceRefObj)(deviceRef);
+        // This avoids a circular call to getDevices() from resolveDevice().
+        // If a device is referenced by its address, there's no need to resolve it by reading its .hardware_description file to determine the serial number.
+        if (deviceRefObj.deviceAddress) {
+            return (0, rxjs_1.of)(deviceRefObj.deviceAddress);
+        }
         return this.resolveDevice(deviceRefObj, requestTimeout).pipe((0, operators_1.map)((device) => device.deviceAddress));
     }
     /**
@@ -1195,28 +1200,19 @@ class MotionMasterReqResClient {
      *
      * Retrieve device information from Motion Master.
      *
-     * For each device in the list, read its .hardware_description file and assign its content to the device.
+     * For each device, it reads and parses the `.hardware_description` and `.variant` files, then assigns the data to the device object.
      */
     getDevices(requestTimeout = 10000) {
         return this.getDeviceInfo(requestTimeout).pipe((0, operators_1.mergeMap)((deviceInfo) => {
             var _a;
             const devices = ((_a = deviceInfo.devices) !== null && _a !== void 0 ? _a : []);
-            return (0, rxjs_1.forkJoin)(devices.map((device) => {
-                const deviceAddress = device.deviceAddress;
-                const getDeviceFile = types_1.MotionMasterMessage.Request.GetDeviceFile
-                    .create({ name: '.hardware_description', deviceAddress });
-                const id = this.sendRequest({ getDeviceFile }, (0, uuid_1.v4)());
-                return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id), (0, operators_1.map)((deviceFile) => {
-                    const status = this.fixProductionScrewUp(deviceFile);
-                    if (status.content) {
-                        const data = (0, util_1.decodeTextContent)(status.content);
-                        const hardwareDescription = JSON.parse(data);
-                        const id = (0, hardware_description_1.getSerialNumberFromHardwareDescription)(hardwareDescription);
-                        return Object.assign(Object.assign({}, device), { id, hardwareDescription });
-                    }
-                    return Object.assign({}, device);
-                }));
-            }));
+            return (0, rxjs_1.forkJoin)(devices.map((device) => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                const { deviceAddress } = device;
+                const hardwareDescription = yield (0, rxjs_1.lastValueFrom)(this.getHardwareDescription(deviceAddress));
+                const id = (0, hardware_description_1.getSerialNumberFromHardwareDescription)(hardwareDescription);
+                const integroVariant = yield (0, rxjs_1.lastValueFrom)(this.getIntegroVariant(deviceAddress));
+                return Object.assign(Object.assign({}, device), { id, hardwareDescription, integroVariant });
+            })));
         }));
     }
     getParameterValue(a, b, c, d, e, f) {
@@ -1478,7 +1474,7 @@ class MotionMasterReqResClient {
         }));
     }
     resolveDeviceParameterInfoMap(deviceRef, requestTimeout = 5000) {
-        return this.resolveDeviceAddress(deviceRef).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+        return this.resolveDevice(deviceRef).pipe((0, operators_1.mergeMap)(({ deviceAddress }) => {
             let infoMap = this.deviceParameterInfoMap.get(deviceAddress);
             if (infoMap) {
                 return (0, rxjs_1.of)(infoMap);
@@ -1579,7 +1575,7 @@ class MotionMasterReqResClient {
      */
     setFile(deviceRef, name, content, overwrite = true, requestTimeout = 5000, messageId) {
         const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-        return this.setDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name, content, overwrite }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => content));
+        return this.setDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name, content, overwrite }), requestTimeout, messageId);
     }
     /**
      * Delete file.
@@ -1588,6 +1584,29 @@ class MotionMasterReqResClient {
         const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
         return this.deleteDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId);
     }
+    /**
+     * Retrieve and parse the `.hardware_description` file.
+     */
+    getHardwareDescription(deviceRef, requestTimeout = 5000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name: '.hardware_description' }), requestTimeout, messageId).pipe((0, operators_1.map)((status) => {
+            status = this.fixProductionScrewUp(status);
+            const data = (0, util_1.decodeTextContent)(status.content);
+            return JSON.parse(data);
+        }));
+    }
+    /**
+     * Retrieve and parse the `.variant` file.
+     */
+    getIntegroVariant(deviceRef, requestTimeout = 5000) {
+        return this.getFile(deviceRef, '.variant', requestTimeout).pipe((0, operators_1.map)((content) => {
+            if (!content) {
+                return;
+            }
+            const buffer = buffer_1.Buffer.from(content);
+            return (0, integro_variant_1.parseIntegroVariantBuffer)(buffer);
+        }));
+    }
     /**
      * Get system log lines.
      *
@@ -1998,18 +2017,6 @@ class MotionMasterReqResClient {
             [deviceRef, 0x6092, 2], // Shaft revolutions
         ], false, requestTimeout).pipe((0, operators_1.map)((values) => values[0] / values[1]));
     }
-    /**
-     * Read and parse the Integro variant file.
-     */
-    getIntegroVariant(deviceRef, requestTimeout = 5000) {
-        return this.getFile(deviceRef, '.variant', requestTimeout).pipe((0, operators_1.map)((content) => {
-            if (!content) {
-                return;
-            }
-            const buffer = buffer_1.Buffer.from(content);
-            return (0, integro_variant_1.parseIntegroVariantBuffer)(buffer);
-        }));
-    }
     /**
      * Save the modified parameter values to the config.csv file so that they are used the next time the device is power cycled.
      * The configuration is saved using the 0x1010: Store parameters object.

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

	@@ -1 +1 @@
1	- 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package/src/lib/types.d.ts CHANGED Viewed

@@ -44,11 +44,40 @@ export interface DeviceParameterInfo extends MotionMasterMessage.Status.DevicePa
     name: string;
     typeValueKey: ParameterTypeValueKey;
 }
+/**
+ * Request methods for a specific device, such as `getDeviceParameterInfo`, accept the type of request message
+ * as the first parameter, as defined in the proto file. For `getDeviceParameterInfo`, this is
+ * `MotionMasterMessage.Request.IGetDeviceParameterInfo`.
+ *
+ * This type is extended through type intersection with `DeviceRefObj` to support multiple ways of referencing a device.
+ *
+ * Motion Master only supports device addresses, which are re-generated for each device after a power cycle.
+ * Since device addresses can change, it's preferable for scripts and applications to use a device reference that remains constant.
+ * The device serial number, found in the hardware description file, is a unique identifier that does not change.
+ * This serial number is added to each request message.
+ *
+ * Before sending the request to Motion Master, the device address is resolved and added to the request message.
+ * Devices can be referenced not only by their device address or serial number but also by their position
+ * (i.e., their sequence number in the network chain).
+ */
 export type DeviceRefObj = {
     deviceAddress?: (number | null);
     deviceSerialNumber?: (string | null);
     devicePosition?: (number | null);
 };
+/**
+ * There are multiple ways to uniquely identify a device.
+ * The Motion Master API, specifically the messages exchanged between Motion Master and its clients, uses the device address.
+ * Device addresses uniquely identify devices but are volatile—they change whenever the devices reinitialize (e.g., after a power cycle).
+ * To handle this, the client library introduces DeviceRef, which can be one of the following:
+ * - Device Address
+ * - Device Serial Number
+ * - Device Position
+ *
+ * Since both address and position are numbers, differentiation is made by checking whether the DeviceRef is higher than 0xFFFF.
+ * If it's higher, it's considered a device address, as device addresses tend to be large numbers.
+ * If it's lower, it's treated as a device position, since the EtherCAT network can enumerate up to 65,535 devices.
+ */
 export type DeviceRef = number | string;
 export type ParameterInfoAndValue = MotionMasterMessage.Status.DeviceParameterInfo.IParameter & MotionMasterMessage.Status.DeviceParameterValues.IParameterValue;
 export import EthercatNetworkState = MotionMasterMessage.Request.SetEthercatNetworkState.State;

package/src/lib/types.js.map CHANGED Viewed

	@@ -1 +1 @@
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