motion-master-client 0.0.157 → 0.0.159
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.
- package/package.json +1 -1
- package/src/lib/config-file.d.ts +9 -0
- package/src/lib/config-file.js +30 -9
- package/src/lib/config-file.js.map +1 -1
- package/src/lib/firmware.js +3 -3
- package/src/lib/firmware.js.map +1 -1
- package/src/lib/integro-encoder-calibration.js +3 -3
- package/src/lib/integro-encoder-calibration.js.map +1 -1
- package/src/lib/motion-composer.d.ts +17 -5
- package/src/lib/motion-composer.js +107 -0
- package/src/lib/motion-composer.js.map +1 -1
- package/src/lib/motion-master-req-res-client.d.ts +26 -27
- package/src/lib/motion-master-req-res-client.js +42 -31
- package/src/lib/motion-master-req-res-client.js.map +1 -1
- package/src/lib/parameter.d.ts +8 -0
- package/src/lib/parameter.js +15 -1
- package/src/lib/parameter.js.map +1 -1
package/package.json
CHANGED
package/src/lib/config-file.d.ts
CHANGED
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@@ -1,13 +1,22 @@
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import { ParseResult } from 'papaparse';
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import { Parameter } from './parameter';
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import { Optional } from './types';
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export type ConfigParameter = Optional<Parameter, 'name' | 'typeValueKey' | 'id'>;
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/**
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* Parses the contents of configuration files such as config.csv, .factory_config, and .assembly_config.
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*/
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export declare class ConfigFile {
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readonly content: string;
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readonly file?: Pick<File, "name" | "type" | "size" | "lastModified"> | undefined;
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readonly apiId?: string;
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readonly firmwareVersion?: string;
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readonly header?: string;
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readonly parseResult?: ParseResult<string[]>;
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parameters: ConfigParameter[];
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constructor(content: string, file?: Pick<File, "name" | "type" | "size" | "lastModified"> | undefined);
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get firmwareId(): string | undefined;
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get isSmmConfigFile(): boolean;
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get hasParseErrors(): boolean;
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get numberOfParameters(): number;
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toString(): string;
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}
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package/src/lib/config-file.js
CHANGED
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@@ -1,26 +1,28 @@
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"use strict";
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Object.defineProperty(exports, "__esModule", { value: true });
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exports.ConfigFile = void 0;
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const
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const Papa = tslib_1.__importStar(require("papaparse"));
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const papaparse_1 = require("papaparse");
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const parameter_1 = require("./parameter");
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/**
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* Parses the contents of configuration files such as config.csv, .factory_config, and .assembly_config.
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*/
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class ConfigFile {
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constructor(content, file) {
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var _a;
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var _a, _b;
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this.content = content;
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this.file = file;
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-
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this.parseResult = (0, papaparse_1.parse)(content, {
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skipEmptyLines: true,
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transform: (value) => value.trim(),
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});
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if (((_a = parseResult === null ||
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throw new Error('Failed to parse the
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if (((_b = (_a = this.parseResult) === null || _a === void 0 ? void 0 : _a.errors) === null || _b === void 0 ? void 0 : _b.length) > 0) {
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throw new Error('Failed to parse the contents of the configuration CSV file.');
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}
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const matchApiId = content.match(
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const matchApiId = content.match(/#\s+(\d{4}-\d{2}(-\d{4})?(-\d+)*)$/m);
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if (matchApiId) {
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this.apiId = matchApiId[1];
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}
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const matchFirmwareVersion = content.match(/^#\s+(v
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const matchFirmwareVersion = content.match(/^#\s+(v.*)$/m);
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if (matchFirmwareVersion) {
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this.firmwareVersion = matchFirmwareVersion[1];
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}
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@@ -28,7 +30,7 @@ class ConfigFile {
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if (matchFirstParameterRow === null || matchFirstParameterRow === void 0 ? void 0 : matchFirstParameterRow.index) {
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this.header = content.slice(0, matchFirstParameterRow.index - 1);
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}
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this.parameters = parseResult.data
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this.parameters = this.parseResult.data
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.filter(([c0]) => c0.startsWith('0x'))
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.map(([c0, c1, c2]) => {
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const index = parseInt(c0, 16);
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@@ -39,6 +41,25 @@ class ConfigFile {
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})
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.sort(parameter_1.parametersCompareFn);
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}
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get firmwareId() {
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return this.apiId;
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}
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get isSmmConfigFile() {
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for (const parameter of this.parameters) {
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if ((0, parameter_1.isSmmIndex)(parameter.index)) {
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return true;
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}
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}
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return false;
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}
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get hasParseErrors() {
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var _a, _b;
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return ((_b = (_a = this.parseResult) === null || _a === void 0 ? void 0 : _a.errors.length) !== null && _b !== void 0 ? _b : 0) > 0;
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}
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get numberOfParameters() {
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var _a, _b;
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return (_b = (_a = this.parameters) === null || _a === void 0 ? void 0 : _a.length) !== null && _b !== void 0 ? _b : 0;
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}
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toString() {
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let out = this.parameters.map((p) => { var _a, _b; return `0x${(_a = p.index) === null || _a === void 0 ? void 0 : _a.toString(16)}, ${(_b = p.subindex) === null || _b === void 0 ? void 0 : _b.toString(10)}, ${p.value}`; }).join('\n');
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if (this.header) {
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@@ -1 +1 @@
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1
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{"version":3,"file":"config-file.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/config-file.ts"],"names":[],"mappings":"
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{"version":3,"file":"config-file.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/config-file.ts"],"names":[],"mappings":";;;AAAA,yCAA+C;AAC/C,2CAAyE;AAKzE;;GAEG;AACH,MAAa,UAAU;IASrB,YACkB,OAAe,EACf,IAA4D;;QAD5D,YAAO,GAAP,OAAO,CAAQ;QACf,SAAI,GAAJ,IAAI,CAAwD;QAE5E,IAAI,CAAC,WAAW,GAAG,IAAA,iBAAK,EAAW,OAAO,EAAE;YAC1C,cAAc,EAAE,IAAI;YACpB,SAAS,EAAE,CAAC,KAAa,EAAE,EAAE,CAAC,KAAK,CAAC,IAAI,EAAE;SAC3C,CAAC,CAAC;QAEH,IAAI,CAAA,MAAA,MAAA,IAAI,CAAC,WAAW,0CAAE,MAAM,0CAAE,MAAM,IAAG,CAAC,EAAE;YACxC,MAAM,IAAI,KAAK,CAAC,6DAA6D,CAAC,CAAC;SAChF;QAED,MAAM,UAAU,GAAG,OAAO,CAAC,KAAK,CAAC,qCAAqC,CAAC,CAAC;QACxE,IAAI,UAAU,EAAE;YACd,IAAI,CAAC,KAAK,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;SAC5B;QAED,MAAM,oBAAoB,GAAG,OAAO,CAAC,KAAK,CAAC,cAAc,CAAC,CAAC;QAC3D,IAAI,oBAAoB,EAAE;YACxB,IAAI,CAAC,eAAe,GAAG,oBAAoB,CAAC,CAAC,CAAC,CAAC;SAChD;QAED,MAAM,sBAAsB,GAAG,OAAO,CAAC,KAAK,CAAC,WAAW,CAAC,CAAC;QAC1D,IAAI,sBAAsB,aAAtB,sBAAsB,uBAAtB,sBAAsB,CAAE,KAAK,EAAE;YACjC,IAAI,CAAC,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC,EAAE,sBAAsB,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC;SAClE;QAED,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,WAAW,CAAC,IAAI;aACpC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;aACrC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE;YACpB,MAAM,KAAK,GAAG,QAAQ,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;YAC/B,MAAM,QAAQ,GAAG,QAAQ,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;YAClC,MAAM,QAAQ,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC;YAC5B,MAAM,KAAK,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,QAAQ,CAAC;YAC9C,OAAO,EAAE,KAAK,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC;QACpC,CAAC,CAAC;aACD,IAAI,CAAC,+BAAmB,CAAC,CAAC;IAC/B,CAAC;IAED,IAAI,UAAU;QACZ,OAAO,IAAI,CAAC,KAAK,CAAC;IACpB,CAAC;IAED,IAAI,eAAe;QACjB,KAAK,MAAM,SAAS,IAAI,IAAI,CAAC,UAAU,EAAE;YACvC,IAAI,IAAA,sBAAU,EAAC,SAAS,CAAC,KAAK,CAAC,EAAE;gBAC/B,OAAO,IAAI,CAAC;aACb;SACF;QACD,OAAO,KAAK,CAAC;IACf,CAAC;IAED,IAAI,cAAc;;QAChB,OAAO,CAAC,MAAA,MAAA,IAAI,CAAC,WAAW,0CAAE,MAAM,CAAC,MAAM,mCAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IACpD,CAAC;IAED,IAAI,kBAAkB;;QACpB,OAAO,MAAA,MAAA,IAAI,CAAC,UAAU,0CAAE,MAAM,mCAAI,CAAC,CAAC;IACtC,CAAC;IAED,QAAQ;QACN,IAAI,GAAG,GAAG,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,eAAC,OAAA,KAAK,MAAA,CAAC,CAAC,KAAK,0CAAE,QAAQ,CAAC,EAAE,CAAC,KAAK,MAAA,CAAC,CAAC,QAAQ,0CAAE,QAAQ,CAAC,EAAE,CAAC,KAAK,CAAC,CAAC,KAAK,EAAE,CAAA,EAAA,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QACvH,IAAI,IAAI,CAAC,MAAM,EAAE;YACf,GAAG,GAAG,IAAI,CAAC,MAAM,GAAG,IAAI,GAAG,GAAG,CAAC;SAChC;QACD,OAAO,GAAG,GAAG,IAAI,CAAC;IACpB,CAAC;CAEF;AA9ED,gCA8EC"}
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package/src/lib/firmware.js
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exports.resolveInstallableFirmwares = 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;
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const hardware_description_1 = require("./hardware-description");
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const semver_1 = require("semver");
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exports.firmwareIdRegExp =
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exports.newFirmwarePackageFilenameRegExp =
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exports.oldFirmwarePackageFilenameRegExp =
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exports.firmwareIdRegExp = /\d{4}-\d{2}(-\d{4})?(-\d+)*/;
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exports.newFirmwarePackageFilenameRegExp = /package_(.*).zip/;
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exports.oldFirmwarePackageFilenameRegExp = /package-motion-drive_(.*).zip/;
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/**
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* Parses the FWID string and returns an instance of the {@link FirmwareId} object.
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package/src/lib/firmware.js.map
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{"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,
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+
{"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,6BAA6B,CAAC;AACjD,QAAA,gCAAgC,GAAG,kBAAkB,CAAC;AACtD,QAAA,gCAAgC,GAAG,+BAA+B,CAAC;AA8EhF;;;;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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|
|
@@ -74,7 +74,7 @@ class IntegroEncoderCalibration {
|
|
|
74
74
|
this.notifications$.next(`Setting the integrated encoder sampling frequency to 16 kHz (${hex(encoderConfigurationIndex)}:28 = 1).`);
|
|
75
75
|
yield this.client.request.download(this.deviceRef, encoderConfigurationIndex, 28, 1);
|
|
76
76
|
yield (0, util_1.resolveAfter)(200);
|
|
77
|
-
yield this.client.request.
|
|
77
|
+
yield this.client.request.forceOnDemandParametersUpdate(this.deviceRef);
|
|
78
78
|
this.notifications$.next('Switching the source of the velocity to the value provided by the encoder.');
|
|
79
79
|
yield (0, rxjs_1.lastValueFrom)(this.client.request.runUseInternalEncoderVelocityOsCommand(this.deviceRef, 1, 10000, 1000, false));
|
|
80
80
|
yield (0, util_1.resolveAfter)(200);
|
|
@@ -394,7 +394,7 @@ class IntegroEncoderCalibration {
|
|
|
394
394
|
yield this.client.request.download(this.deviceRef, 0x6092, 1, this.feedConstantFeed);
|
|
395
395
|
this.notifications$.next(`Setting the Feed constant Shaft revolutions (0x6092:02) to ${this.feedConstantShaftRevolutions}.`);
|
|
396
396
|
yield this.client.request.download(this.deviceRef, 0x6092, 2, this.feedConstantShaftRevolutions);
|
|
397
|
-
yield this.client.request.
|
|
397
|
+
yield this.client.request.forceOnDemandParametersUpdate(this.deviceRef);
|
|
398
398
|
}
|
|
399
399
|
});
|
|
400
400
|
}
|
|
@@ -406,7 +406,7 @@ class IntegroEncoderCalibration {
|
|
|
406
406
|
yield this.client.request.download(this.deviceRef, 0x6092, 1, this.originalFeedConstantFeed);
|
|
407
407
|
this.notifications$.next(`Reverting the Feed constant Shaft revolutions (0x6092:02) to ${this.originalFeedConstantShaftRevolutions}.`);
|
|
408
408
|
yield this.client.request.download(this.deviceRef, 0x6092, 2, this.originalFeedConstantShaftRevolutions);
|
|
409
|
-
yield this.client.request.
|
|
409
|
+
yield this.client.request.forceOnDemandParametersUpdate(this.deviceRef);
|
|
410
410
|
this.notifications$.next(`Reverting the Max motor speed (0x6080:00) to ${this.originalMaxMotorSpeed}.`);
|
|
411
411
|
yield this.client.request.download(this.deviceRef, 0x6080, 0, this.originalMaxMotorSpeed);
|
|
412
412
|
this.notifications$.next(`Reverting the Quick stop deceleration (0x6085:00) to ${this.originalQuickStopDeceleration}.`);
|
|
@@ -1 +1 @@
|
|
|
1
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-
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|
|
1
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+
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|
|
@@ -1,15 +1,27 @@
|
|
|
1
|
+
import { Observable } from "rxjs";
|
|
2
|
+
import { MotionMasterClient } from "./motion-master-client";
|
|
1
3
|
import { DeviceRef } from "./types";
|
|
2
|
-
export type
|
|
4
|
+
export type MotionComposerFlowCommandType = 'download' | 'quickStop' | 'resetFault' | 'runVelocityProfile' | 'setCia402State' | 'setModesOfOperation' | 'delay';
|
|
5
|
+
export type MotionComposerFlowCommandStatus = 'failed' | 'running' | 'succeeded';
|
|
3
6
|
export interface MotionComposerFlowCommand {
|
|
4
|
-
|
|
7
|
+
type: MotionComposerFlowCommandType;
|
|
5
8
|
deviceRef?: DeviceRef;
|
|
9
|
+
status?: MotionComposerFlowCommandStatus;
|
|
10
|
+
statusMessage?: string;
|
|
6
11
|
}
|
|
7
12
|
export interface MotionComposerFlow {
|
|
8
|
-
name
|
|
9
|
-
repeat
|
|
13
|
+
name?: string;
|
|
14
|
+
repeat?: boolean;
|
|
10
15
|
commands: MotionComposerFlowCommand[];
|
|
11
16
|
}
|
|
12
17
|
export interface MotionComposer {
|
|
13
|
-
name
|
|
18
|
+
name?: string;
|
|
14
19
|
flows: MotionComposerFlow[];
|
|
15
20
|
}
|
|
21
|
+
export declare class MotionComposerRunner {
|
|
22
|
+
private client;
|
|
23
|
+
private stop$;
|
|
24
|
+
constructor(client: MotionMasterClient);
|
|
25
|
+
run(motionComposer: MotionComposer): Observable<MotionComposer>;
|
|
26
|
+
stop(): void;
|
|
27
|
+
}
|
|
@@ -1,3 +1,110 @@
|
|
|
1
1
|
"use strict";
|
|
2
2
|
Object.defineProperty(exports, "__esModule", { value: true });
|
|
3
|
+
exports.MotionComposerRunner = void 0;
|
|
4
|
+
const tslib_1 = require("tslib");
|
|
5
|
+
const rxjs_1 = require("rxjs");
|
|
6
|
+
const motion_master_client_1 = require("./motion-master-client");
|
|
7
|
+
const util_1 = require("./util");
|
|
8
|
+
Object.assign(globalThis, { WebSocket: require('ws') });
|
|
9
|
+
class MotionComposerRunner {
|
|
10
|
+
constructor(client) {
|
|
11
|
+
this.client = client;
|
|
12
|
+
this.stop$ = new rxjs_1.Subject;
|
|
13
|
+
}
|
|
14
|
+
run(motionComposer) {
|
|
15
|
+
// Clone the provided composer data to allow updates to command statuses during execution.
|
|
16
|
+
const mc = structuredClone(motionComposer);
|
|
17
|
+
// Resets the status of all commands to 'idle'.
|
|
18
|
+
mc.flows.forEach((flow) => flow.commands.forEach((command) => command.status = undefined));
|
|
19
|
+
return (0, rxjs_1.from)(mc.flows).pipe(
|
|
20
|
+
// Process each flow concurrently.
|
|
21
|
+
(0, rxjs_1.mergeMap)((flow) => (0, rxjs_1.from)(flow.commands).pipe(
|
|
22
|
+
// Execute each command sequentially.
|
|
23
|
+
(0, rxjs_1.concatMap)((command) => {
|
|
24
|
+
command.status = 'running';
|
|
25
|
+
const startEmission = (0, rxjs_1.of)(mc);
|
|
26
|
+
const executeCommand = (() => tslib_1.__awaiter(this, void 0, void 0, function* () {
|
|
27
|
+
switch (command.type) {
|
|
28
|
+
case 'quickStop':
|
|
29
|
+
try {
|
|
30
|
+
yield this.client.request.quickStop(command.deviceRef);
|
|
31
|
+
command.status = 'succeeded';
|
|
32
|
+
}
|
|
33
|
+
catch (err) {
|
|
34
|
+
command.status = 'failed';
|
|
35
|
+
if (err instanceof Error) {
|
|
36
|
+
command.statusMessage = err.message;
|
|
37
|
+
}
|
|
38
|
+
}
|
|
39
|
+
break;
|
|
40
|
+
case 'delay':
|
|
41
|
+
yield (0, util_1.resolveAfter)(1000);
|
|
42
|
+
break;
|
|
43
|
+
case 'resetFault':
|
|
44
|
+
try {
|
|
45
|
+
yield this.client.request.resetFault(command.deviceRef);
|
|
46
|
+
command.status = 'succeeded';
|
|
47
|
+
}
|
|
48
|
+
catch (err) {
|
|
49
|
+
command.status = 'failed';
|
|
50
|
+
if (err instanceof Error) {
|
|
51
|
+
command.statusMessage = err.message;
|
|
52
|
+
}
|
|
53
|
+
}
|
|
54
|
+
break;
|
|
55
|
+
case 'runVelocityProfile':
|
|
56
|
+
try {
|
|
57
|
+
yield this.client.runVelocityProfile(command.deviceRef, { acceleration: 1000, deceleration: 1000, target: 200 });
|
|
58
|
+
command.status = 'succeeded';
|
|
59
|
+
}
|
|
60
|
+
catch (err) {
|
|
61
|
+
command.status = 'failed';
|
|
62
|
+
if (err instanceof Error) {
|
|
63
|
+
command.statusMessage = err.message;
|
|
64
|
+
}
|
|
65
|
+
}
|
|
66
|
+
break;
|
|
67
|
+
}
|
|
68
|
+
return mc;
|
|
69
|
+
}))();
|
|
70
|
+
const endEmission = (0, rxjs_1.from)(executeCommand);
|
|
71
|
+
// Emit twice: once when the command starts, and once when it ends.
|
|
72
|
+
return (0, rxjs_1.concat)(startEmission, endEmission);
|
|
73
|
+
}), (0, rxjs_1.takeUntil)(this.stop$))));
|
|
74
|
+
}
|
|
75
|
+
stop() {
|
|
76
|
+
this.stop$.next();
|
|
77
|
+
}
|
|
78
|
+
}
|
|
79
|
+
exports.MotionComposerRunner = MotionComposerRunner;
|
|
80
|
+
console.log('RUN MOTION COMPOSER EXAMPLE');
|
|
81
|
+
const client = (0, motion_master_client_1.createMotionMasterClient)();
|
|
82
|
+
const motionComposerRunner = new MotionComposerRunner(client);
|
|
83
|
+
const motionComposerExample = {
|
|
84
|
+
flows: [
|
|
85
|
+
{
|
|
86
|
+
commands: [
|
|
87
|
+
{ type: 'quickStop', deviceRef: 1 },
|
|
88
|
+
{ type: 'delay' },
|
|
89
|
+
],
|
|
90
|
+
},
|
|
91
|
+
{
|
|
92
|
+
commands: [
|
|
93
|
+
{ type: 'download' },
|
|
94
|
+
{ type: 'resetFault', deviceRef: 1 },
|
|
95
|
+
{ type: 'runVelocityProfile', deviceRef: 1 },
|
|
96
|
+
],
|
|
97
|
+
},
|
|
98
|
+
],
|
|
99
|
+
};
|
|
100
|
+
motionComposerRunner.run(motionComposerExample).subscribe({
|
|
101
|
+
next: (motionComposer) => {
|
|
102
|
+
console.log(JSON.stringify(motionComposer));
|
|
103
|
+
},
|
|
104
|
+
error: (err) => {
|
|
105
|
+
console.error(err);
|
|
106
|
+
client.closeSockets();
|
|
107
|
+
},
|
|
108
|
+
complete: () => client.closeSockets(),
|
|
109
|
+
});
|
|
3
110
|
//# sourceMappingURL=motion-composer.js.map
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"motion-composer.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/motion-composer.ts"],"names":[],"mappings":""}
|
|
1
|
+
{"version":3,"file":"motion-composer.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/motion-composer.ts"],"names":[],"mappings":";;;;AAAA,+BAA6F;AAC7F,iEAAsF;AAEtF,iCAAsC;AAEtC,MAAM,CAAC,MAAM,CAAC,UAAU,EAAE,EAAE,SAAS,EAAE,OAAO,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;AAoCxD,MAAa,oBAAoB;IAI/B,YACU,MAA0B;QAA1B,WAAM,GAAN,MAAM,CAAoB;QAH5B,UAAK,GAAG,IAAI,cAAa,CAAC;IAI9B,CAAC;IAEL,GAAG,CAAC,cAA8B;QAChC,0FAA0F;QAC1F,MAAM,EAAE,GAAG,eAAe,CAAC,cAAc,CAAC,CAAC;QAE3C,+CAA+C;QAC/C,EAAE,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,IAAI,CAAC,QAAQ,CAAC,OAAO,CAAC,CAAC,OAAO,EAAE,EAAE,CAAC,OAAO,CAAC,MAAM,GAAG,SAAS,CAAC,CAAC,CAAC;QAE3F,OAAO,IAAA,WAAI,EAAC,EAAE,CAAC,KAAK,CAAC,CAAC,IAAI;QACxB,kCAAkC;QAClC,IAAA,eAAQ,EAAC,CAAC,IAAI,EAAE,EAAE,CAAC,IAAA,WAAI,EAAC,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI;QACzC,qCAAqC;QACrC,IAAA,gBAAS,EAAC,CAAC,OAAO,EAAE,EAAE;YACpB,OAAO,CAAC,MAAM,GAAG,SAAS,CAAC;YAC3B,MAAM,aAAa,GAAG,IAAA,SAAE,EAAC,EAAE,CAAC,CAAC;YAE7B,MAAM,cAAc,GAAG,CAAC,GAAS,EAAE;gBACjC,QAAQ,OAAO,CAAC,IAAI,EAAE;oBACpB,KAAK,WAAW;wBACd,IAAI;4BACF,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,OAAO,CAAC,SAAU,CAAC,CAAC;4BACxD,OAAO,CAAC,MAAM,GAAG,WAAW,CAAC;yBAC9B;wBAAC,OAAO,GAAG,EAAE;4BACZ,OAAO,CAAC,MAAM,GAAG,QAAQ,CAAC;4BAC1B,IAAI,GAAG,YAAY,KAAK,EAAE;gCACxB,OAAO,CAAC,aAAa,GAAG,GAAG,CAAC,OAAO,CAAC;6BACrC;yBACF;wBACD,MAAM;oBACR,KAAK,OAAO;wBACV,MAAM,IAAA,mBAAY,EAAC,IAAI,CAAC,CAAC;wBACzB,MAAM;oBACR,KAAK,YAAY;wBACf,IAAI;4BACF,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,UAAU,CAAC,OAAO,CAAC,SAAU,CAAC,CAAC;4BACzD,OAAO,CAAC,MAAM,GAAG,WAAW,CAAC;yBAC9B;wBAAC,OAAO,GAAG,EAAE;4BACZ,OAAO,CAAC,MAAM,GAAG,QAAQ,CAAC;4BAC1B,IAAI,GAAG,YAAY,KAAK,EAAE;gCACxB,OAAO,CAAC,aAAa,GAAG,GAAG,CAAC,OAAO,CAAC;6BACrC;yBACF;wBACD,MAAM;oBACR,KAAK,oBAAoB;wBACvB,IAAI;4BACF,MAAM,IAAI,CAAC,MAAM,CAAC,kBAAkB,CAAC,OAAO,CAAC,SAAU,EAAE,EAAE,YAAY,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC;4BAClH,OAAO,CAAC,MAAM,GAAG,WAAW,CAAC;yBAC9B;wBAAC,OAAO,GAAG,EAAE;4BACZ,OAAO,CAAC,MAAM,GAAG,QAAQ,CAAC;4BAC1B,IAAI,GAAG,YAAY,KAAK,EAAE;gCACxB,OAAO,CAAC,aAAa,GAAG,GAAG,CAAC,OAAO,CAAC;6BACrC;yBACF;wBACD,MAAM;iBACT;gBACD,OAAO,EAAE,CAAC;YACZ,CAAC,CAAA,CAAC,EAAE,CAAC;YAEL,MAAM,WAAW,GAAG,IAAA,WAAI,EAAC,cAAc,CAAC,CAAC;YAEzC,mEAAmE;YACnE,OAAO,IAAA,aAAM,EAAC,aAAa,EAAE,WAAW,CAAC,CAAC;QAC5C,CAAC,CAAC,EACF,IAAA,gBAAS,EAAC,IAAI,CAAC,KAAK,CAAC,CACtB,CAAC,CACH,CAAC;IACJ,CAAC;IAED,IAAI;QACF,IAAI,CAAC,KAAK,CAAC,IAAI,EAAE,CAAC;IACpB,CAAC;CAEF;AA/ED,oDA+EC;AAED,OAAO,CAAC,GAAG,CAAC,6BAA6B,CAAC,CAAC;AAE3C,MAAM,MAAM,GAAG,IAAA,+CAAwB,GAAE,CAAC;AAE1C,MAAM,oBAAoB,GAAG,IAAI,oBAAoB,CAAC,MAAM,CAAC,CAAC;AAE9D,MAAM,qBAAqB,GAAmB;IAC5C,KAAK,EAAE;QACL;YACE,QAAQ,EAAE;gBACR,EAAE,IAAI,EAAE,WAAW,EAAE,SAAS,EAAE,CAAC,EAAE;gBACnC,EAAE,IAAI,EAAE,OAAO,EAAE;aAClB;SACF;QACD;YACE,QAAQ,EAAE;gBACR,EAAE,IAAI,EAAE,UAAU,EAAE;gBACpB,EAAE,IAAI,EAAE,YAAY,EAAE,SAAS,EAAE,CAAC,EAAE;gBACpC,EAAE,IAAI,EAAE,oBAAoB,EAAE,SAAS,EAAE,CAAC,EAAE;aAC7C;SACF;KACF;CACF,CAAC;AAEF,oBAAoB,CAAC,GAAG,CAAC,qBAAqB,CAAC,CAAC,SAAS,CAAC;IACxD,IAAI,EAAE,CAAC,cAAc,EAAE,EAAE;QACvB,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,SAAS,CAAC,cAAc,CAAC,CAAC,CAAC;IAC9C,CAAC;IACD,KAAK,EAAE,CAAC,GAAG,EAAE,EAAE;QACb,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QACnB,MAAM,CAAC,YAAY,EAAE,CAAC;IACxB,CAAC;IACD,QAAQ,EAAE,GAAG,EAAE,CAAC,MAAM,CAAC,YAAY,EAAE;CACtC,CAAC,CAAC"}
|
|
@@ -9,6 +9,7 @@ import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DevicePara
|
|
|
9
9
|
import { Cia402State, ModesOfOperation } from "./cia402";
|
|
10
10
|
import { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse, IcMuCalibrationModeOsCommandResponse, OpenLoopFieldModeOsCommandResponse, HrdStreamingOsCommandResponse, TorqueConstantMeasurementOsCommandResponse, SkippedCyclesCounterOsCommandResponse, IgnoreBissStatusBitsOsCommandResponse, SystemIdentificationOsCommandResponse, KublerEncoderCommandOsCommandResponse, UseInternalEncoderVelocityOsCommandResponse, KublerEncoderRegisterCommunicationOsCommandResponse, SmmAcyclicHandlerOsCommandResponse } from "./os-command";
|
|
11
11
|
import { IntegroVariant } from "./integro-variant";
|
|
12
|
+
import { ConfigParameter } from './config-file';
|
|
12
13
|
/**
|
|
13
14
|
* This class contains methods for making requests to Motion Master using the injected request/response socket.
|
|
14
15
|
*
|
|
@@ -913,37 +914,27 @@ export declare class MotionMasterReqResClient {
|
|
|
913
914
|
*/
|
|
914
915
|
storeParameters(deviceRef: DeviceRef): Observable<void>;
|
|
915
916
|
/**
|
|
916
|
-
* Restore
|
|
917
|
+
* Restore default parameters.
|
|
917
918
|
*
|
|
918
|
-
* Sends a command to the device to restore all default parameters (0x1011:01
|
|
919
|
-
* After
|
|
920
|
-
*
|
|
919
|
+
* Sends a command to the device to restore all default parameters (0x1011:01) or manufacturer default parameters (0x1011:04).
|
|
920
|
+
* After setting the value to 0x64616f6c, the function briefly waits and checks if 0x1011:01 updates to 1,
|
|
921
|
+
* confirming the restoration process has completed successfully. This check will retry a few times and will fail if the value doesn't revert to 1.
|
|
921
922
|
*
|
|
922
|
-
*
|
|
923
|
-
* and finally from the .assembly_config file
|
|
923
|
+
* For 0x1011:01, the configuration is loaded in the following order: first from the .factory_config file,
|
|
924
|
+
* then from the config.csv file, and finally from the .assembly_config file, with values in the latter files overriding earlier ones.
|
|
924
925
|
*
|
|
925
|
-
*
|
|
926
|
-
*
|
|
927
|
-
* For more information, refer to the documentation:
|
|
928
|
-
* {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
|
|
929
|
-
*/
|
|
930
|
-
restoreAllDefaultParameters(deviceRef: DeviceRef, type?: RestoreDefaultParametersType, retryConfig?: RetryConfig): Observable<void>;
|
|
931
|
-
/**
|
|
932
|
-
* Restore manufacturer default parameters.
|
|
933
|
-
*
|
|
934
|
-
* Sends a command to the device to restore manufacturer default parameters (0x1011:04 = 0x64616f6c).
|
|
935
|
-
* After issuing the command, the function briefly waits and then checks if the parameter
|
|
936
|
-
* 0x1011:04 is updated to 1, indicating that the restoration process has completed successfully.
|
|
937
|
-
*
|
|
938
|
-
* The configuration is first loaded from the .factory_config file, followed by the .assembly_config file,
|
|
926
|
+
* For 0x1011:04, the configuration is loaded from the .factory_config file, followed by the .assembly_config file,
|
|
939
927
|
* with values in the latter overriding those in the former.
|
|
940
928
|
*
|
|
941
|
-
*
|
|
929
|
+
* Restoring default parameters will only override those stored in .factory_config, config.csv, and .assembly_config.
|
|
930
|
+
* All other parameters, such as target values and PDO mappings, will remain unchanged.
|
|
931
|
+
*
|
|
932
|
+
* @throws Error if the device does not revert the value to 1 after the specified number of retries.
|
|
942
933
|
*
|
|
943
934
|
* For more information, refer to the documentation:
|
|
944
935
|
* {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
|
|
945
936
|
*/
|
|
946
|
-
|
|
937
|
+
restoreDefaultParameters(deviceRef: DeviceRef, type?: RestoreDefaultParametersType, retryConfig?: RetryConfig): Observable<void>;
|
|
947
938
|
/**
|
|
948
939
|
* Match parameter value.
|
|
949
940
|
*
|
|
@@ -989,8 +980,8 @@ export declare class MotionMasterReqResClient {
|
|
|
989
980
|
/**
|
|
990
981
|
* The firmware distinguishes between two types of parameters (configuration objects):
|
|
991
982
|
*
|
|
992
|
-
* - **
|
|
993
|
-
* - **
|
|
983
|
+
* - **Live objects:** Parameters read by the firmware during each loop, regardless of the CiA402 state of the device.
|
|
984
|
+
* - **On-demand objects:** Parameters read by the firmware only when one of the following conditions is met:
|
|
994
985
|
* - Communication with the master has just been established.
|
|
995
986
|
* - Configuration has just been loaded from `config.csv`, `.assembly_config`, or `.factory_config` files.
|
|
996
987
|
* - A transition in the CiA402 state machine from "Switch On Disabled" to "Ready to Switch On" occurs.
|
|
@@ -998,9 +989,9 @@ export declare class MotionMasterReqResClient {
|
|
|
998
989
|
*
|
|
999
990
|
* This function will reset the fault if the device is in a fault state;
|
|
1000
991
|
* otherwise, it will transition the CiA402 state from the current state to "Switch On Disabled," and then to "Ready to Switch On."
|
|
1001
|
-
* This process ensures that the values of the
|
|
992
|
+
* This process ensures that the values of the on-demand parameters, which do not apply immediately, are correctly applied.
|
|
1002
993
|
*/
|
|
1003
|
-
|
|
994
|
+
forceOnDemandParametersUpdate(deviceRef: DeviceRef): Promise<void>;
|
|
1004
995
|
/**
|
|
1005
996
|
* Reset fault.
|
|
1006
997
|
*
|
|
@@ -1154,11 +1145,19 @@ export declare class MotionMasterReqResClient {
|
|
|
1154
1145
|
* Replace the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
|
|
1155
1146
|
* The new configuration is loaded using the 0x1011: Restore Default Parameters object.
|
|
1156
1147
|
*
|
|
1157
|
-
* {@link
|
|
1148
|
+
* {@link restoreDefaultParameters}
|
|
1158
1149
|
*/
|
|
1159
1150
|
loadConfig(deviceRef: DeviceRef, content: Uint8Array | string, retryConfig?: RetryConfig): Observable<void>;
|
|
1160
1151
|
/**
|
|
1161
1152
|
* Checks if the device has firmware by reading the Manufacturer Software Version parameter (0x100A:00).
|
|
1162
1153
|
*/
|
|
1163
1154
|
hasFirmware(deviceRef: DeviceRef): Observable<boolean>;
|
|
1155
|
+
/**
|
|
1156
|
+
* Reads the contents of configuration CSV files in the specified order and returns a list of unique configuration parameters.
|
|
1157
|
+
* If the files are provided in the order: '.factory_config', 'config.csv', '.assembly_config', this function
|
|
1158
|
+
* mimics the firmware's behavior during "Restore All Default Parameters," retaining only the most recent value of any duplicated parameter.
|
|
1159
|
+
*
|
|
1160
|
+
* If config files do not exist or cannot be parsed, the function will continue executing for any files that can be processed.
|
|
1161
|
+
*/
|
|
1162
|
+
getConfigFileParameters(deviceRef: DeviceRef, filenames?: string[]): Observable<ConfigParameter[]>;
|
|
1164
1163
|
}
|
|
@@ -19,6 +19,7 @@ const cia402_3 = require("./cia402");
|
|
|
19
19
|
const os_command_1 = require("./os-command");
|
|
20
20
|
const util_1 = require("./util");
|
|
21
21
|
const integro_variant_1 = require("./integro-variant");
|
|
22
|
+
const config_file_1 = require("./config-file");
|
|
22
23
|
/**
|
|
23
24
|
* This class contains methods for making requests to Motion Master using the injected request/response socket.
|
|
24
25
|
*
|
|
@@ -1629,40 +1630,27 @@ class MotionMasterReqResClient {
|
|
|
1629
1630
|
(0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1010, 1, 1).pipe((0, operators_1.retry)({ count: 10, delay: 500 }))));
|
|
1630
1631
|
}
|
|
1631
1632
|
/**
|
|
1632
|
-
* Restore
|
|
1633
|
+
* Restore default parameters.
|
|
1633
1634
|
*
|
|
1634
|
-
* Sends a command to the device to restore all default parameters (0x1011:01
|
|
1635
|
-
* After
|
|
1636
|
-
*
|
|
1635
|
+
* Sends a command to the device to restore all default parameters (0x1011:01) or manufacturer default parameters (0x1011:04).
|
|
1636
|
+
* After setting the value to 0x64616f6c, the function briefly waits and checks if 0x1011:01 updates to 1,
|
|
1637
|
+
* confirming the restoration process has completed successfully. This check will retry a few times and will fail if the value doesn't revert to 1.
|
|
1637
1638
|
*
|
|
1638
|
-
*
|
|
1639
|
-
* and finally from the .assembly_config file
|
|
1639
|
+
* For 0x1011:01, the configuration is loaded in the following order: first from the .factory_config file,
|
|
1640
|
+
* then from the config.csv file, and finally from the .assembly_config file, with values in the latter files overriding earlier ones.
|
|
1640
1641
|
*
|
|
1641
|
-
*
|
|
1642
|
-
*
|
|
1643
|
-
* For more information, refer to the documentation:
|
|
1644
|
-
* {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
|
|
1645
|
-
*/
|
|
1646
|
-
restoreAllDefaultParameters(deviceRef, type = types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig = { count: 10, delay: 500 }) {
|
|
1647
|
-
return this.setParameterValue(deviceRef, 0x1011, type, 0x64616f6c).pipe(// "daol"
|
|
1648
|
-
(0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1011, type, 1).pipe((0, operators_1.retry)(retryConfig))));
|
|
1649
|
-
}
|
|
1650
|
-
/**
|
|
1651
|
-
* Restore manufacturer default parameters.
|
|
1652
|
-
*
|
|
1653
|
-
* Sends a command to the device to restore manufacturer default parameters (0x1011:04 = 0x64616f6c).
|
|
1654
|
-
* After issuing the command, the function briefly waits and then checks if the parameter
|
|
1655
|
-
* 0x1011:04 is updated to 1, indicating that the restoration process has completed successfully.
|
|
1656
|
-
*
|
|
1657
|
-
* The configuration is first loaded from the .factory_config file, followed by the .assembly_config file,
|
|
1642
|
+
* For 0x1011:04, the configuration is loaded from the .factory_config file, followed by the .assembly_config file,
|
|
1658
1643
|
* with values in the latter overriding those in the former.
|
|
1659
1644
|
*
|
|
1660
|
-
*
|
|
1645
|
+
* Restoring default parameters will only override those stored in .factory_config, config.csv, and .assembly_config.
|
|
1646
|
+
* All other parameters, such as target values and PDO mappings, will remain unchanged.
|
|
1647
|
+
*
|
|
1648
|
+
* @throws Error if the device does not revert the value to 1 after the specified number of retries.
|
|
1661
1649
|
*
|
|
1662
1650
|
* For more information, refer to the documentation:
|
|
1663
1651
|
* {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
|
|
1664
1652
|
*/
|
|
1665
|
-
|
|
1653
|
+
restoreDefaultParameters(deviceRef, type = types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig = { count: 10, delay: 500 }) {
|
|
1666
1654
|
return this.setParameterValue(deviceRef, 0x1011, type, 0x64616f6c).pipe(// "daol"
|
|
1667
1655
|
(0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1011, type, 1).pipe((0, operators_1.retry)(retryConfig))));
|
|
1668
1656
|
}
|
|
@@ -1774,8 +1762,8 @@ class MotionMasterReqResClient {
|
|
|
1774
1762
|
/**
|
|
1775
1763
|
* The firmware distinguishes between two types of parameters (configuration objects):
|
|
1776
1764
|
*
|
|
1777
|
-
* - **
|
|
1778
|
-
* - **
|
|
1765
|
+
* - **Live objects:** Parameters read by the firmware during each loop, regardless of the CiA402 state of the device.
|
|
1766
|
+
* - **On-demand objects:** Parameters read by the firmware only when one of the following conditions is met:
|
|
1779
1767
|
* - Communication with the master has just been established.
|
|
1780
1768
|
* - Configuration has just been loaded from `config.csv`, `.assembly_config`, or `.factory_config` files.
|
|
1781
1769
|
* - A transition in the CiA402 state machine from "Switch On Disabled" to "Ready to Switch On" occurs.
|
|
@@ -1783,9 +1771,9 @@ class MotionMasterReqResClient {
|
|
|
1783
1771
|
*
|
|
1784
1772
|
* This function will reset the fault if the device is in a fault state;
|
|
1785
1773
|
* otherwise, it will transition the CiA402 state from the current state to "Switch On Disabled," and then to "Ready to Switch On."
|
|
1786
|
-
* This process ensures that the values of the
|
|
1774
|
+
* This process ensures that the values of the on-demand parameters, which do not apply immediately, are correctly applied.
|
|
1787
1775
|
*/
|
|
1788
|
-
|
|
1776
|
+
forceOnDemandParametersUpdate(deviceRef) {
|
|
1789
1777
|
return tslib_1.__awaiter(this, void 0, void 0, function* () {
|
|
1790
1778
|
const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
|
|
1791
1779
|
if (currentState === cia402_1.Cia402State.FAULT) {
|
|
@@ -2131,14 +2119,14 @@ class MotionMasterReqResClient {
|
|
|
2131
2119
|
* Replace the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
|
|
2132
2120
|
* The new configuration is loaded using the 0x1011: Restore Default Parameters object.
|
|
2133
2121
|
*
|
|
2134
|
-
* {@link
|
|
2122
|
+
* {@link restoreDefaultParameters}
|
|
2135
2123
|
*/
|
|
2136
2124
|
loadConfig(deviceRef, content, retryConfig = { count: 10, delay: 500 }) {
|
|
2137
2125
|
if (typeof content === 'string') {
|
|
2138
2126
|
const encoder = new TextEncoder();
|
|
2139
2127
|
content = encoder.encode(content);
|
|
2140
2128
|
}
|
|
2141
|
-
return this.setFile(deviceRef, 'config.csv', content, true).pipe((0, operators_1.mergeMap)(() => this.
|
|
2129
|
+
return this.setFile(deviceRef, 'config.csv', content, true).pipe((0, operators_1.mergeMap)(() => this.restoreDefaultParameters(deviceRef, types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig)));
|
|
2142
2130
|
}
|
|
2143
2131
|
/**
|
|
2144
2132
|
* Checks if the device has firmware by reading the Manufacturer Software Version parameter (0x100A:00).
|
|
@@ -2146,6 +2134,29 @@ class MotionMasterReqResClient {
|
|
|
2146
2134
|
hasFirmware(deviceRef) {
|
|
2147
2135
|
return this.getParameterValue(deviceRef, 0x100A, 0).pipe((0, operators_1.map)((value) => value ? true : false), (0, operators_1.catchError)(() => (0, rxjs_1.of)(false)));
|
|
2148
2136
|
}
|
|
2137
|
+
/**
|
|
2138
|
+
* Reads the contents of configuration CSV files in the specified order and returns a list of unique configuration parameters.
|
|
2139
|
+
* If the files are provided in the order: '.factory_config', 'config.csv', '.assembly_config', this function
|
|
2140
|
+
* mimics the firmware's behavior during "Restore All Default Parameters," retaining only the most recent value of any duplicated parameter.
|
|
2141
|
+
*
|
|
2142
|
+
* If config files do not exist or cannot be parsed, the function will continue executing for any files that can be processed.
|
|
2143
|
+
*/
|
|
2144
|
+
getConfigFileParameters(deviceRef, filenames = ['.factory_config', 'config.csv', '.assembly_config']) {
|
|
2145
|
+
return (0, rxjs_1.from)(filenames).pipe((0, operators_1.mergeMap)((name) => this.getDecodedFile(deviceRef, name)), // Retrieve and decode each config file into a UTF-8 string.
|
|
2146
|
+
(0, operators_1.map)((content) => new config_file_1.ConfigFile(content)), // Parse the content and create config parameters.
|
|
2147
|
+
(0, operators_1.catchError)(() => (0, rxjs_1.of)(undefined)), // Handles potential errors, such as a missing file or failure to instantiate ConfigFile due to parsing issues.
|
|
2148
|
+
(0, operators_1.map)((configFile) => { var _a; return (_a = configFile === null || configFile === void 0 ? void 0 : configFile.parameters) !== null && _a !== void 0 ? _a : []; }), // Extract the parameters from the config file.
|
|
2149
|
+
(0, operators_1.toArray)(), // Collect all emitted parameters into a single array.
|
|
2150
|
+
(0, operators_1.map)((allParameters) => {
|
|
2151
|
+
const parameters = allParameters.flat(); // Flatten the array into a single list of parameters.
|
|
2152
|
+
// Filter out duplicate parameters by 'index' and 'subindex', keeping only the most recent one.
|
|
2153
|
+
return Array.from(parameters.reduce((map, param) => {
|
|
2154
|
+
const key = (0, parameter_1.makeParameterId)(param.index, param.subindex);
|
|
2155
|
+
map.set(key, param); // Replace any existing entry with the same key.
|
|
2156
|
+
return map;
|
|
2157
|
+
}, new Map()).values());
|
|
2158
|
+
}));
|
|
2159
|
+
}
|
|
2149
2160
|
}
|
|
2150
2161
|
exports.MotionMasterReqResClient = MotionMasterReqResClient;
|
|
2151
2162
|
//# sourceMappingURL=motion-master-req-res-client.js.map
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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AI,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,IAAI,CAAC,UAAU,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC;YAE5H,MAAM,uBAAuB,GAAG,aAAa,CAAC,GAAG,CAAC,CAAC,IAAI,EAAE,EAAE;gBACzD,IAAI,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC,EAAE;oBACxB,OAAO,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,SAAS,EAAE,4BAAmB,CAAC,CAAC,IAAI,CAClE,IAAA,oBAAQ,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,UAAU,CAAC,SAAS,EAAE,IAAI,CAAC,CAAC,CACjD,CAAC,CAAC;iBACJ;qBAAM;oBACL,OAAO,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,UAAU,CAAC,SAAS,EAAE,IAAI,CAAC,CAAC,CAAC;iBACtD;YACH,CAAC,CAAC,CAAC;YAEH,OAAO,uBAAuB,CAAC,MAAM,GAAG,CAAC;gBACvC,CAAC,CAAC,IAAA,eAAQ,EAAC,uBAAuB,CAAC;gBACnC,CAAC,CAAC,IAAA,SAAE,EAAC,IAAI,CAAC,CAAC,CAAC,gDAAgD;QAChE,CAAC,CAAC,EACF,IAAA,oBAAQ,EAAC,GAAG,EAAE;YACZ,IAAI,oBAAoB,EAAE;gBACxB,OAAO,IAAI,CAAC,+BAA+B,iCACtC,IAAA,yBAAgB,EAAC,SAAS,CAAC,KAC9B,sBAAsB,EAAE,IAAI,UAAU,CAAC,IAAA,2BAAmB,EAAC,uBAAc,CAAC,CAAC,EAC3E,mBAAmB,EAAE,IAAI,KACxB,MAAM,CAAC,CAAC;aACZ;iBAAM,IAAI,cAAc,EAAE;gBACzB,OAAO,IAAI,CAAC,cAAc,CAAC,SAAS,CAAC,CAAC;aACvC;YACD,OAAO,IAAA,SAAE,EAAC,EAAE,OAAO,EAAE,WAAW,EAA0B,CAAC,CAAC;QAC9D,CAAC,CAAC,CACH,CAAC;IACJ,CAAC;IAED;;OAEG;IACH,mBAAmB,CAAC,SAAoB,EAAE,cAAc,GAAG,IAAI;QAC7D,OAAO,IAAI,CAAC,kBAAkB,CAAC;YAC7B,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC;YACtB,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,EAAE,oBAAoB;SAC7C,EAAE,KAAK,EAAE,cAAc,CAAC,CAAC,IAAI,CAC5B,IAAA,eAAG,EAAC,CAAC,MAAM,EAAE,EAAE,CAAE,MAAM,CAAC,CAAC,CAAY,GAAI,MAAM,CAAC,CAAC,CAAY,CAAC,CAC/D,CAAC;IACJ,CAAC;IAED;;;OAGG;IACH,UAAU,CAAC,SAAoB;QAC7B,OAAO,IAAI,CAAC,eAAe,CAAC,SAAS,CAAC,CAAC;IACzC,CAAC;IAED;;;;;OAKG;IACH,UAAU,CAAC,SAAoB,EAAE,OAA4B,EAAE,cAA2B,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE;QACjH,IAAI,OAAO,OAAO,KAAK,QAAQ,EAAE;YAC/B,MAAM,OAAO,GAAG,IAAI,WAAW,EAAE,CAAC;YAClC,OAAO,GAAG,OAAO,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC;SACnC;QACD,OAAO,IAAI,CAAC,OAAO,CAAC,SAAS,EAAE,YAAY,EAAE,OAAO,EAAE,IAAI,CAAC,CAAC,IAAI,CAC9D,IAAA,oBAAQ,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,wBAAwB,CAAC,SAAS,EAAE,oCAA4B,CAAC,8BAA8B,EAAE,WAAW,CAAC,CAAC,CACnI,CAAC;IACJ,CAAC;IAED;;OAEG;IACH,WAAW,CAAC,SAAoB;QAC9B,OAAO,IAAI,CAAC,iBAAiB,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC,IAAI,CACtD,IAAA,eAAG,EAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,KAAK,CAAC,EACpC,IAAA,sBAAU,EAAC,GAAG,EAAE,CAAC,IAAA,SAAE,EAAC,KAAK,CAAC,CAAC,CAC5B,CAAC;IACJ,CAAC;IAED;;;;;;OAMG;IACH,uBAAuB,CAAC,SAAoB,EAAE,YAAsB,CAAC,iBAAiB,EAAE,YAAY,EAAE,kBAAkB,CAAC;QACvH,OAAO,IAAA,WAAI,EAAC,SAAS,CAAC,CAAC,IAAI,CACzB,IAAA,oBAAQ,EAAC,CAAC,IAAI,EAAE,EAAE,CAAC,IAAI,CAAC,cAAc,CAAC,SAAS,EAAE,IAAI,CAAC,CAAC,EAAE,4DAA4D;QACtH,IAAA,eAAG,EAAC,CAAC,OAAO,EAAE,EAAE,CAAC,IAAI,wBAAU,CAAC,OAAO,CAAC,CAAC,EAAE,kDAAkD;QAC7F,IAAA,sBAAU,EAAC,GAAG,EAAE,CAAC,IAAA,SAAE,EAAC,SAAS,CAAC,CAAC,EAAE,+GAA+G;QAChJ,IAAA,eAAG,EAAC,CAAC,UAAU,EAAE,EAAE,WAAC,OAAA,MAAA,UAAU,aAAV,UAAU,uBAAV,UAAU,CAAE,UAAU,mCAAI,EAAE,CAAA,EAAA,CAAC,EAAE,+CAA+C;QAClG,IAAA,mBAAO,GAAE,EAAE,sDAAsD;QACjE,IAAA,eAAG,EAAC,CAAC,aAAa,EAAE,EAAE;YACpB,MAAM,UAAU,GAAG,aAAa,CAAC,IAAI,EAAE,CAAC,CAAC,sDAAsD;YAC/F,+FAA+F;YAC/F,OAAO,KAAK,CAAC,IAAI,CACf,UAAU,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,KAAK,EAAE,EAAE;gBAC/B,MAAM,GAAG,GAAG,IAAA,2BAAe,EAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;gBACzD,GAAG,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC,CAAC,gDAAgD;gBACrE,OAAO,GAAG,CAAC;YACb,CAAC,EAAE,IAAI,GAAG,EAA2B,CAAC,CAAC,MAAM,EAAE,CAChD,CAAC;QACJ,CAAC,CAAC,CACH,CAAC;IACJ,CAAC;CAEF;AAngFD,4DAmgFC"}
|
package/src/lib/parameter.d.ts
CHANGED
|
@@ -141,8 +141,16 @@ export declare function getParameterTypeValue(parameter: MotionMasterMessage.Sta
|
|
|
141
141
|
export declare function getParameterValue(parameter: MotionMasterMessage.Status.DeviceParameterValues.IParameterValue): ParameterValueType;
|
|
142
142
|
export declare function parseParameterValue(type: ParameterTypeValueKey, value: number | string): string | number | Uint8Array;
|
|
143
143
|
export declare function mapParameterTypeValueToObject(type: ParameterTypeValueKey, value: number | string): ParameterTypeValue;
|
|
144
|
+
/**
|
|
145
|
+
* The safety object index range in the CiA 402 profile is 0x6600 - 0x67EF.
|
|
146
|
+
* In the manufacturer-specific area, we mirror this range with 0x2600 - 0x27EF.
|
|
147
|
+
* However, prior to SMM, custom objects were added with indexes starting at 0x27.
|
|
148
|
+
* To avoid conflicts, we need to adjust the condition to include only object indexes up to 0x2700.
|
|
149
|
+
*/
|
|
150
|
+
export declare function isSmmIndex(index: number): boolean;
|
|
144
151
|
export declare function isRxPdoIndex(index: number): boolean;
|
|
145
152
|
export declare function isTxPdoIndex(index: number): boolean;
|
|
153
|
+
export declare function isPdoIndex(index: number): boolean;
|
|
146
154
|
export declare function filterRxPdoParameters<T extends ParameterIndexSubindex>(parameters: T[], excludeSubIndex000?: boolean): T[];
|
|
147
155
|
export declare function filterTxPdoParameters<T extends ParameterIndexSubindex>(parameters: T[], excludeSubIndex000?: boolean): T[];
|
|
148
156
|
export declare function fillPdoParametersWithMappingEntries(parameters: Parameter[], entriesPerPdo?: number): Parameter[];
|
package/src/lib/parameter.js
CHANGED
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
"use strict";
|
|
2
2
|
Object.defineProperty(exports, "__esModule", { value: true });
|
|
3
|
-
exports.createPdoParameterValues = exports.valueTypeToParameterTypeValueKeyMap = exports.mapValueTypeToBitSize = exports.mapParameterToPdoSubItemValue = exports.fillPdoParametersWithMappingEntries = exports.filterTxPdoParameters = exports.filterRxPdoParameters = exports.isTxPdoIndex = exports.isRxPdoIndex = exports.mapParameterTypeValueToObject = exports.parseParameterValue = exports.getParameterValue = exports.getParameterTypeValue = exports.getParameterTypeValueDefault = exports.compareParameters = exports.intersectionParametersWithDifferentValues = exports.intersectionParameters = exports.differenceParameters = exports.parametersCompareFn = exports.isParameterId = exports.splitParameterId = exports.parameterIdRegExp = exports.makeParameterId = void 0;
|
|
3
|
+
exports.createPdoParameterValues = exports.valueTypeToParameterTypeValueKeyMap = exports.mapValueTypeToBitSize = exports.mapParameterToPdoSubItemValue = exports.fillPdoParametersWithMappingEntries = exports.filterTxPdoParameters = exports.filterRxPdoParameters = exports.isPdoIndex = exports.isTxPdoIndex = exports.isRxPdoIndex = exports.isSmmIndex = exports.mapParameterTypeValueToObject = exports.parseParameterValue = exports.getParameterValue = exports.getParameterTypeValue = exports.getParameterTypeValueDefault = exports.compareParameters = exports.intersectionParametersWithDifferentValues = exports.intersectionParameters = exports.differenceParameters = exports.parametersCompareFn = exports.isParameterId = exports.splitParameterId = exports.parameterIdRegExp = exports.makeParameterId = void 0;
|
|
4
4
|
const types_1 = require("./types");
|
|
5
5
|
const lodash_1 = require("lodash");
|
|
6
6
|
function makeParameterId(a, b) {
|
|
@@ -246,6 +246,16 @@ function mapParameterTypeValueToObject(type, value) {
|
|
|
246
246
|
return p;
|
|
247
247
|
}
|
|
248
248
|
exports.mapParameterTypeValueToObject = mapParameterTypeValueToObject;
|
|
249
|
+
/**
|
|
250
|
+
* The safety object index range in the CiA 402 profile is 0x6600 - 0x67EF.
|
|
251
|
+
* In the manufacturer-specific area, we mirror this range with 0x2600 - 0x27EF.
|
|
252
|
+
* However, prior to SMM, custom objects were added with indexes starting at 0x27.
|
|
253
|
+
* To avoid conflicts, we need to adjust the condition to include only object indexes up to 0x2700.
|
|
254
|
+
*/
|
|
255
|
+
function isSmmIndex(index) {
|
|
256
|
+
return (index >= 0x2600 && index <= 0x26ff) || (index >= 0x6600 && index <= 0x67ef);
|
|
257
|
+
}
|
|
258
|
+
exports.isSmmIndex = isSmmIndex;
|
|
249
259
|
function isRxPdoIndex(index) {
|
|
250
260
|
return (0, lodash_1.inRange)(index, 0x1600, 0x1800);
|
|
251
261
|
}
|
|
@@ -254,6 +264,10 @@ function isTxPdoIndex(index) {
|
|
|
254
264
|
return (0, lodash_1.inRange)(index, 0x1A00, 0x1C00);
|
|
255
265
|
}
|
|
256
266
|
exports.isTxPdoIndex = isTxPdoIndex;
|
|
267
|
+
function isPdoIndex(index) {
|
|
268
|
+
return isRxPdoIndex(index) || isTxPdoIndex(index);
|
|
269
|
+
}
|
|
270
|
+
exports.isPdoIndex = isPdoIndex;
|
|
257
271
|
function filterRxPdoParameters(parameters, excludeSubIndex000 = false) {
|
|
258
272
|
return parameters.filter((p) => isRxPdoIndex(p.index) && (excludeSubIndex000 ? p.subindex > 0 : true)); // RxPDOs: Index area 0x1600 to 0x17FF
|
|
259
273
|
}
|
package/src/lib/parameter.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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1
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+
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