motion-master-client 0.0.178 → 0.0.179

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.178",
+  "version": "0.0.179",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/ethernet.d.ts

@@ -2,15 +2,15 @@ import { BaseDataType } from "./ethercat";
 import { ParameterValueType } from "./types";
 import { EthercatState } from "./ethercat";
 /**
- * Represents a parsed parameter object returned from the /odb endpoint.
+ * Represents a parsed parameter object returned from the GET /odl endpoint.
  */
 export interface EthernetDeviceParameter {
     /**
-     * The index of the parameter, represented as a number in hexadecimal format.
+     * The index of the parameter.
      */
     index: number;
     /**
-     * The subindex of the parameter, indicating its specific instance within the object.
+     * The subindex of the parameter.
      */
     subindex: number;
     /**
@@ -23,7 +23,7 @@ export interface EthernetDeviceParameter {
      */
     objectCode: number;
     /**
-     * The value type code indicating the data type or encoding of the parameter's value.
+     * The value type is a base data type index that specifies the data type or encoding of the parameter's value.
      * For more information, refer to {@link allBaseDataTypes}.
      */
     valueType: number;
@@ -52,20 +52,20 @@ export declare class EthernetDevice {
     readonly baseUrl: string;
     /**
      * A collection of previously retrieved device parameters.
-     * These cached parameters assist in determining the correct data type and decoding parameter values during upload.
+     * These cached parameters assist in determining the correct data type and decoding parameter values during parameter upload.
      * They are also used to identify the list of PDO entries and their configurations.
      */
     parameters?: EthernetDeviceParameter[];
     /**
-     * Cached RxPDO entries.
+     * Cached RxPDO entries used to determine the type and size when sending PDO values.
      */
     rxPdoEntries?: EthernetPdoEntry[];
     /**
-     * Cached TxPDO entries.
+     * Cached TxPDO entries used to determine the type and size when receiving PDO values.
      */
     txPdoEntries?: EthernetPdoEntry[];
     /**
-     * Default headers for all requests to the Integro web server.
+     * Default headers for all requests to the Integro device web server.
      */
     private readonly headers;
     /**
@@ -75,15 +75,22 @@ export declare class EthernetDevice {
      */
     constructor(baseUrl: string);
     /**
-     * Parses a single entry (array of strings) representing information about a parameter from the ODB endpoint.
+     * Clears the internal cache by resetting parameters and PDO entries.
+     *
+     * This method sets the `parameters`, `rxPdoEntries`, and `txPdoEntries` to `undefined`,
+     * effectively clearing any stored configuration or data for these properties.
+     */
+    clearCache(): void;
+    /**
+     * Parses a single entry (array of strings) representing information about a parameter from the GET /odl endpoint.
      * For example, the following entry corresponds to "0x2111:1" (Encoder 1 feedback - Raw position):
      * [
-     *   "2111", // Index in hexadecimal format
-     *   "1",    // Subindex in decimal format
+     *   "2111",         // Index in hexadecimal format
+     *   "1",            // Subindex in decimal format
      *   "Raw position", // Parameter name
-     *   "0",    // Object code
-     *   "7",    // Value type
-     *   "87"    // Flags
+     *   "0",            // Object code
+     *   "7",            // Value type
+     *   "87"            // Flags
      * ]
      *
      * @param entry - An array of strings containing the parameter information.
@@ -93,21 +100,32 @@ export declare class EthernetDevice {
     /**
      * Retrieves the list of available parameters on the device.
      *
+     * Command Code: CMD=0x05
+     *
      * @param uid - An optional unique identifier for the request.
      * @returns A promise that resolves to the list of available parameters.
      */
     getParameters(uid?: string): Promise<EthernetDeviceParameter[]>;
     /**
-     * Retrieves the previously fetched device parameters.
-     * Makes a request to the Ethernet device only if the parameters are not already cached.
+     * Retrieves the cached parameters.
+     * If the parameters are not cached, a request is made to the device to fetch them.
      *
-     * @returns A promise that resolves with the cached parameters.
+     * @returns A promise that resolves to an array of cached parameters.
      */
     getCachedParameters(): Promise<EthernetDeviceParameter[]>;
-    getCachedPdoEntries(key: keyof Pick<EthernetDevice, 'rxPdoEntries' | 'txPdoEntries'>, matchPdoTypeByIndex: (index: number) => boolean): Promise<EthernetPdoEntry[]>;
+    /**
+     * Retrieves and caches PDO entries, including index, subindex, bit length, and data type,
+     * for efficient reuse in operations like sending and receiving PDO values.
+     *
+     * @param key - Specifies which PDO entries to retrieve ('rxPdoEntries' or 'txPdoEntries').
+     * @returns A promise that resolves to an array of cached PDO entries.
+     */
+    getCachedPdoEntries(key: keyof Pick<EthernetDevice, 'rxPdoEntries' | 'txPdoEntries'>): Promise<EthernetPdoEntry[]>;
     /**
      * Uploads a single parameter value from the device.
      *
+     * Command Code: CMD=0x01
+     *
      * @param index - The index of the parameter to upload.
      * @param subindex - The subindex of the parameter to upload.
      * @param uid - An optional unique identifier for the request.
@@ -115,7 +133,9 @@ export declare class EthernetDevice {
      */
     upload(index: number, subindex: number, uid?: string): Promise<ParameterValueType>;
     /**
-     * Downloads the value for a specific parameter to the device.
+     * Downloads the specified parameter value to the device.
+     *
+     * Command Code: CMD=0x02
      *
      * @param index - The index of the parameter to be downloaded.
      * @param subindex - The subindex of the parameter to be downloaded.
@@ -125,14 +145,18 @@ export declare class EthernetDevice {
      */
     download(index: number, subindex: number, value: ParameterValueType, uid?: string): Promise<void>;
     /**
-     * Represents the EtherCAT state {@link EthercatState} of the device.
+     * Retrieves the EtherCAT-compatible state of the device as defined by {@link EthercatState}.
+     *
+     * Command Code: CMD=0x06
      *
      * @param uid - An optional unique identifier for the request.
      * @returns {Promise<number>} A promise that resolves to the current state as a number.
      */
     getState(uid?: string): Promise<number>;
     /**
-     * Sets the state {@link EthercatState} of the device.
+     * Sets the EtherCAT-compatible state of the device as defined by {@link EthercatState}.
+     *
+     * Command Code: CMD=0x07
      *
      * @param state - The target state to set for the device, based on the {@link EthercatState} enumeration.
      * @param uid - An optional unique identifier for the request.
@@ -146,13 +170,17 @@ export declare class EthernetDevice {
      * Note that the device will respond before the actual restart occurs,
      * so please allow a few seconds for the restart to complete.
      *
-     * @param {boolean} [clearCachedParameters=true] - Indicates whether to clear cached parameters during the reset.
+     * Command Code: CMD=0x09
+     *
+     * @param {boolean} [clearCache=true] - Specifies whether to clear the parameters and PDO entries cache during the reset.
      * @returns A promise that resolves when the reset request is complete.
      */
-    reset(clearCachedParameters?: boolean): Promise<void>;
+    reset(clearCache?: boolean): Promise<void>;
     /**
      * Reads a file from the specified device.
      *
+     * Command Code: CMD=0x03
+     *
      * @todo Implement the function to fetch the file data from the device.
      * @param filename - The name of the file to be read.
      * @param uid - An optional unique identifier for the request.
@@ -162,6 +190,8 @@ export declare class EthernetDevice {
     /**
      * Writes the specified file content to the device.
      *
+     * Command Code: CMD=0x04
+     *
      * @todo Implement the function to write the file content to the device.
      * @param filename - The name of the file to be created or overwritten on the device.
      * @param content - The file content to be written, provided as a Uint8Array.
@@ -169,15 +199,44 @@ export declare class EthernetDevice {
      * @returns A promise that resolves when the file has been successfully written.
      */
     writeFile(filename: string, content: Uint8Array, uid?: string): Promise<void>;
-    sendPdo(): Promise<void>;
+    /**
+     * Send PDO values to the device.
+     *
+     * The provided array of values will be converted into a byte array based on parameters' data types.
+     *
+     * Command Code: CMD=0x0B
+     *
+     * @param values
+     * @returns
+     */
+    sendPdoValues(values: number[], uid?: string): Promise<void>;
     /**
      * Receives PDO values from the device.
      *
      * The device sends an array of bytes, and this function processes the parameters, their data types,
      * and the PDO entries to convert the byte array into an array of received PDO entry values.
      *
+     * Command Code: CMD=0x0A
+     *
      * @param uid - An optional unique identifier for the request.
      * @returns An array of received PDO entry values.
      */
-    receivePdo(uid?: string): Promise<number[]>;
+    receivePdoValues(uid?: string): Promise<number[]>;
+    /**
+     * Uploads the firmware file to the device. Call the reset method to apply the changes.
+     *
+     * @todo This function has not been tested. Verify its functionality by uploading a firmware file.
+     * @param buffer - The firmware data to upload.
+     * @param filename - The name of the firmware file.
+     * @returns A promise that resolves when the upload is complete.
+     */
+    uploadFirmware(buffer: ArrayBuffer, filename: string): Promise<void>;
+    /**
+     * Updates the firmware by uploading it to the device and restarting the NetX.
+     *
+     * @todo This function has not been tested. Verify its functionality by uploading a firmware file.
+     * @param buffer - The firmware data to upload.
+     * @param filename - The name of the firmware file.
+     */
+    updateFirmware(buffer: ArrayBuffer, filename: string): Promise<void>;
 }

package/src/lib/ethernet.js

@@ -19,7 +19,7 @@ class EthernetDevice {
     constructor(baseUrl) {
         this.baseUrl = baseUrl;
         /**
-         * Default headers for all requests to the Integro web server.
+         * Default headers for all requests to the Integro device web server.
          */
         this.headers = {
             'Accept': 'application/json',
@@ -27,15 +27,26 @@ class EthernetDevice {
         };
     }
     /**
-     * Parses a single entry (array of strings) representing information about a parameter from the ODB endpoint.
+     * Clears the internal cache by resetting parameters and PDO entries.
+     *
+     * This method sets the `parameters`, `rxPdoEntries`, and `txPdoEntries` to `undefined`,
+     * effectively clearing any stored configuration or data for these properties.
+     */
+    clearCache() {
+        this.parameters = undefined;
+        this.rxPdoEntries = undefined;
+        this.txPdoEntries = undefined;
+    }
+    /**
+     * Parses a single entry (array of strings) representing information about a parameter from the GET /odl endpoint.
      * For example, the following entry corresponds to "0x2111:1" (Encoder 1 feedback - Raw position):
      * [
-     *   "2111", // Index in hexadecimal format
-     *   "1",    // Subindex in decimal format
+     *   "2111",         // Index in hexadecimal format
+     *   "1",            // Subindex in decimal format
      *   "Raw position", // Parameter name
-     *   "0",    // Object code
-     *   "7",    // Value type
-     *   "87"    // Flags
+     *   "0",            // Object code
+     *   "7",            // Value type
+     *   "87"            // Flags
      * ]
      *
      * @param entry - An array of strings containing the parameter information.
@@ -53,6 +64,8 @@ class EthernetDevice {
     /**
      * Retrieves the list of available parameters on the device.
      *
+     * Command Code: CMD=0x05
+     *
      * @param uid - An optional unique identifier for the request.
      * @returns A promise that resolves to the list of available parameters.
      */
@@ -70,10 +83,10 @@ class EthernetDevice {
         });
     }
     /**
-     * Retrieves the previously fetched device parameters.
-     * Makes a request to the Ethernet device only if the parameters are not already cached.
+     * Retrieves the cached parameters.
+     * If the parameters are not cached, a request is made to the device to fetch them.
      *
-     * @returns A promise that resolves with the cached parameters.
+     * @returns A promise that resolves to an array of cached parameters.
      */
     getCachedParameters() {
         var _a;
@@ -85,14 +98,22 @@ class EthernetDevice {
             return (_a = this.parameters) !== null && _a !== void 0 ? _a : [];
         });
     }
-    getCachedPdoEntries(key, matchPdoTypeByIndex) {
+    /**
+     * Retrieves and caches PDO entries, including index, subindex, bit length, and data type,
+     * for efficient reuse in operations like sending and receiving PDO values.
+     *
+     * @param key - Specifies which PDO entries to retrieve ('rxPdoEntries' or 'txPdoEntries').
+     * @returns A promise that resolves to an array of cached PDO entries.
+     */
+    getCachedPdoEntries(key) {
         var _a;
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             if (this[key]) {
                 return (_a = this[key]) !== null && _a !== void 0 ? _a : [];
             }
+            const matcherFn = key === 'rxPdoEntries' ? parameter_1.isRxPdoIndex : parameter_1.isTxPdoIndex;
             const allParameters = yield this.getCachedParameters();
-            const pdoParameters = allParameters.filter(({ index, subindex }) => matchPdoTypeByIndex(index) && subindex !== 0);
+            const pdoParameters = allParameters.filter(({ index, subindex }) => matcherFn(index) && subindex !== 0);
             const promises = pdoParameters.map((p) => tslib_1.__awaiter(this, void 0, void 0, function* () { return yield this.upload(p.index, p.subindex); }));
             if (promises) {
                 const values = yield Promise.all(promises);
@@ -112,6 +133,8 @@ class EthernetDevice {
     /**
      * Uploads a single parameter value from the device.
      *
+     * Command Code: CMD=0x01
+     *
      * @param index - The index of the parameter to upload.
      * @param subindex - The subindex of the parameter to upload.
      * @param uid - An optional unique identifier for the request.
@@ -122,7 +145,7 @@ class EthernetDevice {
             const url = new URL('sdo', this.baseUrl);
             url.searchParams.set('uid', uid !== null && uid !== void 0 ? uid : (0, uuid_1.v4)());
             url.searchParams.set('idx', index.toString(16));
-            url.searchParams.set('sub', subindex.toString());
+            url.searchParams.set('sub', subindex.toString(16));
             const response = yield fetch(url, { headers: this.headers });
             if (!response.ok) {
                 throw new Error(`Failed to upload the parameter value from ${url}`);
@@ -174,7 +197,9 @@ class EthernetDevice {
         });
     }
     /**
-     * Downloads the value for a specific parameter to the device.
+     * Downloads the specified parameter value to the device.
+     *
+     * Command Code: CMD=0x02
      *
      * @param index - The index of the parameter to be downloaded.
      * @param subindex - The subindex of the parameter to be downloaded.
@@ -194,9 +219,41 @@ class EthernetDevice {
                 elements = [...uint8Array];
             }
             else if (typeof value === 'number') {
-                const buffer = new ArrayBuffer(4);
+                const parameters = yield this.getCachedParameters();
+                const parameter = parameters.find(p => p.index === index && p.subindex === subindex);
+                if (!parameter) {
+                    throw new Error(`Device parameter with index ${index} and subindex ${subindex} was not found.`);
+                }
+                const dataType = (0, ethercat_1.findBaseDataTypeByIndex)(parameter.valueType);
+                if (!dataType) {
+                    throw new Error(`Base data type '${parameter.valueType}' for the device parameter with index ${index} and subindex ${subindex} was not found.`);
+                }
+                const buffer = new ArrayBuffer(dataType.bitSize / 8);
                 const dataView = new DataView(buffer);
-                dataView.setUint32(0, value, true);
+                if (dataType.name === 'BOOLEAN') {
+                    dataView.setUint8(0, value);
+                }
+                else if (dataType.name === 'INTEGER8') {
+                    dataView.setInt8(0, value);
+                }
+                else if (dataType.name === 'INTEGER16') {
+                    dataView.setInt16(0, value, true);
+                }
+                else if (dataType.name === 'INTEGER32') {
+                    dataView.setInt32(0, value, true);
+                }
+                else if (dataType.name === 'UNSIGNED8') {
+                    dataView.setUint8(0, value);
+                }
+                else if (dataType.name === 'UNSIGNED16') {
+                    dataView.setUint16(0, value, true);
+                }
+                else if (dataType.name === 'UNSIGNED32') {
+                    dataView.setUint32(0, value, true);
+                }
+                else if (dataType.name === 'REAL32') {
+                    dataView.setFloat32(0, value, true);
+                }
                 const uint8Array = new Uint8Array(buffer);
                 elements = [...uint8Array];
             }
@@ -223,7 +280,9 @@ class EthernetDevice {
         });
     }
     /**
-     * Represents the EtherCAT state {@link EthercatState} of the device.
+     * Retrieves the EtherCAT-compatible state of the device as defined by {@link EthercatState}.
+     *
+     * Command Code: CMD=0x06
      *
      * @param uid - An optional unique identifier for the request.
      * @returns {Promise<number>} A promise that resolves to the current state as a number.
@@ -242,7 +301,9 @@ class EthernetDevice {
         });
     }
     /**
-     * Sets the state {@link EthercatState} of the device.
+     * Sets the EtherCAT-compatible state of the device as defined by {@link EthercatState}.
+     *
+     * Command Code: CMD=0x07
      *
      * @param state - The target state to set for the device, based on the {@link EthercatState} enumeration.
      * @param uid - An optional unique identifier for the request.
@@ -270,38 +331,23 @@ class EthernetDevice {
      * Note that the device will respond before the actual restart occurs,
      * so please allow a few seconds for the restart to complete.
      *
-     * @param {boolean} [clearCachedParameters=true] - Indicates whether to clear cached parameters during the reset.
+     * Command Code: CMD=0x09
+     *
+     * @param {boolean} [clearCache=true] - Specifies whether to clear the parameters and PDO entries cache during the reset.
      * @returns A promise that resolves when the reset request is complete.
      */
-    reset(clearCachedParameters = true) {
+    reset(clearCache = true) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             const url = new URL(this.baseUrl);
-            const boundary = "-----------------------------148898471934663038094292100363";
-            const formData = [
-                `${boundary}`,
-                'Content-Disposition: form-data; name="uploadfile"',
-                '',
-                'upload_file',
-                `${boundary}`,
-                'Content-Disposition: form-data; name="resetdev"',
-                '',
-                'device_reset',
-                `${boundary}--`
-            ].join('\r\n');
-            const response = yield fetch(url, {
-                method: 'POST',
-                body: formData,
-                headers: {
-                    'Content-Type': `multipart/form-data; boundary=${boundary}`
-                },
-            });
+            const formData = new FormData();
+            formData.append('uploadfile', 'upload_file');
+            formData.append('resetdev', 'device_reset');
+            const response = yield fetch(url, { method: 'POST', body: formData });
             if (!response.ok) {
                 throw new Error(`Failed to reset the device.`);
             }
-            if (clearCachedParameters) {
-                this.parameters = undefined;
-                this.rxPdoEntries = undefined;
-                this.txPdoEntries = undefined;
+            if (clearCache) {
+                this.clearCache();
             }
             return;
         });
@@ -309,6 +355,8 @@ class EthernetDevice {
     /**
      * Reads a file from the specified device.
      *
+     * Command Code: CMD=0x03
+     *
      * @todo Implement the function to fetch the file data from the device.
      * @param filename - The name of the file to be read.
      * @param uid - An optional unique identifier for the request.
@@ -323,6 +371,8 @@ class EthernetDevice {
     /**
      * Writes the specified file content to the device.
      *
+     * Command Code: CMD=0x04
+     *
      * @todo Implement the function to write the file content to the device.
      * @param filename - The name of the file to be created or overwritten on the device.
      * @param content - The file content to be written, provided as a Uint8Array.
@@ -335,10 +385,62 @@ class EthernetDevice {
             return;
         });
     }
-    sendPdo() {
+    /**
+     * Send PDO values to the device.
+     *
+     * The provided array of values will be converted into a byte array based on parameters' data types.
+     *
+     * Command Code: CMD=0x0B
+     *
+     * @param values
+     * @returns
+     */
+    sendPdoValues(values, uid) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            const pdoEntries = yield this.getCachedPdoEntries('rxPdoEntries', parameter_1.isRxPdoIndex);
-            console.log(pdoEntries);
+            const url = new URL('pdo', this.baseUrl);
+            const pdoEntries = yield this.getCachedPdoEntries('rxPdoEntries');
+            const totalLength = pdoEntries.reduce((n, entry) => n + entry.bitLen / 8, 0);
+            const buffer = new ArrayBuffer(totalLength);
+            const dataView = new DataView(buffer);
+            let offset = 0;
+            values.forEach((value, i) => {
+                const { dataType } = pdoEntries[i];
+                if (dataType.name === 'BOOLEAN') {
+                    dataView.setUint8(offset, value);
+                }
+                else if (dataType.name === 'INTEGER8') {
+                    dataView.setInt8(offset, value);
+                }
+                else if (dataType.name === 'INTEGER16') {
+                    dataView.setInt16(offset, value, true);
+                }
+                else if (dataType.name === 'INTEGER32') {
+                    dataView.setInt32(offset, value, true);
+                }
+                else if (dataType.name === 'UNSIGNED8') {
+                    dataView.setUint8(offset, value);
+                }
+                else if (dataType.name === 'UNSIGNED16') {
+                    dataView.setUint16(offset, value, true);
+                }
+                else if (dataType.name === 'UNSIGNED32') {
+                    dataView.setUint32(offset, value, true);
+                }
+                else if (dataType.name === 'REAL32') {
+                    dataView.setFloat32(offset, value, true);
+                }
+                offset += dataType.bitSize / 8;
+            });
+            const byteArray = new Uint8Array(buffer);
+            const bytes = Array.from(byteArray);
+            const bodyData = {
+                uid: uid !== null && uid !== void 0 ? uid : (0, uuid_1.v4)(),
+                data: JSON.stringify(bytes),
+            };
+            const response = yield fetch(url, { headers: this.headers, method: 'PUT', body: JSON.stringify(bodyData) });
+            if (!response.ok) {
+                throw new Error(`Failed to send PDO values to ${url}.`);
+            }
             return;
         });
     }
@@ -348,21 +450,23 @@ class EthernetDevice {
      * The device sends an array of bytes, and this function processes the parameters, their data types,
      * and the PDO entries to convert the byte array into an array of received PDO entry values.
      *
+     * Command Code: CMD=0x0A
+     *
      * @param uid - An optional unique identifier for the request.
      * @returns An array of received PDO entry values.
      */
-    receivePdo(uid) {
+    receivePdoValues(uid) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             const url = new URL('pdo', this.baseUrl);
             url.searchParams.set('uid', uid !== null && uid !== void 0 ? uid : (0, uuid_1.v4)());
             const response = yield fetch(url, { headers: this.headers });
             if (!response.ok) {
-                throw new Error(`Failed to receive PDO from ${url}.`);
+                throw new Error(`Failed to receive PDO values from ${url}.`);
             }
-            const pdoEntries = yield this.getCachedPdoEntries('txPdoEntries', parameter_1.isTxPdoIndex);
+            const pdoEntries = yield this.getCachedPdoEntries('txPdoEntries');
             const { data } = yield response.json();
-            const elements = JSON.parse(data);
-            const uint8Array = new Uint8Array(elements);
+            const bytes = JSON.parse(data);
+            const uint8Array = new Uint8Array(bytes);
             const dataView = new DataView(uint8Array.buffer);
             const values = [];
             let offset = 0;
@@ -370,41 +474,72 @@ class EthernetDevice {
                 let value = 0;
                 if (dataType.name === 'BOOLEAN') {
                     value = dataView.getUint8(offset);
-                    offset += 1;
                 }
                 else if (dataType.name === 'INTEGER8') {
                     value = dataView.getInt8(offset);
-                    offset += 1;
                 }
                 else if (dataType.name === 'INTEGER16') {
-                    value = dataView.getInt16(offset, false);
-                    offset += 2;
+                    value = dataView.getInt16(offset, true);
                 }
                 else if (dataType.name === 'INTEGER32') {
-                    value = dataView.getInt32(offset, false);
-                    offset += 4;
+                    value = dataView.getInt32(offset, true);
                 }
                 else if (dataType.name === 'UNSIGNED8') {
                     value = dataView.getUint8(offset);
-                    offset += 1;
                 }
                 else if (dataType.name === 'UNSIGNED16') {
-                    value = dataView.getUint16(offset, false);
-                    offset += 2;
+                    value = dataView.getUint16(offset, true);
                 }
                 else if (dataType.name === 'UNSIGNED32') {
-                    value = dataView.getUint32(offset, false);
-                    offset += 4;
+                    value = dataView.getUint32(offset, true);
                 }
                 else if (dataType.name === 'REAL32') {
-                    value = dataView.getFloat32(offset, false);
-                    offset += 4;
+                    value = dataView.getFloat32(offset, true);
                 }
                 values.push(value);
+                offset += dataType.bitSize / 8;
             });
             return values;
         });
     }
+    /**
+     * Uploads the firmware file to the device. Call the reset method to apply the changes.
+     *
+     * @todo This function has not been tested. Verify its functionality by uploading a firmware file.
+     * @param buffer - The firmware data to upload.
+     * @param filename - The name of the firmware file.
+     * @returns A promise that resolves when the upload is complete.
+     */
+    uploadFirmware(buffer, filename) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const url = new URL(this.baseUrl);
+            const blob = new Blob([buffer], { type: 'application/octet-stream' });
+            const formData = new FormData();
+            formData.append('uploadfile', blob, filename);
+            formData.append('upload', 'upload');
+            const response = yield fetch(url, {
+                method: 'POST',
+                body: formData,
+            });
+            if (!response.ok) {
+                throw new Error(`Failed to reset the device.`);
+            }
+            return;
+        });
+    }
+    /**
+     * Updates the firmware by uploading it to the device and restarting the NetX.
+     *
+     * @todo This function has not been tested. Verify its functionality by uploading a firmware file.
+     * @param buffer - The firmware data to upload.
+     * @param filename - The name of the firmware file.
+     */
+    updateFirmware(buffer, filename) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            yield this.uploadFirmware(buffer, filename);
+            yield this.reset(true);
+        });
+    }
 }
 exports.EthernetDevice = EthernetDevice;
 //# sourceMappingURL=ethernet.js.map

package/src/lib/ethernet.js.map

@@ -1 +1 @@
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package/src/lib/homing.d.ts

@@ -56,7 +56,18 @@ export interface HomingProcedureStatus {
 }
 /**
  * Generates a homing procedure status object based on the provided operation status value.
- * The status is interpreted to determine the request status, which can be 'running', 'succeeded', or 'failed'.
+ * The status is evaluated to determine the request status, which can be 'running', 'succeeded', or 'failed'.
+ *
+ * During a meeting with Saša R., we concluded the following regarding the status codes:
+ * - 000: running (Homing is in progress) - The Halt bit is 0, the Homing operation start bit is 1,
+ *   and the device is in the Operation Enabled state and Homing mode.
+ * - 001: failed (Homing interrupted or not started) - Interruption occurs due to Quick Stop, for example.
+ *   Not started refers to the Homing mode being set, but the Homing operation start bit remains 0.
+ * - 010: succeeded (Homing confirmed, target not yet reached) - This status occurs when the device restores
+ *   the Home Position upon loading the configuration (0x2005:02).
+ * - 011: succeeded (Homing completed).
+ * - 100: failed (Error detected, motor still turning) - The device does not stop automatically; it must be stopped by the master.
+ * - 101: failed (Error during homing, motor at a standstill).
  *
  * @param status - The operation status value used to determine the homing procedure status.
  * @returns An object representing the homing procedure status, including the request status, the original status value, and a corresponding status message.

package/src/lib/homing.js

@@ -20,17 +20,31 @@ exports.homingProcedureStatusMessages = [
 ];
 /**
  * Generates a homing procedure status object based on the provided operation status value.
- * The status is interpreted to determine the request status, which can be 'running', 'succeeded', or 'failed'.
+ * The status is evaluated to determine the request status, which can be 'running', 'succeeded', or 'failed'.
+ *
+ * During a meeting with Saša R., we concluded the following regarding the status codes:
+ * - 000: running (Homing is in progress) - The Halt bit is 0, the Homing operation start bit is 1,
+ *   and the device is in the Operation Enabled state and Homing mode.
+ * - 001: failed (Homing interrupted or not started) - Interruption occurs due to Quick Stop, for example.
+ *   Not started refers to the Homing mode being set, but the Homing operation start bit remains 0.
+ * - 010: succeeded (Homing confirmed, target not yet reached) - This status occurs when the device restores
+ *   the Home Position upon loading the configuration (0x2005:02).
+ * - 011: succeeded (Homing completed).
+ * - 100: failed (Error detected, motor still turning) - The device does not stop automatically; it must be stopped by the master.
+ * - 101: failed (Error during homing, motor at a standstill).
  *
  * @param status - The operation status value used to determine the homing procedure status.
  * @returns An object representing the homing procedure status, including the request status, the original status value, and a corresponding status message.
  */
 function createHomingProcedureStatus(status) {
     let request;
-    if (status <= 2) {
+    if (status === 0) {
         request = 'running';
     }
-    else if (status === 0b011) {
+    else if (status === 1) {
+        request = 'failed';
+    }
+    else if (status === 2 || status === 3) {
         request = 'succeeded';
     }
     else {

package/src/lib/homing.js.map

@@ -1 +1 @@
-{"version":3,"file":"homing.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/homing.ts"],"names":[],"mappings":";;;AAEA;;;;;;;;GAQG;AACU,QAAA,6BAA6B,GAAG;IAC3C,qBAAqB;IACrB,sCAAsC;IACtC,8CAA8C;IAC9C,kBAAkB;IAClB,qCAAqC;IACrC,0CAA0C;CAC3C,CAAC;AAsDF;;;;;;GAMG;AACH,SAAgB,2BAA2B,CAAC,MAAc;IACxD,IAAI,OAAsB,CAAC;IAE3B,IAAI,MAAM,IAAI,CAAC,EAAE;QACf,OAAO,GAAG,SAAS,CAAC;KACrB;SAAM,IAAI,MAAM,KAAK,KAAK,EAAE;QAC3B,OAAO,GAAG,WAAW,CAAC;KACvB;SAAM;QACL,OAAO,GAAG,QAAQ,CAAC;KACpB;IAED,OAAO;QACL,OAAO;QACP,MAAM;QACN,aAAa,EAAE,qCAA6B,CAAC,MAAM,CAAC;KACrD,CAAC;AACJ,CAAC;AAhBD,kEAgBC;AAED;;;;;;GAMG;AACH,SAAgB,wBAAwB,CAAC,UAAkB;IACzD,OAAO,CAAC,CAAC,UAAU,IAAI,EAAE,CAAC,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC;AAC3C,CAAC;AAFD,4DAEC"}
+{"version":3,"file":"homing.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/homing.ts"],"names":[],"mappings":";;;AAEA;;;;;;;;GAQG;AACU,QAAA,6BAA6B,GAAG;IAC3C,qBAAqB;IACrB,sCAAsC;IACtC,8CAA8C;IAC9C,kBAAkB;IAClB,qCAAqC;IACrC,0CAA0C;CAC3C,CAAC;AAsDF;;;;;;;;;;;;;;;;;GAiBG;AACH,SAAgB,2BAA2B,CAAC,MAAc;IACxD,IAAI,OAAsB,CAAC;IAE3B,IAAI,MAAM,KAAK,CAAC,EAAE;QAChB,OAAO,GAAG,SAAS,CAAC;KACrB;SAAM,IAAI,MAAM,KAAK,CAAC,EAAE;QACvB,OAAO,GAAG,QAAQ,CAAC;KACpB;SAAM,IAAI,MAAM,KAAK,CAAC,IAAI,MAAM,KAAK,CAAC,EAAE;QACvC,OAAO,GAAG,WAAW,CAAC;KACvB;SAAM;QACL,OAAO,GAAG,QAAQ,CAAC;KACpB;IAED,OAAO;QACL,OAAO;QACP,MAAM;QACN,aAAa,EAAE,qCAA6B,CAAC,MAAM,CAAC;KACrD,CAAC;AACJ,CAAC;AAlBD,kEAkBC;AAED;;;;;;GAMG;AACH,SAAgB,wBAAwB,CAAC,UAAkB;IACzD,OAAO,CAAC,CAAC,UAAU,IAAI,EAAE,CAAC,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC;AAC3C,CAAC;AAFD,4DAEC"}

package/src/lib/motion-master-client.js

@@ -338,7 +338,7 @@ class MotionMasterClient {
      * @returns An Observable that emits the status of the homing procedure.
      */
     runHomingProcedure(deviceRef, config, requestTimeout = 300000) {
-        return (0, rxjs_1.concat)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.HOMING_MODE), (config === null || config === void 0 ? void 0 : config.acceleration) ? this.request.download(deviceRef, 0x609A, 0, config.acceleration) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.method) ? this.request.download(deviceRef, 0x6098, 0, config.method) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForSwitch) ? this.request.download(deviceRef, 0x6099, 1, config.speedDuringSearchForSwitch) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForZero) ? this.request.download(deviceRef, 0x6099, 2, config.speedDuringSearchForZero) : rxjs_1.EMPTY, this.request.setControlwordForHoming(deviceRef), this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED), this.trackHomingProcedureStatus(deviceRef).pipe((0, rxjs_1.map)(homing_1.createHomingProcedureStatus), (0, rxjs_1.takeWhile)((status) => status.request === 'running', true), (0, rxjs_1.timeout)(requestTimeout)));
+        return (0, rxjs_1.concat)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.HOMING_MODE), (config === null || config === void 0 ? void 0 : config.acceleration) ? this.request.download(deviceRef, 0x609A, 0, config.acceleration) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.method) ? this.request.download(deviceRef, 0x6098, 0, config.method) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForSwitch) ? this.request.download(deviceRef, 0x6099, 1, config.speedDuringSearchForSwitch) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForZero) ? this.request.download(deviceRef, 0x6099, 2, config.speedDuringSearchForZero) : rxjs_1.EMPTY, this.request.forceOnDemandParametersUpdate(deviceRef), this.request.setControlwordForHoming(deviceRef), this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED), this.trackHomingProcedureStatus(deviceRef).pipe((0, rxjs_1.map)(homing_1.createHomingProcedureStatus), (0, rxjs_1.takeWhile)((status) => status.request === 'running', true), (0, rxjs_1.timeout)(requestTimeout)));
     }
     subscribeToSystemEvent() {
         this.systemEventSubscription = this.monitor.systemEvent$.subscribe(systemEvent => {

package/src/lib/motion-master-client.js.map

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