motion-master-client 0.0.18 → 0.0.20

package/src/lib/cia402.js.map

@@ -1 +1 @@
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package/src/lib/config-file.d.ts

@@ -0,0 +1,13 @@
+import { Parameter } from './parameter';
+import { Optional } from './types';
+export type ConfigParameter = Optional<Parameter, 'name' | 'typeValue'>;
+export declare class ConfigFile {
+    readonly content: string;
+    readonly file?: Pick<File, "name" | "type" | "size" | "lastModified"> | undefined;
+    readonly apiId?: string;
+    readonly firmwareVersion?: string;
+    readonly header?: string;
+    parameters: ConfigParameter[];
+    constructor(content: string, file?: Pick<File, "name" | "type" | "size" | "lastModified"> | undefined);
+    toString(): string;
+}

package/src/lib/config-file.js

@@ -0,0 +1,50 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ConfigFile = void 0;
+const Papa = require("papaparse");
+const parameter_1 = require("./parameter");
+class ConfigFile {
+    constructor(content, file) {
+        var _a;
+        this.content = content;
+        this.file = file;
+        const parseResult = Papa.parse(content, {
+            skipEmptyLines: true,
+            transform: (value) => value.trim(),
+        });
+        if (((_a = parseResult === null || parseResult === void 0 ? void 0 : parseResult.errors) === null || _a === void 0 ? void 0 : _a.length) > 0) {
+            throw new Error('Failed to parse the config csv file');
+        }
+        const matchApiId = content.match(/^#\s+(\d{4}-\d{2})$/m);
+        if (matchApiId) {
+            this.apiId = matchApiId[1];
+        }
+        const matchFirmwareVersion = content.match(/^#\s+(v\d.*)$/m);
+        if (matchFirmwareVersion) {
+            this.firmwareVersion = matchFirmwareVersion[1];
+        }
+        const matchFirstParameterRow = content.match(/^0x\d{4}/m);
+        if (matchFirstParameterRow === null || matchFirstParameterRow === void 0 ? void 0 : matchFirstParameterRow.index) {
+            this.header = content.slice(0, matchFirstParameterRow.index - 1);
+        }
+        this.parameters = parseResult.data
+            .filter(([c0]) => c0.startsWith('0x'))
+            .map(([c0, c1, c2]) => {
+            const index = parseInt(c0, 16);
+            const subindex = parseInt(c1, 10);
+            const numValue = Number(c2);
+            const value = isNaN(numValue) ? c2 : numValue;
+            return { index, subindex, value };
+        })
+            .sort(parameter_1.parametersCompareFn);
+    }
+    toString() {
+        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');
+        if (this.header) {
+            out = this.header + '\n' + out;
+        }
+        return out + '\n';
+    }
+}
+exports.ConfigFile = ConfigFile;
+//# sourceMappingURL=config-file.js.map

package/src/lib/config-file.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"config-file.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/config-file.ts"],"names":[],"mappings":";;;AAAA,kCAAkC;AAClC,2CAA6D;AAK7D,MAAa,UAAU;IAQrB,YACkB,OAAe,EACf,IAA4D;;QAD5D,YAAO,GAAP,OAAO,CAAQ;QACf,SAAI,GAAJ,IAAI,CAAwD;QAE5E,MAAM,WAAW,GAAG,IAAI,CAAC,KAAK,CAAW,OAAO,EAAE;YAChD,cAAc,EAAE,IAAI;YACpB,SAAS,EAAE,CAAC,KAAa,EAAE,EAAE,CAAC,KAAK,CAAC,IAAI,EAAE;SAC3C,CAAC,CAAC;QAEH,IAAI,CAAA,MAAA,WAAW,aAAX,WAAW,uBAAX,WAAW,CAAE,MAAM,0CAAE,MAAM,IAAG,CAAC,EAAE;YACnC,MAAM,IAAI,KAAK,CAAC,qCAAqC,CAAC,CAAC;SACxD;QAED,MAAM,UAAU,GAAG,OAAO,CAAC,KAAK,CAAC,sBAAsB,CAAC,CAAC;QACzD,IAAI,UAAU,EAAE;YACd,IAAI,CAAC,KAAK,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;SAC5B;QAED,MAAM,oBAAoB,GAAG,OAAO,CAAC,KAAK,CAAC,gBAAgB,CAAC,CAAC;QAC7D,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,WAAW,CAAC,IAAI;aAC/B,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,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;AAxDD,gCAwDC"}

package/src/lib/hardware-description.d.ts

@@ -3,8 +3,8 @@ export interface HardwareComponent {
     version: string;
     serialNumber: string;
 }
-export declare type AssemblyComponent = HardwareComponent;
-export declare type DeviceComponent = HardwareComponent;
+export type AssemblyComponent = HardwareComponent;
+export type DeviceComponent = HardwareComponent;
 export interface Assembly {
     name: string;
     id: string;

package/src/lib/logger.d.ts

@@ -1 +1 @@
-export declare const logger: import("roarr").Logger<import("roarr/dist/src/types").JsonObject>;
+export declare const logger: import("roarr").Logger<import("roarr/dist/types").JsonObject>;

package/src/lib/motion-master-client.d.ts

@@ -4,7 +4,8 @@ import { MotionMasterPubSubClient } from "./motion-master-pub-sub-client";
 import { MotionMasterPubSubSocket } from "./motion-master-pub-sub-socket";
 import { MotionMasterReqResClient } from "./motion-master-req-res-client";
 import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
-import { DeviceRef, ParameterValueType } from "./types";
+import { DeviceParameterIds, DeviceRef, ParameterValueType } from "./types";
+import { Parameter } from "./parameter";
 export declare function createMotionMasterClient(hostname: string): MotionMasterClient;
 export declare class MotionMasterClient {
     readonly reqResSocket: MotionMasterReqResSocket;
@@ -25,6 +26,7 @@ export declare class MotionMasterClient {
     ready$: Observable<true>;
     /**
      * This observable will emit only once when both req/res and pub/sub sockets are opened.
+     * NOTE: This observable might never emit and it doesn't timeout.
      */
     onceReady$: Observable<true>;
     /**
@@ -33,7 +35,17 @@ export declare class MotionMasterClient {
      * Otherwise, it will wait up to requestTimeout for both sockets to open, or throw an error.
      */
     whenReady(requestTimeout?: number): Promise<true>;
-    startMonitoring(ids: string[] | [DeviceRef, number, number][], interval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<ParameterValueType[]>;
+    startMonitoring(ids: DeviceParameterIds, interval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<ParameterValueType[]>;
+    /**
+     * TODO: return device parameters instead of just parameters
+     * get parameters from ESI uprfront, and then when parameters are received
+     * from motion master just concatenate (spread operator) props from ESI and props from parameter
+     * assign device parameter id like 0x1018:00.12345
+     * when assembling device parameter, get parameter from device in ESI based on product code, see ESI service
+     * this should probably done for other get parameters functions, get ESI file from device or prepared, get data from it
+     */
+    startMonitoringDeviceParameters(ids: DeviceParameterIds, interval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<Parameter[]>;
+    startMonitoringValue<T extends ParameterValueType = number>(id: string | [DeviceRef, number, number], interval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<T>;
     stopMonitoring(messageId: string): void;
     closeSockets(): void;
     reopenSockets(): void;

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

@@ -36,6 +36,7 @@ class MotionMasterClient {
         this.ready$ = this.socketsOpened$.pipe((0, rxjs_1.filter)(Boolean));
         /**
          * This observable will emit only once when both req/res and pub/sub sockets are opened.
+         * NOTE: This observable might never emit and it doesn't timeout.
          */
         this.onceReady$ = this.ready$.pipe((0, rxjs_1.first)());
         this.request = new motion_master_req_res_client_1.MotionMasterReqResClient(this.reqResSocket);
@@ -86,6 +87,53 @@ class MotionMasterClient {
             });
         });
     }
+    /**
+     * TODO: return device parameters instead of just parameters
+     * get parameters from ESI uprfront, and then when parameters are received
+     * from motion master just concatenate (spread operator) props from ESI and props from parameter
+     * assign device parameter id like 0x1018:00.12345
+     * when assembling device parameter, get parameter from device in ESI based on product code, see ESI service
+     * this should probably done for other get parameters functions, get ESI file from device or prepared, get data from it
+     */
+    startMonitoringDeviceParameters(ids, interval, config, requestTimeout = 5000) {
+        return (0, rxjs_1.defer)(() => {
+            var _a, _b;
+            const topic = (_a = config === null || config === void 0 ? void 0 : config.topic) !== null && _a !== void 0 ? _a : (0, uuid_1.v4)();
+            const messageId = (_b = config === null || config === void 0 ? void 0 : config.messageId) !== null && _b !== void 0 ? _b : (0, uuid_1.v4)();
+            if (!config) {
+                config = { messageId, topic, bufferSize: 1, distinct: false };
+            }
+            this.request.resolveGetParameterValuesIds(ids).pipe((0, rxjs_1.mergeMap)((refs) => {
+                if ((new Set(refs.map(([deviceAddress]) => deviceAddress))).size !== 1) {
+                    throw new Error('Start monitoring only supports a single device');
+                }
+                const deviceAddress = refs[0][0];
+                const props = {
+                    getDeviceParameterValues: {
+                        deviceAddress,
+                        parameters: refs.map(([, index, subindex]) => ({ index, subindex, loadFromCache: false })),
+                        sendProgress: false,
+                    },
+                    interval,
+                    topic,
+                };
+                return this.request.startMonitoringDeviceParameterValues(props, requestTimeout, messageId);
+            })).subscribe();
+            this.monitor.subscribe(config);
+            const values$ = this.monitor.socket.data$.pipe((0, operators_1.selectMotionMasterMessageByTopic)(config.topic), (0, operators_1.mapMonitoringParameterValuesStatusMessageToDeviceParameters)(), (0, rxjs_1.map)((values) => values.slice(1)));
+            return new rxjs_1.Observable((subscriber) => {
+                const subscription = values$.subscribe(subscriber);
+                return () => {
+                    subscription.unsubscribe();
+                    this.stopMonitoring(messageId);
+                };
+            });
+        });
+    }
+    startMonitoringValue(id, interval, config, requestTimeout = 5000) {
+        const ids = typeof id === 'string' ? [id] : [id];
+        return this.startMonitoring(ids, interval, config, requestTimeout).pipe((0, rxjs_1.map)((parameters) => { var _a; return ((_a = parameters[0]) !== null && _a !== void 0 ? _a : 0); }));
+    }
     stopMonitoring(messageId) {
         this.request.stopMonitoringDeviceParameterValues({ startMonitoringRequestId: messageId });
         this.monitor.unsubscribe(messageId);

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

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package/src/lib/motion-master-req-res-client.d.ts

@@ -3,7 +3,8 @@ import { Device } from "./device";
 import { DeviceParameter } from "./device-parameter";
 import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
 import { SystemLogLine } from "./system-log-line";
-import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue } from "./types";
+import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds } from "./types";
+import { ModesOfOperation, Cia402State } from "./cia402";
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
  *
@@ -779,9 +780,9 @@ export declare class MotionMasterReqResClient {
     upload<T extends ParameterValueType = number>(deviceRef: DeviceRef, index: number, subindex: number, loadFromCache?: boolean, requestTimeout?: number, messageId?: string): Promise<T>;
     private createGetParameterValueObservable;
     private resolveGetDeviceParameterValueArguments;
-    getParameterValues(ids: string[] | [DeviceRef, number, number][], loadFromCache?: boolean, requestTimeout?: number, messageId?: string): Observable<ParameterValueType[]>;
-    uploadMany(ids: string[] | [DeviceRef, number, number][], loadFromCache?: boolean, requestTimeout?: number, messageId?: string): Promise<ParameterValueType[]>;
-    resolveGetParameterValuesIds(ids: string[] | [DeviceRef, number, number][]): Observable<number[][]>;
+    getParameterValues(ids: DeviceParameterIds, loadFromCache?: boolean, requestTimeout?: number, messageId?: string): Observable<ParameterValueType[]>;
+    uploadMany(ids: DeviceParameterIds, loadFromCache?: boolean, requestTimeout?: number, messageId?: string): Promise<ParameterValueType[]>;
+    resolveGetParameterValuesIds(ids: DeviceParameterIds): Observable<number[][]>;
     setParameterValue(deviceParameterId: string, value: ParameterValueType, valueTypeKey?: keyof Required<ParameterTypeValue>, requestTimeout?: number, messageId?: string): Observable<void>;
     setParameterValue(deviceRef: DeviceRef, index: number, subindex: number, value: ParameterValueType, valueTypeKey?: keyof Required<ParameterTypeValue>, requestTimeout?: number, messageId?: string): Observable<void>;
     download(deviceParameterId: string, value: ParameterValueType, valueTypeKey?: keyof Required<ParameterTypeValue>, requestTimeout?: number, messageId?: string): Promise<void>;
@@ -809,16 +810,31 @@ export declare class MotionMasterReqResClient {
         progress: number;
     }>;
     /**
-     * Get device files.
+     * Get files.
      */
-    getDeviceFiles(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<string[]>;
+    getFiles(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<string[]>;
     /**
-     * Get decoded device file.
+     * Get file.
+     */
+    getFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<Uint8Array | null | undefined>;
+    /**
+     * Get decoded file.
      *
      * Content of a device file is returned as a binary data buffer.
      * This functions tries to decode the content as a text in utf-8 character encoding.
      */
-    getDecodedDeviceFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<string>;
+    getDecodedFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<string>;
+    /**
+     * Unlock protected files.
+     *
+     * This will enable the deletion of protected files.
+     * Protected files begin with a period, such as '.hardware_description'.
+     */
+    unlockProtectedFiles(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<string>;
+    /**
+     * Delete file.
+     */
+    deleteFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<DeviceFileStatus>;
     /**
      * Get system log lines.
      *
@@ -851,6 +867,7 @@ export declare class MotionMasterReqResClient {
      * @throws Will throw an error if the values do not match.
      */
     matchParameterValue(deviceRef: DeviceRef, index: number, subindex: number, expectedValue: number): Observable<void>;
+    matchCia402States(deviceRef: DeviceRef, expectedStates: Cia402State[]): Observable<void>;
     /**
      * Helper function to enable motion.
      */
@@ -863,4 +880,41 @@ export declare class MotionMasterReqResClient {
      * Helper function to set motion target.
      */
     setMotionTarget(deviceRef: DeviceRef, target: number, messageId?: string): Observable<never>;
+    /**
+     * Get CiA402 state.
+     */
+    getCia402State(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<Cia402State>;
+    /**
+     * Transition to CiA402 state.
+     *
+     * This function will utilize the current value of the controlword and modify it to transition to the requested CiA402 state.
+     *
+     * Only one transition will occur, except when the current CiA402 state is SWITCH_ON_DISABLED. In this case,
+     * the first transition is from SOD to RTSO, and then from RTSO to the requested CiA402 state.
+     *
+     * The Statusword will be polled to check if the device has successfully transitioned to the requested CiA402 state.
+     * When transitioning to QSA, the Statusword will be checked against both QSA and SOD.
+     * This is necessary because the automatic transition from QSA to SOD can occur faster than the client's polling interval.
+     */
+    transitionToCia402State(deviceRef: DeviceRef, targetState: Cia402State): Promise<void>;
+    resetFault(deviceRef: DeviceRef): Promise<void>;
+    quickStop(deviceRef: DeviceRef): Promise<void>;
+    /**
+     * Reset targets.
+     *
+     * Set torque and velocity targets to 0, and set the position target to the current position value.
+     */
+    resetTargets(deviceRef: DeviceRef): Promise<void>;
+    /**
+     * Get modes of operation.
+     *
+     * Retrieve the value of the 0x6061:00 Modes of operation display.
+     */
+    getModesOfOperation(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<number>;
+    /**
+     * Set modes of operation.
+     *
+     * Set the 0x6060:00 Modes of operation to one of the available options, such as Homing mode (6).
+     */
+    setModesOfOperation(deviceRef: DeviceRef, value: ModesOfOperation, requestTimeout?: number, messageId?: string): Observable<void>;
 }

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

@@ -11,6 +11,9 @@ const operators_2 = require("./operators");
 const parameter_1 = require("./parameter");
 const types_1 = require("./types");
 const util_1 = require("./util");
+const cia402_1 = require("./cia402");
+const cia402_2 = require("./cia402");
+const cia402_3 = require("./cia402");
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
  *
@@ -1058,7 +1061,7 @@ class MotionMasterReqResClient {
                 this.deviceMap.clear();
                 devices.forEach((device) => {
                     if (!device.hardwareDescription) {
-                        throw new Error(`Device ${device.deviceAddress} has no hardware description`);
+                        throw new Error(`Device ${device.position} has no hardware description`);
                     }
                     const deviceSerialNumber = (0, hardware_description_1.getSerialNumberFromHardwareDescription)(device.hardwareDescription);
                     this.deviceMap.set(deviceSerialNumber, device);
@@ -1448,19 +1451,26 @@ class MotionMasterReqResClient {
         }));
     }
     /**
-     * Get device files.
+     * Get files.
      */
-    getDeviceFiles(deviceRef, requestTimeout = 30000, messageId) {
+    getFiles(deviceRef, requestTimeout = 30000, messageId) {
         const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
         return this.getDeviceFileList(deviceRefObj, requestTimeout, messageId).pipe((0, operators_1.map)((status) => { var _a, _b; return (_b = (_a = status.fileList) === null || _a === void 0 ? void 0 : _a.files) !== null && _b !== void 0 ? _b : []; }));
     }
     /**
-     * Get decoded device file.
+     * Get file.
+     */
+    getFile(deviceRef, name, requestTimeout = 5000, messageId) {
+        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
+        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => content));
+    }
+    /**
+     * Get decoded file.
      *
      * Content of a device file is returned as a binary data buffer.
      * This functions tries to decode the content as a text in utf-8 character encoding.
      */
-    getDecodedDeviceFile(deviceRef, name, requestTimeout = 2000, messageId) {
+    getDecodedFile(deviceRef, name, requestTimeout = 2000, messageId) {
         const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
         return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => {
             if (content) {
@@ -1469,6 +1479,22 @@ class MotionMasterReqResClient {
             throw new Error(`Device file ${name} content for device ${deviceRef} is empty!}`);
         }));
     }
+    /**
+     * Unlock protected files.
+     *
+     * This will enable the deletion of protected files.
+     * Protected files begin with a period, such as '.hardware_description'.
+     */
+    unlockProtectedFiles(deviceRef, requestTimeout = 3000, messageId) {
+        return this.getDecodedFile(deviceRef, 'fs-stackunlock=DD1317', requestTimeout, messageId);
+    }
+    /**
+     * Delete file.
+     */
+    deleteFile(deviceRef, name, requestTimeout = 3000, messageId) {
+        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
+        return this.deleteDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId);
+    }
     /**
      * Get system log lines.
      *
@@ -1515,6 +1541,14 @@ class MotionMasterReqResClient {
             }
         }));
     }
+    matchCia402States(deviceRef, expectedStates) {
+        return this.getParameterValue(deviceRef, 0x6041, 0).pipe((0, operators_1.map)((value) => {
+            const state = (0, cia402_1.getCia402State)(value);
+            if (!expectedStates.includes(state)) {
+                throw new Error(`Device CiA402 state and the expected state don't match: ${state} ${expectedStates}`);
+            }
+        }));
+    }
     /**
      * Helper function to enable motion.
      */
@@ -1536,6 +1570,111 @@ class MotionMasterReqResClient {
         const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
         return this.setMotionControllerParameters(Object.assign(Object.assign({}, deviceRefObj), { target }), messageId);
     }
+    /**
+     * Get CiA402 state.
+     */
+    getCia402State(deviceRef, requestTimeout = 1000, messageId) {
+        return this.getParameterValue(deviceRef, 0x6041, 0, false, requestTimeout, messageId).pipe((0, operators_1.map)((value) => (0, cia402_1.getCia402State)(value)));
+    }
+    /**
+     * Transition to CiA402 state.
+     *
+     * This function will utilize the current value of the controlword and modify it to transition to the requested CiA402 state.
+     *
+     * Only one transition will occur, except when the current CiA402 state is SWITCH_ON_DISABLED. In this case,
+     * the first transition is from SOD to RTSO, and then from RTSO to the requested CiA402 state.
+     *
+     * The Statusword will be polled to check if the device has successfully transitioned to the requested CiA402 state.
+     * When transitioning to QSA, the Statusword will be checked against both QSA and SOD.
+     * This is necessary because the automatic transition from QSA to SOD can occur faster than the client's polling interval.
+     */
+    transitionToCia402State(deviceRef, targetState) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            let currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (targetState === currentState) {
+                return;
+            }
+            if (currentState === cia402_1.Cia402State.NOT_READY_TO_SWITCH_ON || currentState === cia402_1.Cia402State.FAULT_REACTION_ACTIVE) {
+                throw new Error(`It is not possible to transition from state ${currentState} to state ${targetState}. The transition from the current ${currentState} state is automatic.`);
+            }
+            let controlword = yield this.upload(deviceRef, 0x6040, 0);
+            let transition = cia402_2.cia402Transitions.find(t => t.from === currentState && t.to === targetState);
+            // From SOD it's only possible to transition to RTSO.
+            if (currentState === cia402_1.Cia402State.SWITCH_ON_DISABLED && targetState !== cia402_1.Cia402State.READY_TO_SWITCH_ON) {
+                transition = cia402_2.cia402Transitions.find(t => t.from === cia402_1.Cia402State.READY_TO_SWITCH_ON && t.to === targetState);
+            }
+            if (!transition) {
+                throw new Error(`It is not possible to transition from state ${currentState} to state ${targetState}.`);
+            }
+            if (currentState === cia402_1.Cia402State.SWITCH_ON_DISABLED) {
+                const sodToRtsoTransition = cia402_2.cia402Transitions[0];
+                const command = (0, cia402_3.createControlwordCommand)(controlword, sodToRtsoTransition.command);
+                yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, [cia402_1.Cia402State.READY_TO_SWITCH_ON]).pipe((0, operators_1.retry)({ count: 5, delay: 1000 })))));
+                controlword = yield this.upload(deviceRef, 0x6040, 0);
+                currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+                if (targetState === currentState) {
+                    return;
+                }
+            }
+            const command = (0, cia402_3.createControlwordCommand)(controlword, transition.command);
+            const expectedStates = [targetState];
+            if (targetState === cia402_1.Cia402State.QUICK_STOP_ACTIVE) {
+                expectedStates.push(cia402_1.Cia402State.SWITCH_ON_DISABLED);
+            }
+            yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, expectedStates).pipe((0, operators_1.retry)({ count: 5, delay: 1000 }))), (0, operators_1.catchError)(() => {
+                throw new Error(`Timeout occurred while transitioning from ${currentState} state to ${targetState} state.`);
+            })));
+        });
+    }
+    resetFault(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (currentState !== cia402_1.Cia402State.FAULT) {
+                throw new Error(`Device ${deviceRef} is not in FAULT CiA402 state.`);
+            }
+            this.transitionToCia402State(deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+        });
+    }
+    quickStop(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (currentState !== cia402_1.Cia402State.OPERATION_ENABLED) {
+                throw new Error(`Device ${deviceRef} is not in OPERATION_ENABLED CiA402 state.`);
+            }
+            this.transitionToCia402State(deviceRef, cia402_1.Cia402State.QUICK_STOP_ACTIVE);
+        });
+    }
+    /**
+     * Reset targets.
+     *
+     * Set torque and velocity targets to 0, and set the position target to the current position value.
+     */
+    resetTargets(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const positionActualValue = yield this.upload(deviceRef, 0x6064, 0);
+            return this.downloadMany([
+                [deviceRef, 0x6071, 0, 0],
+                [deviceRef, 0x607A, 0, positionActualValue],
+                [deviceRef, 0x60FF, 0, 0], // target velocity
+            ]);
+        });
+    }
+    /**
+     * Get modes of operation.
+     *
+     * Retrieve the value of the 0x6061:00 Modes of operation display.
+     */
+    getModesOfOperation(deviceRef, requestTimeout = 1000, messageId) {
+        return this.getParameterValue(deviceRef, 0x6061, 0, false, requestTimeout, messageId);
+    }
+    /**
+     * Set modes of operation.
+     *
+     * Set the 0x6060:00 Modes of operation to one of the available options, such as Homing mode (6).
+     */
+    setModesOfOperation(deviceRef, value, requestTimeout = 1000, messageId) {
+        return this.setParameterValue(deviceRef, 0x6060, 0, value, 'uintValue', requestTimeout, messageId);
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 //# sourceMappingURL=motion-master-req-res-client.js.map