motion-master-client 0.0.200 → 0.0.202

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.200",
+  "version": "0.0.202",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -13,6 +13,7 @@ const types_1 = require("./lib/types");
 const package_json_1 = tslib_1.__importDefault(require("../package.json"));
 const motion_composer_1 = require("./lib/motion-composer");
 const integro_encoder_calibration_1 = require("./lib/integro-encoder-calibration");
+const os_command_1 = require("./lib/os-command");
 Object.assign(globalThis, { WebSocket: require('ws') });
 const log = (0, debug_1.default)('mmapi');
 const app = (0, express_1.default)();
@@ -104,16 +105,17 @@ app.get('/api/version', (_req, res) => {
     res.send({ version: package_json_1.default.version });
 });
 app.get('/api/connect/:hostname?', (req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _b;
+    var _b, _c;
+    const requestTimeout = parseInt(((_b = req.query['request-timeout']) !== null && _b !== void 0 ? _b : '10000'));
     if (client) {
         res.status(409).send({ message: 'Client has already been created. Please disconnect (GET /api/disconnect) before creating a new client.' });
         return;
     }
-    const hostname = (_b = req.params['hostname']) !== null && _b !== void 0 ? _b : '127.0.0.1';
+    const hostname = (_c = req.params['hostname']) !== null && _c !== void 0 ? _c : '127.0.0.1';
     log(`Creating an instance of Motion Master client and connecting to ${hostname}.`);
     client = (0, motion_master_client_1.createMotionMasterClient)(hostname);
     try {
-        yield client.whenReady(10000);
+        yield client.whenReady(requestTimeout);
         res.send({ reqResUrl: client.reqResSocket.url, pubSubUrl: client.pubSubSocket.url });
     }
     catch (err) {
@@ -125,65 +127,163 @@ app.get('/api/disconnect', (_req, res) => {
     log(`Client is disconnecting.`);
     client === null || client === void 0 ? void 0 : client.closeSockets();
     client = undefined;
-    res.status(204).send();
+    res.send();
 });
-app.get('/api/system-version', asyncHandler((_req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getSystemVersion(5000));
+app.get('/api/system-version', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _d;
+    const requestTimeout = parseInt(((_d = req.query['request-timeout']) !== null && _d !== void 0 ? _d : '5000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getSystemVersion(requestTimeout));
     res.send({ version: status.version });
 })));
-app.get('/api/devices', asyncHandler((_req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    const devices = yield (0, rxjs_1.lastValueFrom)(client.request.getDevices(10000));
+app.get('/api/system-log', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _e;
+    const requestTimeout = parseInt(((_e = req.query['request-timeout']) !== null && _e !== void 0 ? _e : '5000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getSystemLog(requestTimeout));
+    res.send({ content: status.content, runEnv: status.runEnv });
+})));
+app.get('/api/set-system-client-timeout/:timeout', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _f;
+    const timeoutMs = parseInt(((_f = req.params['timeout']) !== null && _f !== void 0 ? _f : '1000'));
+    yield (0, rxjs_1.lastValueFrom)(client.request.setSystemClientTimeout({ timeoutMs }));
+    res.send();
+})));
+app.get('/api/devices', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _g;
+    const requestTimeout = parseInt(((_g = req.query['request-timeout']) !== null && _g !== void 0 ? _g : '10000'));
+    const devices = yield (0, rxjs_1.lastValueFrom)(client.request.getDevices(requestTimeout));
     res.send(devices);
 })));
 app.get('/api/devices/:deviceRef/parameter-info', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _h;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceParameterInfo(deviceRefObj, 5000));
+    const requestTimeout = parseInt(((_h = req.query['request-timeout']) !== null && _h !== void 0 ? _h : '5000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceParameterInfo(deviceRefObj, requestTimeout));
     res.send(status === null || status === void 0 ? void 0 : status.parameters);
 })));
 app.get('/api/devices/:deviceRef/upload/:index/:subindex', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _j;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const index = parseInt(req.params['index'], 16);
     const subindex = parseInt(req.params['subindex'], 16);
-    const value = yield client.request.upload(deviceRef, index, subindex);
+    const loadFromCache = asBoolean((req.query['load-from-cache']));
+    const requestTimeout = parseInt(((_j = req.query['request-timeout']) !== null && _j !== void 0 ? _j : '1000'));
+    const value = yield client.request.upload(deviceRef, index, subindex, loadFromCache, requestTimeout);
     res.send({ value });
 })));
+app.post('/api/devices/:deviceRef/get-parameter-values', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _k;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    let parameters = req.body;
+    const requestTimeout = parseInt(((_k = req.query['request-timeout']) !== null && _k !== void 0 ? _k : '9000'));
+    parameters = parameters.map((parameter) => {
+        var _a, _b, _c;
+        return { index: (_a = parameter.index) !== null && _a !== void 0 ? _a : 0, subindex: (_b = parameter.subindex) !== null && _b !== void 0 ? _b : 0, loadFromCache: (_c = parameter.loadFromCache) !== null && _c !== void 0 ? _c : false };
+    });
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameters, sendProgress: false }), requestTimeout));
+    res.send({ parameterValues: status.parameterValues });
+})));
+app.post('/api/devices/get-multi-device-parameter-values', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _l;
+    let collection = req.body;
+    const loadFromCache = asBoolean((req.query['load-from-cache']));
+    const requestTimeout = parseInt(((_l = req.query['request-timeout']) !== null && _l !== void 0 ? _l : '9000'));
+    collection.map(c => {
+        var _a;
+        (_a = c.parameters) === null || _a === void 0 ? void 0 : _a.map((parameter) => {
+            var _a, _b;
+            return { index: (_a = parameter.index) !== null && _a !== void 0 ? _a : 0, subindex: (_b = parameter.subindex) !== null && _b !== void 0 ? _b : 0, loadFromCache };
+        });
+        c.sendProgress = false;
+    });
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getMultiDeviceParameterValues({ collection }, requestTimeout));
+    res.send({ collection: status.collection });
+})));
+app.get('/api/devices/:deviceRef/parameters', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _m;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const loadFromCache = asBoolean((req.query['load-from-cache']));
+    const requestTimeout = parseInt(((_m = req.query['request-timeout']) !== null && _m !== void 0 ? _m : '10000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceParameters(Object.assign({ loadFromCache }, deviceRefObj), requestTimeout));
+    res.send({ parameters: status.parameters });
+})));
 app.get('/api/devices/:deviceRef/download/:index/:subindex/:value', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _o;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const index = parseInt(req.params['index'], 16);
     const subindex = parseInt(req.params['subindex'], 16);
     const value = req.params['value'];
-    yield client.request.download(deviceRef, index, subindex, value);
-    res.status(204).send();
+    const requestTimeout = parseInt(((_o = req.query['request-timeout']) !== null && _o !== void 0 ? _o : '1000'));
+    yield client.request.download(deviceRef, index, subindex, value, undefined, requestTimeout);
+    res.send();
+})));
+app.put('/api/devices/:deviceRef/download/:index/:subindex', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _p;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const index = parseInt(req.params['index'], 16);
+    const subindex = parseInt(req.params['subindex'], 16);
+    const buffer = req.body;
+    const value = new Uint8Array(buffer);
+    const requestTimeout = parseInt(((_p = req.query['request-timeout']) !== null && _p !== void 0 ? _p : '5000'));
+    yield client.request.download(deviceRef, index, subindex, value, undefined, requestTimeout);
+    res.send();
+})));
+app.post('/api/devices/:deviceRef/set-parameter-values', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _q;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    let parameterValues = req.body;
+    const requestTimeout = parseInt(((_q = req.query['request-timeout']) !== null && _q !== void 0 ? _q : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.setDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameterValues }), requestTimeout));
+    res.send({ parameterValues: status.parameterValues });
+})));
+app.post('/api/devices/set-multi-device-parameter-values', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _r;
+    let collection = req.body;
+    const requestTimeout = parseInt(((_r = req.query['request-timeout']) !== null && _r !== void 0 ? _r : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.setMultiDeviceParameterValues({ collection }, requestTimeout));
+    res.send({ collection: status.collection });
 })));
 app.get('/api/devices/:deviceRef/files', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _s;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const value = yield (0, rxjs_1.lastValueFrom)(client.request.getFiles(deviceRef));
+    const requestTimeout = parseInt(((_s = req.query['request-timeout']) !== null && _s !== void 0 ? _s : '30000'));
+    const value = yield (0, rxjs_1.lastValueFrom)(client.request.getFiles(deviceRef, requestTimeout));
     res.send(value);
 })));
 app.get('/api/devices/:deviceRef/files/unlock', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _t;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    yield (0, rxjs_1.lastValueFrom)(client.request.unlockProtectedFiles(deviceRef));
+    const requestTimeout = parseInt(((_t = req.query['request-timeout']) !== null && _t !== void 0 ? _t : '5000'));
+    yield (0, rxjs_1.lastValueFrom)(client.request.unlockProtectedFiles(deviceRef, requestTimeout));
     res.send();
 })));
 app.get('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _u;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const filename = req.params['filename'];
-    const value = yield (0, rxjs_1.lastValueFrom)(client.request.getDecodedFile(deviceRef, filename, 30000));
+    const requestTimeout = parseInt(((_u = req.query['request-timeout']) !== null && _u !== void 0 ? _u : '30000'));
+    const value = yield (0, rxjs_1.lastValueFrom)(client.request.getDecodedFile(deviceRef, filename, requestTimeout));
     res.send(value);
 })));
 app.put('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _v;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const filename = req.params['filename'];
     const buffer = req.body;
     const content = new Uint8Array(buffer);
-    yield (0, rxjs_1.lastValueFrom)(client.request.setFile(deviceRef, filename, content, true, 30000));
+    const requestTimeout = parseInt(((_v = req.query['request-timeout']) !== null && _v !== void 0 ? _v : '30000'));
+    yield (0, rxjs_1.lastValueFrom)(client.request.setFile(deviceRef, filename, content, true, requestTimeout));
     res.send();
 })));
 app.delete('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _w;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const filename = req.params['filename'];
-    yield (0, rxjs_1.lastValueFrom)(client.request.deleteFile(deviceRef, filename));
+    const requestTimeout = parseInt(((_w = req.query['request-timeout']) !== null && _w !== void 0 ? _w : '3000'));
+    yield (0, rxjs_1.lastValueFrom)(client.request.deleteFile(deviceRef, filename, requestTimeout));
     res.send();
 })));
 app.get('/api/devices/:deviceRef/quick-stop', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
@@ -197,14 +297,16 @@ app.get('/api/devices/:deviceRef/reset-fault', asyncHandler((req, res) => tslib_
     res.send();
 })));
 app.post('/api/devices/:deviceRef/start-firmware-installation', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _x;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const buffer = req.body;
     const firmwarePackageContent = new Uint8Array(buffer);
     const skipSiiInstallation = asBoolean(req.query['skip-sii-installation']);
+    const requestTimeout = parseInt(((_x = req.query['request-timeout']) !== null && _x !== void 0 ? _x : '180000'));
     const startDeviceFirmwareInstalationRequest = Object.assign(Object.assign({}, deviceRefObj), { firmwarePackageContent,
         skipSiiInstallation });
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startDeviceFirmwareInstallation(startDeviceFirmwareInstalationRequest, 120000));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startDeviceFirmwareInstallation(startDeviceFirmwareInstalationRequest, requestTimeout));
     if (status.request === 'succeeded') {
         res.send();
     }
@@ -213,36 +315,42 @@ app.post('/api/devices/:deviceRef/start-firmware-installation', asyncHandler((re
     }
 })));
 app.get('/api/devices/:deviceRef/log', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _y;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceLog(deviceRefObj, 10000));
+    const requestTimeout = parseInt(((_y = req.query['request-timeout']) !== null && _y !== void 0 ? _y : '10000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceLog(deviceRefObj, requestTimeout));
     res.send(status.content);
 })));
 app.get('/api/devices/:deviceRef/start-cogging-torque-recording', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _c, _d;
+    var _z, _0, _1;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const skipAutoTuning = asBoolean(req.query['skip-auto-tuning']);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCoggingTorqueRecording(Object.assign(Object.assign({}, deviceRefObj), { skipAutoTuning }), 180000));
+    const requestTimeout = parseInt(((_z = req.query['request-timeout']) !== null && _z !== void 0 ? _z : '180000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCoggingTorqueRecording(Object.assign(Object.assign({}, deviceRefObj), { skipAutoTuning }), requestTimeout));
     if (status.request === 'succeeded') {
         const value = yield (0, rxjs_1.lastValueFrom)(client.request.getCoggingTorqueData(deviceRefObj, 10000));
-        res.send((_d = (_c = value.table) === null || _c === void 0 ? void 0 : _c.data) !== null && _d !== void 0 ? _d : []);
+        res.send((_1 = (_0 = value.table) === null || _0 === void 0 ? void 0 : _0.data) !== null && _1 !== void 0 ? _1 : []);
     }
     else {
         res.status(500).send(status.error);
     }
 })));
 app.get('/api/devices/:deviceRef/cogging-torque-data', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _e, _f;
+    var _2, _3, _4;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getCoggingTorqueData(deviceRefObj, 10000));
-    res.send((_f = (_e = status.table) === null || _e === void 0 ? void 0 : _e.data) !== null && _f !== void 0 ? _f : []);
+    const requestTimeout = parseInt(((_2 = req.query['request-timeout']) !== null && _2 !== void 0 ? _2 : '10000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getCoggingTorqueData(deviceRefObj, requestTimeout));
+    res.send((_4 = (_3 = status.table) === null || _3 === void 0 ? void 0 : _3.data) !== null && _4 !== void 0 ? _4 : []);
 })));
 app.get('/api/devices/:deviceRef/start-offset-detection', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _5;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startOffsetDetection(deviceRefObj, 120000));
+    const requestTimeout = parseInt(((_5 = req.query['request-timeout']) !== null && _5 !== void 0 ? _5 : '120000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startOffsetDetection(deviceRefObj, requestTimeout));
     if (status.request === 'succeeded') {
         const commutationAngleOffset = yield client.request.upload(deviceRef, 0x2001, 0);
         res.send({ commutationAngleOffset });
@@ -251,21 +359,84 @@ app.get('/api/devices/:deviceRef/start-offset-detection', asyncHandler((req, res
         res.status(500).send(status.error);
     }
 })));
+app.get('/api/devices/:deviceRef/set-motion-controller-parameters', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const target = parseInt((req.query['target'])) || undefined;
+    yield (0, rxjs_1.lastValueFrom)(client.request.setMotionControllerParameters(Object.assign(Object.assign({}, deviceRefObj), { target })));
+    res.send();
+})));
+app.get('/api/devices/:deviceRef/enable-motion-controller/:controllerType', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _6, _7;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const controllerType = (_6 = types_1.MotionMasterMessage.Request.EnableMotionController.ControllerType[req.params['controllerType'].toUpperCase()]) !== null && _6 !== void 0 ? _6 : types_1.MotionMasterMessage.Request.EnableMotionController.ControllerType.UNSPECIFIED;
+    const filter = asBoolean(req.query['filter']);
+    const requestTimeout = parseInt(((_7 = req.query['request-timeout']) !== null && _7 !== void 0 ? _7 : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.enableMotionController(Object.assign(Object.assign({}, deviceRefObj), { controllerType, filter }), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/disable-motion-controller', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _8;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const requestTimeout = parseInt(((_8 = req.query['request-timeout']) !== null && _8 !== void 0 ? _8 : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.disableMotionController(Object.assign({}, deviceRefObj), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/get-ethercat-network-state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _9;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const requestTimeout = parseInt(((_9 = req.query['request-timeout']) !== null && _9 !== void 0 ? _9 : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getEthercatNetworkState(Object.assign({}, deviceRefObj), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send({ state: status.state });
+    }
+    else {
+        res.send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/set-ethercat-network-state/:state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _10, _11;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const state = (_10 = types_1.MotionMasterMessage.Request.SetEthercatNetworkState.State[req.params['state'].toUpperCase()]) !== null && _10 !== void 0 ? _10 : types_1.MotionMasterMessage.Request.SetEthercatNetworkState.State.UNSPECIFIED;
+    const requestTimeout = parseInt(((_11 = req.query['request-timeout']) !== null && _11 !== void 0 ? _11 : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.setEthercatNetworkState(Object.assign(Object.assign({}, deviceRefObj), { state }), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.send(status.error);
+    }
+})));
 app.get('/api/devices/:deviceRef/start-system-identification', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _g, _h, _j, _k;
+    var _12, _13, _14, _15, _16;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const durationSeconds = parseFloat(((_g = req.query['duration-seconds']) !== null && _g !== void 0 ? _g : '3.0'));
-    const torqueAmplitude = parseInt(((_h = req.query['torque-amplitude']) !== null && _h !== void 0 ? _h : '300'));
-    const startFrequency = parseInt(((_j = req.query['start-frequency']) !== null && _j !== void 0 ? _j : '2'));
-    const endFrequency = parseInt(((_k = req.query['end-frequency']) !== null && _k !== void 0 ? _k : '60'));
+    const durationSeconds = parseFloat(((_12 = req.query['duration-seconds']) !== null && _12 !== void 0 ? _12 : '3.0'));
+    const torqueAmplitude = parseInt(((_13 = req.query['torque-amplitude']) !== null && _13 !== void 0 ? _13 : '300'));
+    const startFrequency = parseInt(((_14 = req.query['start-frequency']) !== null && _14 !== void 0 ? _14 : '2'));
+    const endFrequency = parseInt(((_15 = req.query['end-frequency']) !== null && _15 !== void 0 ? _15 : '60'));
     const nextGenSysId = asBoolean(req.query['next-gen-sys-id']);
+    const requestTimeout = parseInt(((_16 = req.query['request-timeout']) !== null && _16 !== void 0 ? _16 : '30000'));
     const props = Object.assign(Object.assign({}, deviceRefObj), { durationSeconds,
         torqueAmplitude,
         startFrequency,
         endFrequency,
         nextGenSysId });
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startSystemIdentification(props, 30000));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startSystemIdentification(props, requestTimeout));
     if (status.request === 'succeeded') {
         const plantModelFileContent = yield (0, rxjs_1.lastValueFrom)(client.request.getDecodedFile(deviceRef, 'plant_model.csv'));
         res.send(plantModelFileContent);
@@ -275,9 +446,9 @@ app.get('/api/devices/:deviceRef/start-system-identification', asyncHandler((req
     }
 })));
 app.get('/api/devices/:deviceRef/set-modes-of-operation/:modesOfOperation', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _l;
+    var _17;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const modesOfOperation = parseInt((_l = req.params['modesOfOperation']) !== null && _l !== void 0 ? _l : '0');
+    const modesOfOperation = parseInt((_17 = req.params['modesOfOperation']) !== null && _17 !== void 0 ? _17 : '0');
     yield (0, rxjs_1.lastValueFrom)(client.request.setModesOfOperation(deviceRef, modesOfOperation));
     res.send();
 })));
@@ -288,8 +459,10 @@ app.get('/api/devices/:deviceRef/transition-to-cia402-state/:state', asyncHandle
     res.send();
 })));
 app.get('/api/devices/:deviceRef/cia402-state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _18;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const state = yield (0, rxjs_1.lastValueFrom)(client.request.getCia402State(deviceRef));
+    const requestTimeout = parseInt(((_18 = req.query['request-timeout']) !== null && _18 !== void 0 ? _18 : '5000'));
+    const state = yield (0, rxjs_1.lastValueFrom)(client.request.getCia402State(deviceRef, requestTimeout));
     res.send({ state });
 })));
 app.get('/api/devices/:deviceRef/save-config', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
@@ -304,17 +477,73 @@ app.put('/api/devices/:deviceRef/load-config', asyncHandler((req, res) => tslib_
     yield (0, rxjs_1.lastValueFrom)(client.request.loadConfig(deviceRef, content, { count: 20, delay: 500 }));
     res.send();
 })));
+app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/velocity', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _19, _20, _21;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const velocityLoopBandwidth = parseInt(((_19 = req.query['velocity-loop-bandwidth']) !== null && _19 !== void 0 ? _19 : '5'));
+    const velocityDamping = parseFloat(((_20 = req.query['velocity-damping']) !== null && _20 !== void 0 ? _20 : '0.7'));
+    const requestTimeout = parseInt(((_21 = req.query['request-timeout']) !== null && _21 !== void 0 ? _21 : '120000'));
+    const velocityParameters = { velocityLoopBandwidth, velocityDamping };
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.computeAutoTuningGains(Object.assign(Object.assign({}, deviceRefObj), { velocityParameters }), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/position', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _22, _23, _24, _25, _26, _27, _28, _29, _30;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const controllerType = (_23 = types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType[((_22 = req.query['controller-type']) !== null && _22 !== void 0 ? _22 : 'UNSPECIFIED')]) !== null && _23 !== void 0 ? _23 : types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType.UNSPECIFIED;
+    const settlingTime = parseInt(((_24 = req.query['settling-time']) !== null && _24 !== void 0 ? _24 : '200'));
+    const positionDamping = parseInt(((_25 = req.query['position-damping']) !== null && _25 !== void 0 ? _25 : '1'));
+    const alphaMult = parseInt(((_26 = req.query['alpha-mult']) !== null && _26 !== void 0 ? _26 : '1'));
+    const order = parseInt(((_27 = req.query['order']) !== null && _27 !== void 0 ? _27 : '0'));
+    const lb = parseInt(((_28 = req.query['lb']) !== null && _28 !== void 0 ? _28 : '1'));
+    const ub = parseInt(((_29 = req.query['ub']) !== null && _29 !== void 0 ? _29 : '1001'));
+    const requestTimeout = parseInt(((_30 = req.query['request-timeout']) !== null && _30 !== void 0 ? _30 : '120000'));
+    const positionParameters = { controllerType, settlingTime, positionDamping, alphaMult, order, lb, ub };
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.computeAutoTuningGains(Object.assign(Object.assign({}, deviceRefObj), { positionParameters }), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/start-open-loop-field-control', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _31, _32, _33, _34, _35, _36;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const angle = parseInt(((_31 = req.query['angle']) !== null && _31 !== void 0 ? _31 : '360'));
+    const velocity = parseInt(((_32 = req.query['velocity']) !== null && _32 !== void 0 ? _32 : '5'));
+    const acceleration = parseInt(((_33 = req.query['acceleration']) !== null && _33 !== void 0 ? _33 : '1000'));
+    const torque = parseInt(((_34 = req.query['torque']) !== null && _34 !== void 0 ? _34 : '1000'));
+    const torqueSpeed = parseInt(((_35 = req.query['torqueSpeed']) !== null && _35 !== void 0 ? _35 : '10000'));
+    const requestTimeout = parseInt(((_36 = req.query['request-timeout']) !== null && _36 !== void 0 ? _36 : '120000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startOpenLoopFieldControl(Object.assign(Object.assign({}, deviceRefObj), { angle, velocity, acceleration, torque, torqueSpeed }), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
 app.get('/api/devices/:deviceRef/start-full-auto-tuning/velocity', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _m, _o, _p;
+    var _37, _38, _39, _40;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.VELOCITY;
+    const requestTimeout = parseInt(((_37 = req.query['request-timeout']) !== null && _37 !== void 0 ? _37 : '60000'));
     const props = Object.assign(Object.assign({}, deviceRefObj), { type });
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, 60000));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, requestTimeout));
     if (status.request === 'succeeded') {
-        const dampingRatio = (_m = status.dampingRatio) !== null && _m !== void 0 ? _m : 0;
-        const settlingTime = (_o = status.settlingTime) !== null && _o !== void 0 ? _o : 0;
-        const bandwidth = (_p = status.bandwidth) !== null && _p !== void 0 ? _p : 0;
+        const dampingRatio = (_38 = status.dampingRatio) !== null && _38 !== void 0 ? _38 : 0;
+        const settlingTime = (_39 = status.settlingTime) !== null && _39 !== void 0 ? _39 : 0;
+        const bandwidth = (_40 = status.bandwidth) !== null && _40 !== void 0 ? _40 : 0;
         const pidObj = {};
         for (let subidx = 1; subidx < 5; subidx++) {
             pidObj[(0, parameter_1.makeParameterId)(0x2011, subidx)] = yield client.request.upload(deviceRef, 0x2011, subidx);
@@ -329,27 +558,17 @@ app.get('/api/devices/:deviceRef/start-full-auto-tuning/velocity', asyncHandler(
     }
 })));
 app.get('/api/devices/:deviceRef/start-full-auto-tuning/position/:controllerType', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _q, _r, _s;
+    var _41, _42, _43, _44;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.POSITION;
-    let controllerType;
-    if (req.params['controllerType'] === 'PI_P') {
-        controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.PI_P;
-    }
-    else if (req.params['controllerType'] === 'P_PI') {
-        controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.P_PI;
-    }
-    else {
-        controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.UNSPECIFIED;
-    }
-    const props = Object.assign(Object.assign({}, deviceRefObj), { type,
-        controllerType });
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, 60000));
+    let controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType[req.params['controllerType'].toUpperCase()] || types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.UNSPECIFIED;
+    const requestTimeout = parseInt(((_41 = req.query['request-timeout']) !== null && _41 !== void 0 ? _41 : '60000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(Object.assign(Object.assign({}, deviceRefObj), { type, controllerType }), requestTimeout));
     if (status.request === 'succeeded') {
-        const dampingRatio = (_q = status.dampingRatio) !== null && _q !== void 0 ? _q : 0;
-        const settlingTime = (_r = status.settlingTime) !== null && _r !== void 0 ? _r : 0;
-        const bandwidth = (_s = status.bandwidth) !== null && _s !== void 0 ? _s : 0;
+        const dampingRatio = (_42 = status.dampingRatio) !== null && _42 !== void 0 ? _42 : 0;
+        const settlingTime = (_43 = status.settlingTime) !== null && _43 !== void 0 ? _43 : 0;
+        const bandwidth = (_44 = status.bandwidth) !== null && _44 !== void 0 ? _44 : 0;
         const pidObj = {};
         for (let subidx = 1; subidx < 9; subidx++) {
             pidObj[(0, parameter_1.makeParameterId)(0x2012, subidx)] = yield client.request.upload(deviceRef, 0x2012, subidx);
@@ -364,9 +583,11 @@ app.get('/api/devices/:deviceRef/start-full-auto-tuning/position/:controllerType
     }
 })));
 app.get('/api/devices/:deviceRef/stop-full-auto-tuning', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _45;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.stopFullAutoTuning(deviceRefObj, 10000));
+    const requestTimeout = parseInt(((_45 = req.query['request-timeout']) !== null && _45 !== void 0 ? _45 : '10000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.stopFullAutoTuning(deviceRefObj, requestTimeout));
     if (status.request == 'succeeded') {
         res.send();
     }
@@ -384,13 +605,13 @@ app.get('/api/devices/:deviceRef/set-halt-bit/:value', asyncHandler((req, res) =
  * @example curl "http://localhost:63500/api/devices/0/run-torque-profile?target=100&holding-duration=3000&skip-quick-stop=false&target-reach-timeout=5000&slope=50&window=30&window-time=1"
  */
 app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _t, _u;
+    var _46, _47;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const target = parseInt(((_t = req.query['target']) !== null && _t !== void 0 ? _t : '1000'));
+    const target = parseInt(((_46 = req.query['target']) !== null && _46 !== void 0 ? _46 : '1000'));
     const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
     const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
-    const slope = parseInt(((_u = req.query['slope']) !== null && _u !== void 0 ? _u : '50'));
+    const slope = parseInt(((_47 = req.query['slope']) !== null && _47 !== void 0 ? _47 : '50'));
     const window = parseInt(req.query['window']) || undefined;
     const windowTime = parseInt(req.query['window-time']) || undefined;
     const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
@@ -415,11 +636,11 @@ app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) =>
  * @example curl "http://localhost:63500/api/devices/0/run-velocity-profile?acceleration=5000&target=1000&deceleration=5000&holding-duration=2000&skip-quick-stop=false&target-reach-timeout=5000&window=10&window-time=1"
  */
 app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _v, _w, _x;
+    var _48, _49, _50;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const acceleration = parseInt(((_v = req.query['acceleration']) !== null && _v !== void 0 ? _v : '1000'));
-    const target = parseInt(((_w = req.query['target']) !== null && _w !== void 0 ? _w : '1000'));
-    const deceleration = parseInt(((_x = req.query['deceleration']) !== null && _x !== void 0 ? _x : '1000'));
+    const acceleration = parseInt(((_48 = req.query['acceleration']) !== null && _48 !== void 0 ? _48 : '1000'));
+    const target = parseInt(((_49 = req.query['target']) !== null && _49 !== void 0 ? _49 : '1000'));
+    const deceleration = parseInt(((_50 = req.query['deceleration']) !== null && _50 !== void 0 ? _50 : '1000'));
     const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
     const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
@@ -448,16 +669,16 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
  * @example curl "http://localhost:63500/api/devices/0/run-position-profile?acceleration=5000&target=10000&deceleration=5000&holding-duration=2000&relative=true&skip-quick-stop=false&target-reach-timeout=5000&velocity=2000&window=10&window-time=1"
  */
 app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _y, _z, _0, _1;
+    var _51, _52, _53, _54;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const acceleration = parseInt(((_y = req.query['acceleration']) !== null && _y !== void 0 ? _y : '1000'));
-    const target = parseInt(((_z = req.query['target']) !== null && _z !== void 0 ? _z : '1000'));
-    const deceleration = parseInt(((_0 = req.query['deceleration']) !== null && _0 !== void 0 ? _0 : '1000'));
+    const acceleration = parseInt(((_51 = req.query['acceleration']) !== null && _51 !== void 0 ? _51 : '1000'));
+    const target = parseInt(((_52 = req.query['target']) !== null && _52 !== void 0 ? _52 : '1000'));
+    const deceleration = parseInt(((_53 = req.query['deceleration']) !== null && _53 !== void 0 ? _53 : '1000'));
     const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const relative = asBoolean(req.query['relative']);
     const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
     const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
-    const velocity = parseInt(((_1 = req.query['velocity']) !== null && _1 !== void 0 ? _1 : '100'));
+    const velocity = parseInt(((_54 = req.query['velocity']) !== null && _54 !== void 0 ? _54 : '100'));
     const window = parseInt(req.query['window']) || undefined;
     const windowTime = parseInt(req.query['window-time']) || undefined;
     const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
@@ -487,12 +708,13 @@ app.get('/api/devices/:deviceRef/apply-set-point', asyncHandler((req, res) => ts
     res.send();
 })));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _2;
+    var _55, _56;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const encoderOrdinal = parseInt(((_2 = req.query['encoder-ordinal']) !== null && _2 !== void 0 ? _2 : '1'));
+    const encoderOrdinal = parseInt(((_55 = req.query['encoder-ordinal']) !== null && _55 !== void 0 ? _55 : '1'));
     const activateHealthMonitoring = asBoolean(req.query['activate-health-monitoring']);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderNarrowAngleCalibrationProcedure(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, activateHealthMonitoring }), 120000));
+    const requestTimeout = parseInt(((_56 = req.query['request-timeout']) !== null && _56 !== void 0 ? _56 : '120000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderNarrowAngleCalibrationProcedure(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, activateHealthMonitoring }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send();
     }
@@ -501,12 +723,13 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration'
     }
 })));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-configuration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _3, _4;
+    var _57, _58, _59;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const encoderOrdinal = parseInt(((_3 = req.query['encoder-ordinal']) !== null && _3 !== void 0 ? _3 : '1'));
-    const batteryModeMaxAcceleration = parseInt(((_4 = req.query['battery-mode-max-acceleration']) !== null && _4 !== void 0 ? _4 : '0'));
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderConfiguration(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, batteryModeMaxAcceleration }), 30000));
+    const encoderOrdinal = parseInt(((_57 = req.query['encoder-ordinal']) !== null && _57 !== void 0 ? _57 : '1'));
+    const batteryModeMaxAcceleration = parseInt(((_58 = req.query['battery-mode-max-acceleration']) !== null && _58 !== void 0 ? _58 : '0'));
+    const requestTimeout = parseInt(((_59 = req.query['request-timeout']) !== null && _59 !== void 0 ? _59 : '30000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderConfiguration(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, batteryModeMaxAcceleration }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send();
     }
@@ -519,6 +742,70 @@ app.get('/api/devices/:deviceRef/start-integro-encoder-calibration', asyncHandle
     yield new integro_encoder_calibration_1.IntegroEncoderCalibration(client, deviceRef).start();
     res.send();
 })));
+app.get('/api/devices/:deviceRef/circulo-encoder-magnet-distance', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _60, _61, _62;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const encoderOrdinal = parseInt(((_60 = req.query['encoder-ordinal']) !== null && _60 !== void 0 ? _60 : '1'));
+    const ringRevision = parseInt(((_61 = req.query['ring-revision']) !== null && _61 !== void 0 ? _61 : '0'));
+    const requestTimeout = parseInt(((_62 = req.query['request-timeout']) !== null && _62 !== void 0 ? _62 : '5000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getCirculoEncoderMagnetDistance(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, ringRevision }), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send({ distance: status.distance, position: status.position });
+    }
+    else {
+        res.status(500).send(status);
+    }
+})));
+app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _63, _64, _65;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const commandQuery = req.query['command'];
+    if (!commandQuery) {
+        res.status(400).send({ error: 'No command was provided as a query string. Please provide a comma-separated list of numbers.' });
+        return;
+    }
+    const command = commandQuery.split(',').map(Number);
+    if (!command.every(n => typeof n === 'number' && !isNaN(n))) {
+        res.status(400).send({ error: 'Invalid command. Please provide a valid comma-separated list of numbers.' });
+        return;
+    }
+    const commandArray = new Uint8Array(command);
+    const commandTimeout = parseInt(((_63 = req.query['command-timeout']) !== null && _63 !== void 0 ? _63 : '10000'));
+    const responsePollingInterval = parseInt(((_64 = req.query['response-polling-interval']) !== null && _64 !== void 0 ? _64 : '1000'));
+    const osCommandModeQuery = req.query['os-command-mode'];
+    const osCommandMode = (osCommandModeQuery !== undefined && asBoolean(osCommandModeQuery))
+        ? true
+        : (_65 = os_command_1.OsCommandMode[osCommandModeQuery === null || osCommandModeQuery === void 0 ? void 0 : osCommandModeQuery.toUpperCase()]) !== null && _65 !== void 0 ? _65 : false;
+    const readFsBuffer = asBoolean((req.query['read-fs-buffer']));
+    const fsBufferContent = req.body;
+    let fsBufferContentArray = undefined;
+    if (fsBufferContent.length > 0) {
+        fsBufferContentArray = new Uint8Array(fsBufferContent);
+    }
+    const fsBuffer = fsBufferContentArray !== null && fsBufferContentArray !== void 0 ? fsBufferContentArray : readFsBuffer;
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.runOsCommand(deviceRef, commandArray, commandTimeout, responsePollingInterval, osCommandMode, fsBuffer));
+    if (status.request === 'succeeded') {
+        res.send(status);
+    }
+    else {
+        res.status(500).send(status);
+    }
+})));
+app.put('/api/devices/start-sii-restore/:devicePosition', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _66;
+    const devicePosition = parseInt(req.params['devicePosition']);
+    const buffer = req.body;
+    const siiContent = new Uint8Array(buffer);
+    const requestTimeout = parseInt(((_66 = req.query['request-timeout']) !== null && _66 !== void 0 ? _66 : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startDeviceSiiRestore({ devicePosition, siiContent }, requestTimeout));
+    if (status.success) {
+        res.send();
+    }
+    else {
+        res.send(500).send(status.error);
+    }
+})));
 let motionComposerRunner = null;
 app.post('/api/motion-composer/run', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     motionComposerRunner = new motion_composer_1.MotionComposerRunner(client);

package/src/api.js.map

@@ -1 +1 @@
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package/src/lib/motion-master-req-res-client.d.ts

@@ -1108,7 +1108,7 @@ export declare class MotionMasterReqResClient {
      * @param fsBufferContent If true, the content of the fs-buffer will be read and assigned to the `fsBuffer` property of {@link OsCommandResponse}. If a Uint8Array is provided, the content will be written to the fs-buffer file. If undefined, only the OS command will be executed, and its response will be read and parsed.
      * @returns An observable of type T, which extends {@link OsCommandResponse}, representing the result of the command execution.
      */
-    runOsCommand<T extends OsCommandResponse>(deviceRef: DeviceRef, command: Uint8Array, commandTimeout: number, responsePollingInterval?: number, osCommandMode?: boolean | OsCommandMode, fsBufferContent?: true | Uint8Array): Observable<T>;
+    runOsCommand<T extends OsCommandResponse>(deviceRef: DeviceRef, command: Uint8Array, commandTimeout: number, responsePollingInterval?: number, osCommandMode?: boolean | OsCommandMode, fsBufferContent?: boolean | Uint8Array): Observable<T>;
     setOsCommandMode(deviceRef: DeviceRef, value: OsCommandMode): Observable<void>;
     abortOsCommand(deviceRef: DeviceRef): Observable<void>;
     runEncoderRegisterCommunicationOsCommand(deviceRef: DeviceRef, encoderOrdinal?: number, slaveAddress?: number, rw?: number, registerAddress?: number, registerWriteValue?: number, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<EncoderRegisterCommunicationOsCommandResponse>;

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

@@ -1 +1 @@
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