motion-master-client 0.0.21 → 0.0.22

package/src/lib/parameter.ts

@@ -0,0 +1,170 @@
+import { MotionMasterMessage, ParameterTypeValueKey, ParameterValueType } from "./types";
+import { differenceWith, intersectionWith, round } from "lodash";
+
+export interface Parameter extends MotionMasterMessage.Status.DeviceParameterInfo.IParameter, MotionMasterMessage.Status.DeviceParameterValues.IParameterValue {
+  index: number;
+  subindex: number;
+  name: string;
+  value: ParameterValueType;
+  typeValue: ParameterTypeValueKey;
+  options?: { [key: string]: number };
+}
+
+export type ParameterIndexSubindex = Pick<Parameter, 'index' | 'subindex'>;
+
+/**
+ * Make parameter id by providing a tuple of index and subindex.
+ *
+ * @param tuple - an array of index and subindex
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeParameterId(tuple: [(number | null | undefined), (number | null | undefined)]): string;
+
+/**
+ * Make parameter id by providing an object which has index and subindex properties.
+ *
+ * @param parameter - an object with optional index and subindex properties
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeParameterId(parameter: { index?: (number | null), subindex?: (number | null) }): string;
+
+/**
+ * Make parameter id by providing index and subindex.
+ *
+ * @param index - from 0x0000 to 0xFFFF for objects defined in ESI and >0xFFFF for custom object
+ * @param subindex - defaults to 0 if not provided
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeParameterId(index?: (number | null), subindex?: (number | null)): string;
+
+/**
+ * Make parameter id by providing different arguments.
+ *
+ * The purpose of this declaration is to expose the signature of the implementation for {@link makeDeviceParameterId} function.
+ *
+ * @param a - number or an object with index and subindex or tuple of index and subindex
+ * @param b - optional subindex, defaults to 0 if not provided
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeParameterId(a?: (number | null) | { index?: (number | null), subindex?: (number | null) } | [(number | null | undefined), (number | null | undefined)], b?: (number | null)): string;
+
+export function makeParameterId(a?: (number | null) | { index?: (number | null), subindex?: (number | null) } | [(number | null | undefined), (number | null | undefined)], b?: (number | null)): string {
+  let index = 0;
+  let subindex = 0;
+
+  if (Array.isArray(a)) {
+    if (a[0]) {
+      index = a[0];
+    }
+    if (a[1]) {
+      subindex = a[1];
+    }
+  } else if (typeof a === 'object') {
+    if (a?.index) {
+      index = a.index;
+    }
+    if (a?.subindex) {
+      subindex = a.subindex;
+    }
+  } else {
+    if (typeof a === 'number') {
+      index = a;
+    }
+    if (typeof b === 'number') {
+      subindex = b;
+    }
+  }
+
+  if (index < 0) {
+    throw new Error(`The provided index to makeParameterId must be greater than 0: ${index}`);
+  }
+
+  if (subindex < 0) {
+    throw new Error(`The provided subindex to makeParameterId must be greater than 0: ${subindex}`);
+  }
+
+  const indexMaxLength = index > 0xFFFF ? 8 : 4;
+  const x = index.toString(16).toUpperCase().padStart(indexMaxLength, '0');
+  const y = subindex.toString(16).toUpperCase().padStart(2, '0');
+
+  return `0x${x}:${y}`;
+}
+
+/**
+ * Example of parameter id is "0x2110:1A" where:
+ * - 0x2110 is object index in hexadecimal format
+ * - 1A is subindex in hexadecimal format
+ */
+export const parameterIdRegExp = /^0x([0-9a-fA-F]{4,}):([0-9a-fA-F]{2})$/;
+
+/**
+ * Split device parameter id into parts.
+ *
+ * @param id - parameter id like "0x2110:1A"
+ * @returns tuple of index and subindex
+ */
+export function splitParameterId(id: string): [number, number] {
+  const match = id.match(parameterIdRegExp);
+
+  if (!match) {
+    throw new Error(`Parameter id "${id}" doesn't match the regular expression: ${parameterIdRegExp}`);
+  }
+
+  return [
+    parseInt(match[1], 16), // index
+    parseInt(match[2], 16), // subindex
+  ];
+}
+
+export function isParameterId(id: string): boolean {
+  return parameterIdRegExp.test(id);
+}
+
+export function parametersCompareFn(
+  a: Pick<Parameter, 'index' | 'subindex'>,
+  b: Pick<Parameter, 'index' | 'subindex'>,
+): number {
+  if (a.index > b.index) {
+    return 1;
+  } else if (a.index < b.index) {
+    return -1;
+  } else {
+    if (a.subindex > b.subindex) {
+      return 1;
+    } else if (a.subindex < b.subindex) {
+      return -1;
+    } else {
+      return 0;
+    }
+  }
+}
+
+export function differenceParameters<T extends Pick<Parameter, 'index' | 'subindex'>>(p1: T[], p2: T[]): T[] {
+  return differenceWith(p1, p2, (a, b) => a.index === b.index && a.subindex === b.subindex);
+}
+
+export function intersectionParameters<T extends Pick<Parameter, 'index' | 'subindex'>>(p1: T[], p2: T[]): T[] {
+  return intersectionWith(p1, p2, (a, b) => a.index === b.index && a.subindex === b.subindex);
+}
+
+export function intersectionParametersWithDifferentValues<T extends Pick<Parameter, 'index' | 'subindex' | 'value'>>(p1: T[], p2: T[], roundFloats = false): T[] {
+  return intersectionWith(p1, p2, (a, b) => {
+    if (a.index === b.index && a.subindex === b.subindex) {
+      // values that are very close but have a different number of decimal places are treated as not equal
+      if (roundFloats && typeof a.value === 'number' && typeof b.value === 'number') {
+        const v1 = round(a.value, 7);
+        const v2 = round(b.value, 7);
+        return v1 !== v2;
+      } else if (Array.isArray(a.value) && Array.isArray(b.value)) {
+        return JSON.stringify(a.value) !== JSON.stringify(b.value);
+      } else {
+        return a.value !== b.value;
+      }
+    }
+    return false;
+  });
+}

package/src/lib/product-id-range.ts

@@ -0,0 +1,8 @@
+// https://docs.google.com/spreadsheets/d/1XJX1eqGau1X3sse10fuF-tVVgosbxCo-3ioUUG2CDYQ
+export const productIdRange = {
+  'CIRCULO_SAFE_MOTION': [8600, 8699],
+  'INTEGRO': [9000, 9499],
+  'NODE': [9500, 9599],
+  'NODE_SAFETY': [9600, 9998],
+  'INTERNAL': [9999, 9999],
+};

package/src/lib/request-status-resolver.ts

@@ -0,0 +1,403 @@
+// eslint-disable-next-line @typescript-eslint/ban-ts-comment
+// @ts-nocheck
+
+import { MotionMasterMessage, RequestStatus, StatusKey } from "./types";
+
+export const requestStatusResolver: { [key in StatusKey]: <T>(status: T) => RequestStatus } = {
+  systemPong: () => 'succeeded',
+  systemVersion: (status: MotionMasterMessage.Status.ISystemVersion) => {
+    return status.version ? 'succeeded' : 'failed';
+  },
+  systemEvent: (status: MotionMasterMessage.Status.ISystemEvent) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  deviceInfo: (status: MotionMasterMessage.Status.IDeviceInfo) => {
+    return status.devices ? 'succeeded' : 'failed';
+  },
+  deviceParameterInfo: (status: MotionMasterMessage.Status.IDeviceParameterInfo) => {
+    return status.parameters ? 'succeeded' : 'failed';
+  },
+  deviceParameterValues: (status: MotionMasterMessage.Status.IDeviceParameterValues) => {
+    if (status.progress) {
+      if (status.progress.percentage === 100) {
+        return 'succeeded';
+      } else {
+        return 'running';
+      }
+    }
+
+    if (status.parameterValues) {
+      const allSucceeded = status.parameterValues.every((value) => value.success);
+      if (allSucceeded) {
+        return 'succeeded';
+      }
+    }
+
+    return 'failed';
+  },
+  multiDeviceParameterValues: (status: MotionMasterMessage.Status.IMultiDeviceParameterValues) => {
+    if (status.collection) {
+      const items = status.collection.flat();
+      const allSucceeded = items.every((item) => item.parameterValues?.every(value => value.success));
+      if (allSucceeded) {
+        return 'succeeded';
+      }
+
+      if (items.every(item => item.progress === 100)) {
+        return 'succeeded';
+      } else {
+        return 'running';
+      };
+    }
+
+    return 'failed';
+  },
+  deviceFileList: (status: MotionMasterMessage.Status.IDeviceFileList) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  deviceFile: (status: MotionMasterMessage.Status.IDeviceFile) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  deviceEvent: (status: MotionMasterMessage.Status.IDeviceEvent) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  deviceFirmwareInstallation: (status: MotionMasterMessage.Status.IDeviceFirmwareInstallation) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.DeviceFirmwareInstallation.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.DeviceFirmwareInstallation.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  deviceLog: (status: MotionMasterMessage.Status.IDeviceLog) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  deviceFaultReset: (status: MotionMasterMessage.Status.IDeviceFaultReset) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  coggingTorqueRecording: (status: MotionMasterMessage.Status.ICoggingTorqueRecording) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.CoggingTorqueRecording.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.CoggingTorqueRecording.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  coggingTorqueData: (status: MotionMasterMessage.Status.ICoggingTorqueData) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  offsetDetection: (status: MotionMasterMessage.Status.IOffsetDetection) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.OffsetDetection.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.OffsetDetection.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  plantIdentification: (status: MotionMasterMessage.Status.IPlantIdentification) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.PlantIdentification.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.PlantIdentification.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  autoTuning: (status: MotionMasterMessage.Status.IAutoTuning) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.AutoTuning.Success.Code.POSITION_DONE ||
+        status.success.code === MotionMasterMessage.Status.AutoTuning.Success.Code.VELOCITY_DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success === MotionMasterMessage.Status.AutoTuning.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  motionController: (status: MotionMasterMessage.Status.IMotionController) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  signalGenerator: (status: MotionMasterMessage.Status.ISignalGenerator) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.SignalGenerator.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.SignalGenerator.Success.Code.PARAMETERS_SET) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.SignalGenerator.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  monitoringParameterValues: (status: MotionMasterMessage.Status.IMonitoringParameterValues) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  deviceStop: (status: MotionMasterMessage.Status.IDeviceStop) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  ethercatNetworkState: (status: MotionMasterMessage.Status.IEthercatNetworkState) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  narrowAngleCalibration: (status: MotionMasterMessage.Status.INarrowAngleCalibration) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.NarrowAngleCalibration.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.NarrowAngleCalibration.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  systemIdentification: (status: MotionMasterMessage.Status.ISystemIdentification) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.SystemIdentification.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.SystemIdentification.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  circuloEncoderMagnetDistance: (status: MotionMasterMessage.Status.ICirculoEncoderMagnetDistance) => {
+    if (typeof status.distance === 'number' || typeof status.position === 'number') {
+      return 'succeeded';
+    }
+
+    return 'failed';
+  },
+  circuloEncoderNarrowAngleCalibrationProcedure: (status: MotionMasterMessage.Status.ICirculoEncoderNarrowAngleCalibrationProcedure) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.STOPPED) {
+        return 'failed';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success === MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  deviceCia402State: (status: MotionMasterMessage.Status.IDeviceCiA402State) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    return 'succeeded';
+  },
+  systemLog: (status: MotionMasterMessage.Status.ISystemLog) => {
+    if (status.content) {
+      return 'succeeded';
+    }
+
+    return 'failed';
+  },
+  deviceSiiRestore: (status: MotionMasterMessage.Status.IDeviceSiiRestore) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.DeviceSiiRestore.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.DeviceSiiRestore.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  openLoopFieldControl: (status: MotionMasterMessage.Status.IOpenLoopFieldControl) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.OpenLoopFieldControl.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.OpenLoopFieldControl.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  fullAutoTuning: (status: MotionMasterMessage.Status.IFullAutoTuning) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_STOPPED ||
+        status.success.code === MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_STOPPED) {
+        return 'failed';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_DONE ||
+        status.success.code === MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success === MotionMasterMessage.Status.FullAutoTuning.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+  circuloEncoderConfiguration: (status: MotionMasterMessage.Status.ICirculoEncoderConfiguration) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.CirculoEncoderConfiguration.Success.Code.DONE) {
+        return 'succeeded'
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.CirculoEncoderConfiguration.Success.Code.UNSPECIFIED) {
+        return 'succeeded'
+      }
+    }
+
+    return 'running';
+  },
+  osCommand: (status: MotionMasterMessage.Status.IOsCommand) => {
+    if (status.error) {
+      return 'failed';
+    }
+
+    if (status.success) {
+      if (status.success.code === MotionMasterMessage.Status.OsCommand.Success.Code.DONE) {
+        return 'succeeded';
+      }
+
+      if (status.success.code === MotionMasterMessage.Status.OsCommand.Success.Code.UNSPECIFIED) {
+        return 'succeeded';
+      }
+    }
+
+    return 'running';
+  },
+};

package/src/lib/system-log-line.ts

@@ -0,0 +1,9 @@
+export interface SystemLogLine {
+  line: string;
+  date: Date;
+  uptime: string;
+  id: string;
+  file: string;
+  level: string;
+  message: string;
+}