motion-master-client 0.0.245 → 0.0.246

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Files changed (102) hide show
  1. package/README.md +24 -18
  2. package/package.json +1 -1
  3. package/src/api.js +21 -5
  4. package/src/api.js.map +1 -1
  5. package/src/cli.js +47 -19
  6. package/src/cli.js.map +1 -1
  7. package/src/lib/cia402.js +11 -36
  8. package/src/lib/cia402.js.map +1 -1
  9. package/src/lib/config-file.js +3 -1
  10. package/src/lib/config-file.js.map +1 -1
  11. package/src/lib/data-monitoring.d.ts +4 -4
  12. package/src/lib/data-monitoring.js +8 -6
  13. package/src/lib/data-monitoring.js.map +1 -1
  14. package/src/lib/device-parameter.d.ts +5 -5
  15. package/src/lib/device-parameter.js +10 -44
  16. package/src/lib/device-parameter.js.map +1 -1
  17. package/src/lib/device.d.ts +4 -4
  18. package/src/lib/device.js +9 -7
  19. package/src/lib/device.js.map +1 -1
  20. package/src/lib/encoder.js +4 -1
  21. package/src/lib/encoder.js.map +1 -1
  22. package/src/lib/error-report.d.ts +4 -4
  23. package/src/lib/error-report.js +0 -1
  24. package/src/lib/error-report.js.map +1 -1
  25. package/src/lib/ethercat.js +119 -33
  26. package/src/lib/ethercat.js.map +1 -1
  27. package/src/lib/ethernet.d.ts +3 -3
  28. package/src/lib/ethernet.js +5 -5
  29. package/src/lib/ethernet.js.map +1 -1
  30. package/src/lib/fetch.d.ts +1 -1
  31. package/src/lib/fetch.js +7 -7
  32. package/src/lib/fetch.js.map +1 -1
  33. package/src/lib/firmware.js +3 -1
  34. package/src/lib/firmware.js.map +1 -1
  35. package/src/lib/homing.d.ts +1 -1
  36. package/src/lib/homing.js.map +1 -1
  37. package/src/lib/integro-encoder-calibration.js +11 -4
  38. package/src/lib/integro-encoder-calibration.js.map +1 -1
  39. package/src/lib/integro-variant.js.map +1 -1
  40. package/src/lib/is-online.js +2 -2
  41. package/src/lib/is-online.js.map +1 -1
  42. package/src/lib/logger.js +1 -1
  43. package/src/lib/mmcidb.js.map +1 -1
  44. package/src/lib/monitoring-config.d.ts +1 -1
  45. package/src/lib/monitoring-entry.d.ts +3 -3
  46. package/src/lib/motion-composer.d.ts +4 -4
  47. package/src/lib/motion-composer.js +3 -2
  48. package/src/lib/motion-composer.js.map +1 -1
  49. package/src/lib/motion-master-client.d.ts +10 -10
  50. package/src/lib/motion-master-client.js +15 -10
  51. package/src/lib/motion-master-client.js.map +1 -1
  52. package/src/lib/motion-master-pub-sub-client.d.ts +4 -4
  53. package/src/lib/motion-master-pub-sub-client.js +2 -2
  54. package/src/lib/motion-master-pub-sub-client.js.map +1 -1
  55. package/src/lib/motion-master-pub-sub-socket.d.ts +2 -2
  56. package/src/lib/motion-master-pub-sub-web-socket.d.ts +3 -3
  57. package/src/lib/motion-master-pub-sub-web-socket.js.map +1 -1
  58. package/src/lib/motion-master-pub-sub-worker-socket.d.ts +3 -3
  59. package/src/lib/motion-master-pub-sub-worker-socket.js +1 -1
  60. package/src/lib/motion-master-pub-sub-worker-socket.js.map +1 -1
  61. package/src/lib/motion-master-req-res-client.d.ts +225 -15
  62. package/src/lib/motion-master-req-res-client.js +420 -57
  63. package/src/lib/motion-master-req-res-client.js.map +1 -1
  64. package/src/lib/motion-master-req-res-socket.d.ts +2 -2
  65. package/src/lib/motion-master-req-res-web-socket.d.ts +3 -3
  66. package/src/lib/motion-master-req-res-web-socket.js +2 -2
  67. package/src/lib/motion-master-req-res-web-socket.js.map +1 -1
  68. package/src/lib/motion-master-req-res-worker-socket.d.ts +3 -3
  69. package/src/lib/motion-master-req-res-worker-socket.js.map +1 -1
  70. package/src/lib/online.d.ts +1 -1
  71. package/src/lib/online.js +3 -2
  72. package/src/lib/online.js.map +1 -1
  73. package/src/lib/operators.js.map +1 -1
  74. package/src/lib/options.js +5 -5
  75. package/src/lib/options.js.map +1 -1
  76. package/src/lib/os-command.d.ts +24 -22
  77. package/src/lib/os-command.js +85 -55
  78. package/src/lib/os-command.js.map +1 -1
  79. package/src/lib/parameter.js +3 -1
  80. package/src/lib/parameter.js.map +1 -1
  81. package/src/lib/product-id-range.js +5 -5
  82. package/src/lib/product-id-range.js.map +1 -1
  83. package/src/lib/product.js +256 -34
  84. package/src/lib/product.js.map +1 -1
  85. package/src/lib/request-status-resolver.d.ts +1 -1
  86. package/src/lib/request-status-resolver.js +8 -6
  87. package/src/lib/request-status-resolver.js.map +1 -1
  88. package/src/lib/sii.js +4 -11
  89. package/src/lib/sii.js.map +1 -1
  90. package/src/lib/smm.d.ts +62 -0
  91. package/src/lib/smm.js +175 -0
  92. package/src/lib/smm.js.map +1 -0
  93. package/src/lib/types.d.ts +8 -8
  94. package/src/lib/types.js +0 -4
  95. package/src/lib/types.js.map +1 -1
  96. package/src/lib/units.js +11 -23
  97. package/src/lib/units.js.map +1 -1
  98. package/src/lib/util.d.ts +3 -2
  99. package/src/lib/util.js +23 -11
  100. package/src/lib/util.js.map +1 -1
  101. package/src/lib/web-socket-connection-close-codes.js +2 -2
  102. package/src/lib/web-socket-connection-close-codes.js.map +1 -1
package/README.md CHANGED
@@ -53,11 +53,14 @@ Object.assign(globalThis, { WebSocket: require('ws') });
53
53
 
54
54
  const client = createMotionMasterClient('192.168.200.253');
55
55
 
56
- client.whenReady().then(async () => {
57
- const devices = await lastValueFrom(client.request.getDevices());
58
- const message = JSON.stringify(devices, null, 2);
59
- console.log(message);
60
- }).finally(() => client.closeSockets());
56
+ client
57
+ .whenReady()
58
+ .then(async () => {
59
+ const devices = await lastValueFrom(client.request.getDevices());
60
+ const message = JSON.stringify(devices, null, 2);
61
+ console.log(message);
62
+ })
63
+ .finally(() => client.closeSockets());
61
64
  ```
62
65
 
63
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  Run the program:
@@ -83,19 +86,22 @@ Object.assign(globalThis, { WebSocket: require('ws') });
83
86
 
84
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  const client = createMotionMasterClient('192.168.200.253');
85
88
 
86
- client.whenReady().then(async () => {
87
- // Device is referenced by a position (0).
88
- const motorRatedCurrent = await client.request.upload(0, 0x6075, 0);
89
- console.log(`Motor rated current: ${motorRatedCurrent}`);
90
-
91
- // The device parameter is referenced by an ID, which consists of
92
- // the index (0x6076), subindex (0x00), and the device serial number (8504-03-0002369-2329).
93
- const motorRatedTorque = await client.request.upload('0x6076:00.8504-03-0002369-2329');
94
- console.log(`Motor rated current: ${motorRatedTorque}`);
95
-
96
- // Update the Max current parameter value to 2000.
97
- await client.request.download(0, 0x6073, 0, 2000);
98
- }).finally(() => client.closeSockets());
89
+ client
90
+ .whenReady()
91
+ .then(async () => {
92
+ // Device is referenced by a position (0).
93
+ const motorRatedCurrent = await client.request.upload(0, 0x6075, 0);
94
+ console.log(`Motor rated current: ${motorRatedCurrent}`);
95
+
96
+ // The device parameter is referenced by an ID, which consists of
97
+ // the index (0x6076), subindex (0x00), and the device serial number (8504-03-0002369-2329).
98
+ const motorRatedTorque = await client.request.upload('0x6076:00.8504-03-0002369-2329');
99
+ console.log(`Motor rated current: ${motorRatedTorque}`);
100
+
101
+ // Update the Max current parameter value to 2000.
102
+ await client.request.download(0, 0x6073, 0, 2000);
103
+ })
104
+ .finally(() => client.closeSockets());
99
105
  ```
100
106
 
101
107
  ## Understanding requests
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "motion-master-client",
3
- "version": "0.0.245",
3
+ "version": "0.0.246",
4
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  "type": "commonjs",
5
5
  "description": "A library and CLI program used for communicating with Motion Master.",
6
6
  "dependencies": {
package/src/api.js CHANGED
@@ -80,7 +80,9 @@ app.use((req, res, next) => {
80
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  return next();
81
81
  }
82
82
  if (!client) {
83
- res.status(400).send({ message: 'Client has not been created. Please connect using GET /api/connect/:hostname? before making requests to Motion Master.' });
83
+ res.status(400).send({
84
+ message: 'Client has not been created. Please connect using GET /api/connect/:hostname? before making requests to Motion Master.',
85
+ });
84
86
  return;
85
87
  }
86
88
  next();
@@ -109,7 +111,9 @@ app.get('/api/connect/:hostname?', (req, res) => tslib_1.__awaiter(void 0, void
109
111
  var _b, _c;
110
112
  const requestTimeout = parseInt(((_b = req.query['request-timeout']) !== null && _b !== void 0 ? _b : '10000'));
111
113
  if (client) {
112
- res.status(409).send({ message: 'Client has already been created. Please disconnect (GET /api/disconnect) before creating a new client.' });
114
+ res.status(409).send({
115
+ message: 'Client has already been created. Please disconnect (GET /api/disconnect) before creating a new client.',
116
+ });
113
117
  return;
114
118
  }
115
119
  const hostname = (_c = req.params['hostname']) !== null && _c !== void 0 ? _c : '127.0.0.1';
@@ -180,7 +184,11 @@ app.post('/api/devices/:deviceRef/get-parameter-values', asyncHandler((req, res)
180
184
  const requestTimeout = parseInt(((_k = req.query['request-timeout']) !== null && _k !== void 0 ? _k : '9000'));
181
185
  parameters = parameters.map((parameter) => {
182
186
  var _a, _b, _c;
183
- 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 };
187
+ return {
188
+ index: (_a = parameter.index) !== null && _a !== void 0 ? _a : 0,
189
+ subindex: (_b = parameter.subindex) !== null && _b !== void 0 ? _b : 0,
190
+ loadFromCache: (_c = parameter.loadFromCache) !== null && _c !== void 0 ? _c : false,
191
+ };
184
192
  });
185
193
  const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameters, sendProgress: false }), requestTimeout));
186
194
  res.send({ parameterValues: status.parameterValues });
@@ -741,7 +749,13 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration'
741
749
  const iterations = statuses.reduce((acc, status) => {
742
750
  var _a, _b;
743
751
  if (((_a = status === null || status === void 0 ? void 0 : status.progress) === null || _a === void 0 ? void 0 : _a.position) && ((_b = status === null || status === void 0 ? void 0 : status.progress) === null || _b === void 0 ? void 0 : _b.phaseError)) {
744
- const points = status.progress.position.map((p, i) => { var _a, _b; return [p, (_b = (_a = status === null || status === void 0 ? void 0 : status.progress) === null || _a === void 0 ? void 0 : _a.phaseError) === null || _b === void 0 ? void 0 : _b[i]]; });
752
+ const points = status.progress.position.map((p, i) => {
753
+ var _a, _b;
754
+ return [
755
+ p,
756
+ (_b = (_a = status === null || status === void 0 ? void 0 : status.progress) === null || _a === void 0 ? void 0 : _a.phaseError) === null || _b === void 0 ? void 0 : _b[i],
757
+ ];
758
+ });
745
759
  acc.push(points);
746
760
  }
747
761
  return acc;
@@ -809,7 +823,9 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
809
823
  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
810
824
  const commandQuery = req.query['command'];
811
825
  if (!commandQuery) {
812
- res.status(400).send({ error: 'No command was provided as a query string. Please provide a comma-separated list of numbers.' });
826
+ res.status(400).send({
827
+ error: 'No command was provided as a query string. Please provide a comma-separated list of numbers.',
828
+ });
813
829
  return;
814
830
  }
815
831
  const command = commandQuery.split(',').map(Number);
package/src/api.js.map CHANGED
@@ -1 +1 @@
1
- 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package/src/cli.js CHANGED
@@ -25,10 +25,8 @@ commander_1.program
25
25
  .name('motion-master-client')
26
26
  .description('CLI to Motion Master API')
27
27
  .version(pkg.version)
28
- .addOption(new commander_1.Option('-s, --hostname <value>', 'connect to a running Motion Master process (e.g., localhost, 192.168.123.456, oblac-drives-76d3c210.local)')
29
- .default('localhost'))
30
- .addOption(new commander_1.Option('-f, --format <value>', 'print the output in a format such as CSV, JSON, and so on')
31
- .choices(['csv']))
28
+ .addOption(new commander_1.Option('-s, --hostname <value>', 'connect to a running Motion Master process (e.g., localhost, 192.168.123.456, oblac-drives-76d3c210.local)').default('localhost'))
29
+ .addOption(new commander_1.Option('-f, --format <value>', 'print the output in a format such as CSV, JSON, and so on').choices(['csv']))
32
30
  .addOption(new commander_1.Option('-p, --pretty-print', 'print the output in a more readable form, which is useful for requests that involve progress')
33
31
  .default(false)
34
32
  .conflicts('format'))
@@ -39,15 +37,16 @@ commander_1.program
39
37
  return isNaN(n) ? value : n;
40
38
  }))
41
39
  .addOption(new commander_1.Option('-m, --message-id <value>', 'the message ID, which uniquely identifies the request, will be generated by the client library if not specified'))
42
- .addOption(new commander_1.Option('-t, --request-timeout <value>', 'after sending a request, how long will the client wait for Motion Master to send the status message back')
43
- .argParser((value) => {
40
+ .addOption(new commander_1.Option('-t, --request-timeout <value>', 'after sending a request, how long will the client wait for Motion Master to send the status message back').argParser((value) => {
44
41
  const n = Number(value);
45
42
  if (!Number.isInteger(n)) {
46
43
  throw new Error(`The request timeout option must be an integer. The provided value is: ${value}`);
47
44
  }
48
45
  return n;
49
46
  }));
50
- const getSystemVersionCommand = new commander_1.Command('getSystemVersion').action(() => getClient().whenReady().then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
47
+ const getSystemVersionCommand = new commander_1.Command('getSystemVersion').action(() => getClient()
48
+ .whenReady()
49
+ .then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
51
50
  var _a;
52
51
  const status = yield (0, rxjs_1.lastValueFrom)(client.request.getSystemVersion((_a = opts['requestTimeout']) !== null && _a !== void 0 ? _a : 3000, opts['messageId']));
53
52
  if (opts['prettyPrint']) {
@@ -56,8 +55,11 @@ const getSystemVersionCommand = new commander_1.Command('getSystemVersion').acti
56
55
  else {
57
56
  logStringified(status);
58
57
  }
59
- })).finally(() => client.closeSockets()));
60
- const getDeviceInfoCommand = new commander_1.Command('getDeviceInfo').action(() => getClient().whenReady().then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
58
+ }))
59
+ .finally(() => client.closeSockets()));
60
+ const getDeviceInfoCommand = new commander_1.Command('getDeviceInfo').action(() => getClient()
61
+ .whenReady()
62
+ .then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
61
63
  var _b, _c;
62
64
  const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceInfo((_b = opts['requestTimeout']) !== null && _b !== void 0 ? _b : 5000, opts['messageId']));
63
65
  if (opts['format'] === 'csv') {
@@ -67,8 +69,11 @@ const getDeviceInfoCommand = new commander_1.Command('getDeviceInfo').action(()
67
69
  else {
68
70
  logStringified(status);
69
71
  }
70
- })).finally(() => client.closeSockets()));
71
- const getDeviceParameterInfoCommand = new commander_1.Command('getDeviceParameterInfo').action(() => getClient().whenReady().then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
72
+ }))
73
+ .finally(() => client.closeSockets()));
74
+ const getDeviceParameterInfoCommand = new commander_1.Command('getDeviceParameterInfo').action(() => getClient()
75
+ .whenReady()
76
+ .then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
72
77
  var _d, _e;
73
78
  const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceParameterInfo(Object.assign({}, deviceRefObj), (_d = opts['requestTimeout']) !== null && _d !== void 0 ? _d : 10000, opts['messageId']));
74
79
  if (opts['format'] === 'csv') {
@@ -78,7 +83,8 @@ const getDeviceParameterInfoCommand = new commander_1.Command('getDeviceParamete
78
83
  else {
79
84
  logStringified(status);
80
85
  }
81
- })).finally(() => client.closeSockets()));
86
+ }))
87
+ .finally(() => client.closeSockets()));
82
88
  const getDeviceParameterValuesCommand = new commander_1.Command('getDeviceParameterValues')
83
89
  .addOption(new commander_1.Option('--load-from-cache', 'load parameter values from the Motion Master cache').default(false))
84
90
  .addOption(new commander_1.Option('--send-progress', 'send progress while retrieving the parameter values from the device').default(false))
@@ -89,12 +95,26 @@ const getDeviceParameterValuesCommand = new commander_1.Command('getDeviceParame
89
95
  arr.push({ index, subindex, loadFromCache });
90
96
  return arr;
91
97
  }, []);
92
- getClient().onceReady$.pipe((0, rxjs_1.mergeMap)(() => { var _a; return client.request.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameters, sendProgress }), (_a = opts['requestTimeout']) !== null && _a !== void 0 ? _a : 30000, opts['messageId']); })).subscribe({
98
+ getClient()
99
+ .onceReady$.pipe((0, rxjs_1.mergeMap)(() => {
100
+ var _a;
101
+ return client.request.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameters, sendProgress }), (_a = opts['requestTimeout']) !== null && _a !== void 0 ? _a : 30000, opts['messageId']);
102
+ }))
103
+ .subscribe({
93
104
  next: (status) => {
94
105
  var _a;
95
106
  if (opts['format'] === 'csv') {
96
107
  console.log(['index', 'subindex', 'typeValue', 'intValue', 'uintValue', 'floatValue', 'stringValue', 'rawValue'].join(','));
97
- (_a = status.parameterValues) === null || _a === void 0 ? void 0 : _a.forEach((p) => console.log([p.index, p.subindex, p === null || p === void 0 ? void 0 : p.typeValue, p.intValue, p.uintValue, p.floatValue, p.stringValue, p.rawValue].join(',')));
108
+ (_a = status.parameterValues) === null || _a === void 0 ? void 0 : _a.forEach((p) => console.log([
109
+ p.index,
110
+ p.subindex,
111
+ p === null || p === void 0 ? void 0 : p.typeValue,
112
+ p.intValue,
113
+ p.uintValue,
114
+ p.floatValue,
115
+ p.stringValue,
116
+ p.rawValue,
117
+ ].join(',')));
98
118
  }
99
119
  else {
100
120
  logStringified(status);
@@ -106,7 +126,9 @@ const getDeviceParameterValuesCommand = new commander_1.Command('getDeviceParame
106
126
  const getDeviceFileCommand = new commander_1.Command('getDeviceFile')
107
127
  .addArgument(new commander_1.Argument('<name>', 'name of the file to retrieve'))
108
128
  .action((name) => {
109
- getClient().whenReady().then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
129
+ getClient()
130
+ .whenReady()
131
+ .then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
110
132
  var _a;
111
133
  const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), (_a = opts['requestTimeout']) !== null && _a !== void 0 ? _a : 5000, opts['messageId']));
112
134
  if (opts['prettyPrint']) {
@@ -120,7 +142,8 @@ const getDeviceFileCommand = new commander_1.Command('getDeviceFile')
120
142
  else {
121
143
  logStringified(status);
122
144
  }
123
- })).finally(() => client.closeSockets());
145
+ }))
146
+ .finally(() => client.closeSockets());
124
147
  });
125
148
  const setDeviceFileCommand = new commander_1.Command('setDeviceFile')
126
149
  .addArgument(new commander_1.Argument('<name>', 'name of the file to write to the device'))
@@ -128,14 +151,19 @@ const setDeviceFileCommand = new commander_1.Command('setDeviceFile')
128
151
  .addOption(new commander_1.Option('--overwrite', 'overwrite the existing file on the device with the same name').default(false))
129
152
  .action((name, srcPath, { overwrite }) => {
130
153
  const content = Buffer.from((0, fs_1.readFileSync)(srcPath, { encoding: 'utf-8' }), 'utf-8');
131
- getClient().whenReady().then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
154
+ getClient()
155
+ .whenReady()
156
+ .then(() => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
132
157
  var _a;
133
158
  const status = yield (0, rxjs_1.lastValueFrom)(client.request.setDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name, content, overwrite }), (_a = opts['requestTimeout']) !== null && _a !== void 0 ? _a : 5000, opts['messageId']));
134
159
  logStringified(status);
135
- })).finally(() => client.closeSockets());
160
+ }))
161
+ .finally(() => client.closeSockets());
136
162
  });
137
163
  const startOffsetDetectionCommand = new commander_1.Command('startOffsetDetection').action(() => {
138
- getClient().onceReady$.pipe((0, rxjs_1.mergeMap)(() => { var _a; return client.request.startOffsetDetection(Object.assign({}, deviceRefObj), (_a = opts['requestTimeout']) !== null && _a !== void 0 ? _a : 60000, opts['messageId']); })).subscribe({
164
+ getClient()
165
+ .onceReady$.pipe((0, rxjs_1.mergeMap)(() => { var _a; return client.request.startOffsetDetection(Object.assign({}, deviceRefObj), (_a = opts['requestTimeout']) !== null && _a !== void 0 ? _a : 60000, opts['messageId']); }))
166
+ .subscribe({
139
167
  next: (status) => {
140
168
  var _a, _b, _c, _d;
141
169
  if (opts['prettyPrint']) {
package/src/cli.js.map CHANGED
@@ -1 +1 @@
1
- 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1
+ 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package/src/lib/cia402.js CHANGED
@@ -86,7 +86,6 @@ var Cia402State;
86
86
  */
87
87
  Cia402State["FAULT"] = "FAULT";
88
88
  })(Cia402State = exports.Cia402State || (exports.Cia402State = {}));
89
- ;
90
89
  exports.cia402StateMap = new Map([
91
90
  [0b00000000, Cia402State.NOT_READY_TO_SWITCH_ON],
92
91
  [0b01000000, Cia402State.SWITCH_ON_DISABLED],
@@ -99,7 +98,7 @@ exports.cia402StateMap = new Map([
99
98
  ]);
100
99
  function getCia402State(value) {
101
100
  var _a, _b;
102
- return (_b = ((_a = exports.cia402StateMap.get(value & 0b01101111)) !== null && _a !== void 0 ? _a : exports.cia402StateMap.get(value & 0b01001111))) !== null && _b !== void 0 ? _b : Cia402State.NOT_READY_TO_SWITCH_ON;
101
+ return ((_b = (_a = exports.cia402StateMap.get(value & 0b01101111)) !== null && _a !== void 0 ? _a : exports.cia402StateMap.get(value & 0b01001111)) !== null && _b !== void 0 ? _b : Cia402State.NOT_READY_TO_SWITCH_ON);
103
102
  }
104
103
  exports.getCia402State = getCia402State;
105
104
  function isInternalLimitActive(statusword) {
@@ -198,7 +197,7 @@ function getCommandFromControlword(value) {
198
197
  }
199
198
  exports.getCommandFromControlword = getCommandFromControlword;
200
199
  exports.controlwordOptions = {
201
- 'Shutdown': 0b00000110,
200
+ Shutdown: 0b00000110,
202
201
  'Switch on': 0b00000111,
203
202
  'Switch on + enable operation': 0b00001111,
204
203
  'Disable voltage': 0b00000000,
@@ -209,42 +208,18 @@ exports.controlwordOptions = {
209
208
  };
210
209
  exports.controlwordCommandOptions = Object.values(ControlwordCommand);
211
210
  exports.controlwordCommandBitmasks = {
212
- [ControlwordCommand.SHUTDOWN]: [
213
- 0b1111111101111110,
214
- 0b0000000000000110,
215
- ],
216
- [ControlwordCommand.SWITCH_ON]: [
217
- 0b1111111101110111,
218
- 0b0000000000000111,
219
- ],
220
- [ControlwordCommand.SWITCH_ON_ENABLE_OPERATION]: [
221
- 0b1111111101111111,
222
- 0b0000000000001111,
223
- ],
224
- [ControlwordCommand.DISABLE_VOLTAGE]: [
225
- 0b1111111101111101,
226
- 0b0000000000000000,
227
- ],
228
- [ControlwordCommand.QUICK_STOP]: [
229
- 0b1111111101111011,
230
- 0b0000000000000010,
231
- ],
232
- [ControlwordCommand.DISABLE_OPERATION]: [
233
- 0b1111111101110111,
234
- 0b0000000000000111,
235
- ],
236
- [ControlwordCommand.ENABLE_OPERATION]: [
237
- 0b1111111101111111,
238
- 0b0000000000001111,
239
- ],
240
- [ControlwordCommand.FAULT_RESET]: [
241
- 0b1111111111111111,
242
- 0b0000000010000000,
243
- ],
211
+ [ControlwordCommand.SHUTDOWN]: [0b1111111101111110, 0b0000000000000110],
212
+ [ControlwordCommand.SWITCH_ON]: [0b1111111101110111, 0b0000000000000111],
213
+ [ControlwordCommand.SWITCH_ON_ENABLE_OPERATION]: [0b1111111101111111, 0b0000000000001111],
214
+ [ControlwordCommand.DISABLE_VOLTAGE]: [0b1111111101111101, 0b0000000000000000],
215
+ [ControlwordCommand.QUICK_STOP]: [0b1111111101111011, 0b0000000000000010],
216
+ [ControlwordCommand.DISABLE_OPERATION]: [0b1111111101110111, 0b0000000000000111],
217
+ [ControlwordCommand.ENABLE_OPERATION]: [0b1111111101111111, 0b0000000000001111],
218
+ [ControlwordCommand.FAULT_RESET]: [0b1111111111111111, 0b0000000010000000],
244
219
  };
245
220
  function createControlwordCommand(value, command) {
246
221
  const bitmasks = exports.controlwordCommandBitmasks[command];
247
- return ((value & bitmasks[0]) | bitmasks[1]);
222
+ return (value & bitmasks[0]) | bitmasks[1];
248
223
  }
249
224
  exports.createControlwordCommand = createControlwordCommand;
250
225
  /**