motion-master-client 0.0.281 → 0.0.283
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/package.json +1 -1
- package/src/lib/fetch.d.ts +138 -53
- package/src/lib/fetch.js +175 -60
- package/src/lib/fetch.js.map +1 -1
- package/src/lib/integro-variant.d.ts +1 -1
- package/src/lib/integro-variant.js +13 -10
- package/src/lib/integro-variant.js.map +1 -1
- package/src/lib/motion-master-req-res-client.d.ts +35 -19
- package/src/lib/motion-master-req-res-client.js +126 -2
- package/src/lib/motion-master-req-res-client.js.map +1 -1
- package/src/lib/types.d.ts +47 -0
package/src/lib/fetch.js.map
CHANGED
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1
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-
{"version":3,"file":"fetch.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/fetch.ts"],"names":[],"mappings":";;;;AAAA,+BAAsC;AAEtC,qCAAuD;AACvD,iCAA4D;AAC5D,mCAAkC;
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1
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{"version":3,"file":"fetch.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/fetch.ts"],"names":[],"mappings":";;;;AAAA,+BAAsC;AAEtC,qCAAuD;AACvD,iCAA4D;AAC5D,mCAAkC;AAGlC,4BAA4B;AAE5B;;GAEG;AACU,QAAA,kBAAkB,GAAG,sCAAsC,CAAC;AAEzE;;;GAGG;AACH,aAAa;AACA,QAAA,QAAQ,GAAG,OAAO,MAAM,KAAK,WAAW,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC;AAE/F;;;GAGG;AACU,QAAA,2BAA2B,GAAG,wDAAwD,CAAC;AAEpG;;GAEG;AACU,QAAA,WAAW,GAAG,sCAAsC,CAAC;AAElE;;GAEG;AACU,QAAA,aAAa,GAAG,GAAG,gBAAQ,QAAQ,CAAC;AAEjD;;GAEG;AACU,QAAA,WAAW,GAAG,UAAU,qBAAa,EAAE,CAAC;AAErD;;GAEG;AACU,QAAA,eAAe,GAAG,GAAG,mBAAW,KAAK,CAAC;AAEnD;;GAEG;AACU,QAAA,gBAAgB,GAAG,GAAG,mBAAW,MAAM,CAAC;AAErD;;;;;;;GAOG;AACH,SAAsB,UAAU,CAAC,IAAY,EAAE,IAAU;;;QACvD,IAAI,MAAM,IAAA,oBAAa,GAAE,EAAE;YACzB,MAAM,UAAU,GAAG,MAAM,IAAA,0BAAmB,EAAC,IAAI,CAAC,CAAC;YACnD,aAAa;YACb,OAAO,MAAM,CAAA,MAAA,MAAM,CAAC,QAAQ,0CAAE,SAAS,CAAC,IAAI,EAAE,UAAU,CAAC,CAAA,CAAC;SAC3D;aAAM;YACL,KAAK,CAAC,GAAG,wBAAgB,SAAS,IAAI,EAAE,EAAE;gBACxC,MAAM,EAAE,MAAM;gBACd,IAAI;aACL,CAAC,CAAC,KAAK,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,OAAO,CAAC,IAAI,CAAC,mBAAmB,IAAI,EAAE,EAAE,GAAG,CAAC,CAAC,CAAC;SACjE;;CACF;AAXD,gCAWC;AAED;;;;;;;;;;GAUG;AACH,SAAgB,2BAA2B,CAAC,CAAS,EAAE,CAAS;IAC9D,MAAM,EAAE,GAAG,aAAa,CAAC;IACzB,MAAM,EAAE,GAAG,CAAC,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC;IACvB,MAAM,EAAE,GAAG,CAAC,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC;IACvB,IAAI,EAAE,IAAI,EAAE,EAAE;QACZ,OAAO,IAAA,iBAAQ,EAAC,EAAE,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;KAC/B;IACD,OAAO,CAAC,CAAC;AACX,CAAC;AARD,kEAQC;AAED;;GAEG;AACH,MAAM,iBAAiB,GAAG;IACxB,IAAI,EAAE,0BAA0B;IAChC,IAAI,EAAE,kBAAkB;IACxB,IAAI,EAAE,YAAY;CACnB,CAAC;AAEF;;;;;;GAMG;AACH,SAAe,YAAY,CAAC,MAAc,EAAE,SAAmC;;QAC7E,OAAO,KAAK,CAAC,QAAQ,iBAAiB,CAAC,SAAS,CAAC,WAAW,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,EAAE,EAAE,CAAC,QAAQ,CAAC,SAAS,CAAC,EAAE,CAAC,CAAC;IAClH,CAAC;CAAA;AAED;;;;;GAKG;AACH,SAAgB,UAAU,CAAC,IAAY;IACrC,OAAO,GAAG,mBAAW,GAAG,IAAI,EAAE,CAAC;AACjC,CAAC;AAFD,gCAEC;AAED;;;;;;;;;;GAUG;AACH,SAAsB,YAAY,CAAC,IAAY,EAAE,SAAmC;;;QAClF,IAAI,MAAM,IAAA,oBAAa,GAAE,EAAE;YACzB,aAAa;YACb,MAAM,IAAI,GAAG,MAAM,CAAA,MAAA,MAAM,CAAC,QAAQ,0CAAE,aAAa,CAAC,IAAI,CAAC,CAAA,CAAC;YACxD,OAAO,YAAY,CAAC,IAAI,EAAE,SAAS,CAAC,CAAC;SACtC;aAAM;YACL,MAAM,QAAQ,GAAG,MAAM,KAAK,CAAC,GAAG,uBAAe,GAAG,IAAI,EAAE,CAAC,CAAC;YAC1D,IAAI,QAAQ,CAAC,EAAE,EAAE;gBACf,OAAO,QAAQ,CAAC,SAAS,CAAC,EAAE,CAAC;aAC9B;SACF;;CACF;AAXD,oCAWC;AAED;;;;;;;;;;;;GAYG;AACH,SAAsB,eAAe,CAAC,IAAY,EAAE,SAAmC,EAAE,KAAc;;QACrG,MAAM,IAAA,qBAAc,EAAC,2BAAkB,CAAC,CAAC;QAEzC,IAAI,CAAC,gBAAO,CAAC,KAAK,EAAE;YAClB,OAAO,YAAY,CAAC,2BAA2B,IAAI,EAAE,EAAE,SAAS,CAAC,CAAC;SACnE;QAED,IAAI;YACF,iIAAiI;YACjI,MAAM,GAAG,GAAG,UAAU,CAAC,IAAI,CAAC,CAAC;YAC7B,MAAM,QAAQ,GAAG,MAAM,KAAK,CAAC,GAAG,CAAC,CAAC;YAClC,IAAI,QAAQ,CAAC,EAAE,EAAE;gBACf,IAAI,KAAK,EAAE;oBACT,MAAM,IAAI,GAAG,MAAM,QAAQ,CAAC,KAAK,EAAE,CAAC,IAAI,EAAE,CAAC;oBAC3C,UAAU,CAAC,2BAA2B,IAAI,EAAE,EAAE,IAAI,CAAC,CAAC,CAAC,0EAA0E;iBAChI;gBACD,OAAO,QAAQ,CAAC,SAAS,CAAC,EAAE,CAAC;aAC9B;iBAAM;gBACL,OAAO,YAAY,CAAC,2BAA2B,IAAI,EAAE,EAAE,SAAS,CAAC,CAAC;aACnE;SACF;QAAC,OAAO,IAAI,EAAE;YACb,OAAO,YAAY,CAAC,2BAA2B,IAAI,EAAE,EAAE,SAAS,CAAC,CAAC;SACnE;IACH,CAAC;CAAA;AAvBD,0CAuBC;AAED;;;;;;;;GAQG;AACH,SAAsB,cAAc,CAClC,YAAY,GAAG,YAAY,EAC3B,YAAY,GAAG,CAAC,EAChB,KAAK,GAAG,IAAI;;QAEZ,IAAI;YACF,MAAM,QAAQ,GAAG,MAAM,KAAK,CAAC,YAAY,CAAC,CAAC;YAC3C,IAAI,QAAQ,CAAC,EAAE,EAAE;gBACf,MAAM,KAAK,GAAG,MAAM,QAAQ,CAAC,IAAI,EAAE,CAAC;gBAEpC,KAAK,CAAC,SAAS,GAAG,MAAM,eAAe,CAAC,WAAW,KAAK,CAAC,EAAE,YAAY,YAAY,UAAU,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;gBAC9G,KAAK,CAAC,IAAI,GAAG,MAAM,eAAe,CAAC,WAAW,KAAK,CAAC,EAAE,WAAW,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;gBAElF,OAAO,KAAK,CAAC;aACd;SACF;QAAC,OAAO,GAAG,EAAE;YACZ,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;SACpB;QACD,OAAO;IACT,CAAC;CAAA;AAnBD,wCAmBC;AAED;;;;;;;GAOG;AACH,SAAsB,QAAQ,CAAC,OAAe,EAAE,OAAe,EAAE,KAAK,GAAG,IAAI;;QAC3E,OAAO,GAAG,kBAAkB,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,IAAI,GAAG,WAAW,OAAO,SAAS,OAAO,MAAM,CAAC;QACtD,OAAO,eAAe,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;IAC9C,CAAC;CAAA;AAJD,4BAIC;AAED;;;;;;;GAOG;AACH,SAAgB,oBAAoB,CAAC,OAAe,EAAE,QAAgB,EAAE,KAAK,GAAG,IAAI;IAClF,QAAQ,GAAG,kBAAkB,CAAC,QAAQ,CAAC,CAAC;IACxC,MAAM,IAAI,GAAG,WAAW,OAAO,aAAa,QAAQ,EAAE,CAAC;IACvD,OAAO,eAAe,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;AAC9C,CAAC;AAJD,oDAIC;AAED;;;;;;;GAOG;AACH,SAAsB,iBAAiB,CAAC,OAAe,EAAE,SAA0B,EAAE,KAAK,GAAG,IAAI;;QAC/F,MAAM,QAAQ,GAAG,GAAG,SAAS,oBAAoB,CAAC;QAClD,MAAM,IAAI,GAAG,WAAW,OAAO,mBAAmB,QAAQ,EAAE,CAAC;QAC7D,OAAO,eAAe,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;IAC9C,CAAC;CAAA;AAJD,8CAIC;AAED;;;;;;;;GAQG;AACH,SAAgB,sBAAsB,CAAC,OAAe,EAAE,YAAoB,EAAE,KAAK,GAAG,IAAI;IACxF,MAAM,IAAI,GAAG,WAAW,OAAO,gBAAgB,kBAAkB,CAAC,YAAY,CAAC,KAAK,CAAC;IACrF,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE;QACrC,eAAe,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,IAAI,EAAE,EAAE;YACjD,IAAI,IAAI,IAAI,IAAI,CAAC,OAAO,CAAC,wCAAwC,CAAC,KAAK,CAAC,CAAC,EAAE;gBACzE,OAAO,CAAC,IAAI,CAAC,CAAC;aACf;iBAAM;gBACL,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,YAAY,EAAE,CAAC,CAAC,CAAC;gBACnE,OAAO;aACR;QACH,CAAC,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;AACL,CAAC;AAZD,wDAYC;AAED;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* All options are specified as 'H' (unsigned short, 2 bytes).
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* Number 'H' added to the format depends on the size of Integro Variant buffer.
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*/
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export declare const integroVariantPackFormat = "@
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export declare const integroVariantPackFormat = "@L64B12B24s8cLH10B";
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export declare function unpackIntegroVariantBuffer(buffer: Buffer): import("python-struct").DataType[];
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export declare function parseIntegroVariantBuffer(buffer: Buffer): IntegroVariant;
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export interface IntegroVariantHeader {
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* All options are specified as 'H' (unsigned short, 2 bytes).
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* Number 'H' added to the format depends on the size of Integro Variant buffer.
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*/
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exports.integroVariantPackFormat = '@
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exports.integroVariantPackFormat = '@L64B12B24s8cLH10B';
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function unpackIntegroVariantBuffer(buffer) {
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const optionCodePackFormatLength = (buffer.length - 128) / 2;
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const format = exports.integroVariantPackFormat.padEnd(exports.integroVariantPackFormat.length + optionCodePackFormatLength, 'H');
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const signature = data.slice(1, 65);
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const chipId = data.slice(65, 77);
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const serialNumber = data[77];
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const
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const
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// Extract 6-byte MAC address starting at offset 80, skipping bytes 78 and 79 (both 0x00 padding)
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const macAddress = data.slice(80, 86)
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.map((c) => c.charCodeAt(0).toString(16).padStart(2, '0').toUpperCase())
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.join(':');
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const customerId = data[86];
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const operationMode = data[87];
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const reserved = data.slice(88, 98);
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// data[98] is reserved for SW use
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const numberOfOptionIds = data[99];
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const optionIds = data.slice(100);
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if (numberOfOptionIds !== optionIds.length) {
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throw new Error(`The specified number of options (${numberOfOptionIds}) doesn't match the actual number of options (${optionIds.length}).`);
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}
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{
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category: 'Performance Limitation',
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id: 18,
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meaning: '',
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meaning: 'Input frequency is limited to 4Hz to make the drive unable to follow highly dynamic trajectories',
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socVariables: ['is_input_frequency_limited'],
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incompatibleOptionIds: [],
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mpnSegmentCodes: [],
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category: 'Performance Limitation',
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id: 19,
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meaning: '',
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meaning: 'Cyclic accelerations are limited to a low value to make the drive unable to react to large travel demands quickly',
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socVariables: ['are_accelerations_limited'],
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incompatibleOptionIds: [],
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mpnSegmentCodes: [],
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|
|
1
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+
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aAAa;QACtB,YAAY,EAAE,CAAC,mBAAmB,CAAC;QACnC,qBAAqB,EAAE,EAAE;QACzB,eAAe,EAAE,EAAE;QACnB,GAAG,EAAE,mBAAmB;KACzB;IACD;QACE,QAAQ,EAAE,qBAAqB;QAC/B,EAAE,EAAE,EAAE;QACN,OAAO,EAAE,aAAa;QACtB,YAAY,EAAE,CAAC,mBAAmB,CAAC;QACnC,qBAAqB,EAAE,EAAE;QACzB,eAAe,EAAE,EAAE;QACnB,GAAG,EAAE,mBAAmB;KACzB;IACD;QACE,QAAQ,EAAE,4BAA4B;QACtC,EAAE,EAAE,EAAE;QACN,OAAO,EAAE,kDAAkD;QAC3D,YAAY,EAAE,CAAC,wBAAwB,CAAC;QACxC,qBAAqB,EAAE,EAAE;QACzB,eAAe,EAAE,EAAE;QACnB,GAAG,EAAE,0BAA0B;KAChC;IACD;QACE,QAAQ,EAAE,4BAA4B;QACtC,EAAE,EAAE,EAAE;QACN,OAAO,EAAE,gDAAgD;QACzD,YAAY,EAAE,CAAC,wBAAwB,CAAC;QACxC,qBAAqB,EAAE,EAAE;QACzB,eAAe,EAAE,EAAE;QACnB,GAAG,EAAE,0BAA0B;KAChC;IACD;QACE,QAAQ,EAAE,uBAAuB;QACjC,EAAE,EAAE,EAAE;QACN,OAAO,EAAE,gDAAgD;QACzD,YAAY,EAAE,CAAC,8BAA8B,CAAC;QAC9C,qBAAqB,EAAE,EAAE;QACzB,eAAe,EAAE,EAAE;QACnB,GAAG,EAAE,qBAAqB;KAC3B;IACD;QACE,QAAQ,EAAE,uBAAuB;QACjC,EAAE,EAAE,EAAE;QACN,OAAO,EAAE,cAAc;QACvB,YAAY,EAAE,CAAC,8BAA8B,CAAC;QAC9C,qBAAqB,EAAE,EAAE;QACzB,eAAe,EAAE,EAAE;QACnB,GAAG,EAAE,qBAAqB;KAC3B;IACD;QACE,QAAQ,EAAE,uBAAuB;QACjC,EAAE,EAAE,EAAE;QACN,OAAO,EAAE,cAAc;QACvB,YAAY,EAAE,CAAC,8BAA8B,CAAC;QAC9C,qBAAqB,EAAE,EAAE;QACzB,eAAe,EAAE,EAAE;QACnB,GAAG,EAAE,qBAAqB;KAC3B;CACF,CAAC"}
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|
@@ -1751,25 +1751,6 @@ export declare class MotionMasterReqResClient {
|
|
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1751
1751
|
* and transmits them to the device.
|
|
1752
1752
|
*/
|
|
1753
1753
|
factoryResetSmm(deviceRef: DeviceRef, parameterStructureVersion?: number | undefined): Observable<boolean>;
|
|
1754
|
-
/**
|
|
1755
|
-
* Reads a value from an external I²C register of a Circulo Integrated Encoder device (e.g., iC-PVL or EEPROM),
|
|
1756
|
-
* by configuring the iC-MU's I²C bridging mechanism via command sequencing.
|
|
1757
|
-
*
|
|
1758
|
-
* This method writes the required configuration parameters to the iC-MU registers in a specific order
|
|
1759
|
-
* to trigger an I²C read transaction from the specified external device and register.
|
|
1760
|
-
*
|
|
1761
|
-
* The communication sequence is based on configuring the I²C device ID, retry parameters,
|
|
1762
|
-
* and transfer region (RAM/EEPROM), and finally triggering the `I2C_COM` command.
|
|
1763
|
-
*
|
|
1764
|
-
* @param deviceRef - Reference to the connected device used for communication.
|
|
1765
|
-
* @param encoderOrdinal - Index of the encoder on the bus (typically 1 if only one encoder is present).
|
|
1766
|
-
* @param i2cDeviceId - I²C device ID to access (EEPROM, PVL limited, PVL full).
|
|
1767
|
-
* @param registerAddress - Target register address on the external I²C device to read from.
|
|
1768
|
-
* @param commandTimeout - Optional timeout in milliseconds for each command (default: 2000 ms).
|
|
1769
|
-
*
|
|
1770
|
-
* @returns An `Observable<EncoderRegisterCommunicationOsCommandResponse>` that emits the final response
|
|
1771
|
-
* from the OS command sequence, containing the value read from the specified external I²C register.
|
|
1772
|
-
*/
|
|
1773
1754
|
readCirculoEncoderExternalRegister(deviceRef: DeviceRef, encoderOrdinal: number, i2cDeviceId: CirculoIntegratedEncoderI2CDeviceId, registerAddress: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse>;
|
|
1774
1755
|
/**
|
|
1775
1756
|
* Writes a value to an external I²C register of a Circulo Integrated Encoder device (e.g., iC-PVL or EEPROM),
|
|
@@ -1802,4 +1783,39 @@ export declare class MotionMasterReqResClient {
|
|
|
1802
1783
|
* @returns An observable that emits an array of `EncoderRegisterCommunicationOsCommandResponse` objects.
|
|
1803
1784
|
*/
|
|
1804
1785
|
readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef: DeviceRef, encoderOrdinal: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse[]>;
|
|
1786
|
+
/**
|
|
1787
|
+
* Retrieves the supported encoder configuration types for the specified device.
|
|
1788
|
+
*
|
|
1789
|
+
* Resolves the device reference, fetches the supported encoder options and firmware version,
|
|
1790
|
+
* then combines these to determine which encoder configurations are supported.
|
|
1791
|
+
*
|
|
1792
|
+
* @param deviceRef - A reference to the device for which to fetch supported encoder configurations.
|
|
1793
|
+
* @returns An Observable emitting a two-dimensional array of numbers, where each inner array corresponds to
|
|
1794
|
+
* the supported encoder configuration types for a specific encoder port.
|
|
1795
|
+
*/
|
|
1796
|
+
getSupportedEncoderConfigurationTypes(deviceRef: DeviceRef): Observable<number[][]>;
|
|
1797
|
+
/**
|
|
1798
|
+
* Retrieves the supported analog input (AI) modes for the specified device.
|
|
1799
|
+
*
|
|
1800
|
+
* Resolves the device reference, fetches the supported AI options and firmware version,
|
|
1801
|
+
* then combines these to determine which AI modes are enabled or disabled.
|
|
1802
|
+
* Certain AI inputs are disabled based on the device's Integro variant options.
|
|
1803
|
+
*
|
|
1804
|
+
* @param deviceRef - A reference to the device for which to fetch supported AI modes.
|
|
1805
|
+
* @returns An Observable emitting a two-dimensional array of numbers, where each inner array corresponds to an AI pin
|
|
1806
|
+
* and contains the supported modes. Pins with all modes disabled default to `[0]`.
|
|
1807
|
+
*/
|
|
1808
|
+
getSupportedAis(deviceRef: DeviceRef): Observable<number[][]>;
|
|
1809
|
+
/**
|
|
1810
|
+
* Retrieves the supported digital input/output (DIO) pin modes for a given device.
|
|
1811
|
+
*
|
|
1812
|
+
* This method resolves the device reference, fetches both the supported DIO options and firmware version,
|
|
1813
|
+
* then combines this information to determine which DIO pin modes are enabled or disabled.
|
|
1814
|
+
* It also disables specific DIO pin modes based on the device's Integro variant options.
|
|
1815
|
+
*
|
|
1816
|
+
* @param deviceRef - A reference to the device whose supported DIO pin modes are being fetched.
|
|
1817
|
+
* @returns An Observable that emits a two-dimensional array of numbers. Each inner array corresponds to a DIO pin
|
|
1818
|
+
* and lists the supported pin modes. If all pin modes for a pin are disabled, the array defaults to `[0]`.
|
|
1819
|
+
*/
|
|
1820
|
+
getSupportedDios(deviceRef: DeviceRef): Observable<number[][]>;
|
|
1805
1821
|
}
|
|
@@ -25,6 +25,7 @@ const product_1 = require("./product");
|
|
|
25
25
|
const mmcidb_1 = require("./mmcidb");
|
|
26
26
|
const smm_1 = require("./smm");
|
|
27
27
|
const firmware_1 = require("./firmware");
|
|
28
|
+
const fetch_1 = require("./fetch");
|
|
28
29
|
const circulo_1 = require("./circulo");
|
|
29
30
|
/**
|
|
30
31
|
* This class contains methods for making requests to Motion Master using the injected request/response socket.
|
|
@@ -1388,11 +1389,20 @@ class MotionMasterReqResClient {
|
|
|
1388
1389
|
}
|
|
1389
1390
|
return parameterValues.map((parameterValue) => {
|
|
1390
1391
|
const value = parameterValue;
|
|
1392
|
+
const parameterId = (0, parameter_1.makeParameterId)(value === null || value === void 0 ? void 0 : value.index, value === null || value === void 0 ? void 0 : value.subindex);
|
|
1393
|
+
// Ignoring errors for some parameters that might not be available on all devices.
|
|
1394
|
+
// For example, "0x2625:06 Filter time for safe analog input" is not available on SMM firmware v2.25.
|
|
1395
|
+
if (parameterValue.error) {
|
|
1396
|
+
console.warn(`Failed to get parameter value (${parameterValue.error.code}) for ${parameterId} (${deviceAddress})`);
|
|
1397
|
+
}
|
|
1391
1398
|
const typeValue = value === null || value === void 0 ? void 0 : value.typeValue;
|
|
1392
1399
|
if (typeValue) {
|
|
1393
1400
|
return parameterValue[typeValue];
|
|
1394
1401
|
}
|
|
1395
|
-
|
|
1402
|
+
else {
|
|
1403
|
+
console.warn(`No type value for parameter ${parameterId} (${deviceAddress})`);
|
|
1404
|
+
return 0;
|
|
1405
|
+
}
|
|
1396
1406
|
});
|
|
1397
1407
|
})
|
|
1398
1408
|
.flat();
|
|
@@ -3312,7 +3322,7 @@ class MotionMasterReqResClient {
|
|
|
3312
3322
|
return this.transmitSmmParameters(deviceRef, values, version);
|
|
3313
3323
|
}));
|
|
3314
3324
|
}
|
|
3315
|
-
|
|
3325
|
+
/*
|
|
3316
3326
|
* Reads a value from an external I²C register of a Circulo Integrated Encoder device (e.g., iC-PVL or EEPROM),
|
|
3317
3327
|
* by configuring the iC-MU's I²C bridging mechanism via command sequencing.
|
|
3318
3328
|
*
|
|
@@ -3371,6 +3381,120 @@ class MotionMasterReqResClient {
|
|
|
3371
3381
|
const defferedOsCommands = registerAddresses.map((registerAddress) => (0, rxjs_1.defer)(() => this.runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal, 0, 0, registerAddress, undefined, commandTimeout).pipe((0, operators_1.last)())));
|
|
3372
3382
|
return (0, rxjs_1.concat)(...defferedOsCommands).pipe((0, operators_1.toArray)());
|
|
3373
3383
|
}
|
|
3384
|
+
/**
|
|
3385
|
+
* Retrieves the supported encoder configuration types for the specified device.
|
|
3386
|
+
*
|
|
3387
|
+
* Resolves the device reference, fetches the supported encoder options and firmware version,
|
|
3388
|
+
* then combines these to determine which encoder configurations are supported.
|
|
3389
|
+
*
|
|
3390
|
+
* @param deviceRef - A reference to the device for which to fetch supported encoder configurations.
|
|
3391
|
+
* @returns An Observable emitting a two-dimensional array of numbers, where each inner array corresponds to
|
|
3392
|
+
* the supported encoder configuration types for a specific encoder port.
|
|
3393
|
+
*/
|
|
3394
|
+
getSupportedEncoderConfigurationTypes(deviceRef) {
|
|
3395
|
+
return this.resolveDevice(deviceRef).pipe((0, operators_1.mergeMap)((device) => {
|
|
3396
|
+
if (!device.versionedDeviceProductId) {
|
|
3397
|
+
return [];
|
|
3398
|
+
}
|
|
3399
|
+
const supportedOptionsPromise = (0, fetch_1.fetchSupportedEncoderConfigurationTypes)();
|
|
3400
|
+
const firmwareVersionPromise = this.upload(deviceRef, 0x100a, 0);
|
|
3401
|
+
return extractFirmwareProductSupportedOptions(supportedOptionsPromise, firmwareVersionPromise, device.versionedDeviceProductId);
|
|
3402
|
+
}));
|
|
3403
|
+
}
|
|
3404
|
+
/**
|
|
3405
|
+
* Retrieves the supported analog input (AI) modes for the specified device.
|
|
3406
|
+
*
|
|
3407
|
+
* Resolves the device reference, fetches the supported AI options and firmware version,
|
|
3408
|
+
* then combines these to determine which AI modes are enabled or disabled.
|
|
3409
|
+
* Certain AI inputs are disabled based on the device's Integro variant options.
|
|
3410
|
+
*
|
|
3411
|
+
* @param deviceRef - A reference to the device for which to fetch supported AI modes.
|
|
3412
|
+
* @returns An Observable emitting a two-dimensional array of numbers, where each inner array corresponds to an AI pin
|
|
3413
|
+
* and contains the supported modes. Pins with all modes disabled default to `[0]`.
|
|
3414
|
+
*/
|
|
3415
|
+
getSupportedAis(deviceRef) {
|
|
3416
|
+
return this.resolveDevice(deviceRef).pipe((0, operators_1.mergeMap)((device) => {
|
|
3417
|
+
if (!device.versionedDeviceProductId) {
|
|
3418
|
+
return [];
|
|
3419
|
+
}
|
|
3420
|
+
const supportedOptionsPromise = (0, fetch_1.fetchSupportedAis)();
|
|
3421
|
+
const firmwareVersionPromise = this.upload(deviceRef, 0x100a, 0);
|
|
3422
|
+
return extractFirmwareProductSupportedOptions(supportedOptionsPromise, firmwareVersionPromise, device.versionedDeviceProductId).pipe((0, operators_1.map)((supportedOptions) => {
|
|
3423
|
+
var _a, _b;
|
|
3424
|
+
const integroVariantOptionIds = (_b = (_a = device.integroVariant) === null || _a === void 0 ? void 0 : _a.options.map((o) => o.id)) !== null && _b !== void 0 ? _b : [];
|
|
3425
|
+
if (integroVariantOptionIds.includes(36))
|
|
3426
|
+
supportedOptions[0] = [0]; // Disable AI Internal (Motor temperature sensor)
|
|
3427
|
+
if (integroVariantOptionIds.includes(37))
|
|
3428
|
+
supportedOptions[1] = [0]; // Disable AI 1
|
|
3429
|
+
if (integroVariantOptionIds.includes(38))
|
|
3430
|
+
supportedOptions[2] = [0]; // Disable AI 2
|
|
3431
|
+
return supportedOptions;
|
|
3432
|
+
}));
|
|
3433
|
+
}));
|
|
3434
|
+
}
|
|
3435
|
+
/**
|
|
3436
|
+
* Retrieves the supported digital input/output (DIO) pin modes for a given device.
|
|
3437
|
+
*
|
|
3438
|
+
* This method resolves the device reference, fetches both the supported DIO options and firmware version,
|
|
3439
|
+
* then combines this information to determine which DIO pin modes are enabled or disabled.
|
|
3440
|
+
* It also disables specific DIO pin modes based on the device's Integro variant options.
|
|
3441
|
+
*
|
|
3442
|
+
* @param deviceRef - A reference to the device whose supported DIO pin modes are being fetched.
|
|
3443
|
+
* @returns An Observable that emits a two-dimensional array of numbers. Each inner array corresponds to a DIO pin
|
|
3444
|
+
* and lists the supported pin modes. If all pin modes for a pin are disabled, the array defaults to `[0]`.
|
|
3445
|
+
*/
|
|
3446
|
+
getSupportedDios(deviceRef) {
|
|
3447
|
+
return this.resolveDevice(deviceRef).pipe((0, operators_1.mergeMap)((device) => {
|
|
3448
|
+
if (!device.versionedDeviceProductId) {
|
|
3449
|
+
return [];
|
|
3450
|
+
}
|
|
3451
|
+
const supportedOptionsPromise = (0, fetch_1.fetchSupportedDios)();
|
|
3452
|
+
const firmwareVersionPromise = this.upload(deviceRef, 0x100a, 0);
|
|
3453
|
+
return extractFirmwareProductSupportedOptions(supportedOptionsPromise, firmwareVersionPromise, device.versionedDeviceProductId).pipe((0, operators_1.map)((supportedOptions) => {
|
|
3454
|
+
var _a, _b;
|
|
3455
|
+
const disablePinMode = (index, mode) => {
|
|
3456
|
+
supportedOptions[index] = supportedOptions[index].filter((d) => d !== mode);
|
|
3457
|
+
if (supportedOptions[index].length === 0) {
|
|
3458
|
+
supportedOptions[index] = [0];
|
|
3459
|
+
}
|
|
3460
|
+
};
|
|
3461
|
+
const integroVariantOptionsId = (_b = (_a = device.integroVariant) === null || _a === void 0 ? void 0 : _a.options.map((o) => o.id)) !== null && _b !== void 0 ? _b : [];
|
|
3462
|
+
if (integroVariantOptionsId.includes(28))
|
|
3463
|
+
disablePinMode(0, 1); // Disable DI1
|
|
3464
|
+
if (integroVariantOptionsId.includes(29))
|
|
3465
|
+
disablePinMode(0, 2); // Disable DO1
|
|
3466
|
+
if (integroVariantOptionsId.includes(30))
|
|
3467
|
+
disablePinMode(1, 1); // Disable DI2
|
|
3468
|
+
if (integroVariantOptionsId.includes(31))
|
|
3469
|
+
disablePinMode(1, 2); // Disable DO2
|
|
3470
|
+
if (integroVariantOptionsId.includes(32))
|
|
3471
|
+
disablePinMode(2, 1); // Disable DI3
|
|
3472
|
+
if (integroVariantOptionsId.includes(33))
|
|
3473
|
+
disablePinMode(3, 1); // Disable DI4
|
|
3474
|
+
return supportedOptions;
|
|
3475
|
+
}));
|
|
3476
|
+
}));
|
|
3477
|
+
}
|
|
3374
3478
|
}
|
|
3375
3479
|
exports.MotionMasterReqResClient = MotionMasterReqResClient;
|
|
3480
|
+
/**
|
|
3481
|
+
* Extracts supported firmware product options based on the provided firmware version and optional device product ID.
|
|
3482
|
+
*
|
|
3483
|
+
* @param supportedOptionsPromise - A promise resolving to the full set of supported firmware product options.
|
|
3484
|
+
* @param firmwareVersionPromise - A promise resolving to the firmware version string.
|
|
3485
|
+
* @param versionedDeviceProductId - (Optional) The specific device product ID to filter options for.
|
|
3486
|
+
* @returns An Observable that emits the array of supported options for the given firmware version and device ID,
|
|
3487
|
+
* or an empty array if the version cannot be parsed or no options are found.
|
|
3488
|
+
*/
|
|
3489
|
+
function extractFirmwareProductSupportedOptions(supportedOptionsPromise, firmwareVersionPromise, versionedDeviceProductId) {
|
|
3490
|
+
return (0, rxjs_1.forkJoin)([supportedOptionsPromise, firmwareVersionPromise]).pipe((0, operators_1.map)(([supportedOptions, firmwareVersion]) => {
|
|
3491
|
+
var _a, _b;
|
|
3492
|
+
const parsedFirmwareVersion = semver.parse(firmwareVersion);
|
|
3493
|
+
if (!parsedFirmwareVersion) {
|
|
3494
|
+
return [];
|
|
3495
|
+
}
|
|
3496
|
+
const { major, minor } = parsedFirmwareVersion;
|
|
3497
|
+
return (_b = (_a = supportedOptions[`${major}.${minor}`]) === null || _a === void 0 ? void 0 : _a[`${versionedDeviceProductId}`]) !== null && _b !== void 0 ? _b : [];
|
|
3498
|
+
}));
|
|
3499
|
+
}
|
|
3376
3500
|
//# sourceMappingURL=motion-master-req-res-client.js.map
|