motion-master-client 0.0.3 → 0.0.6

package/src/lib/motion-master-req-res-socket.ts

@@ -1,45 +0,0 @@
-import { BehaviorSubject, Observable } from "rxjs";
-import { MotionMasterMessage } from "./types";
-
-export interface MotionMasterReqResSocket {
-  /**
-   * Emits a boolean value when socket gets opened or closed.
-   */
-  readonly opened$: BehaviorSubject<boolean>;
-
-  /**
-   * Motion Master is considered alive when it sends messages in regular time interval.
-   */
-  readonly alive$: BehaviorSubject<boolean>;
-
-  /**
-   * Decoded message instances coming from Motion Master.
-   */
-  readonly message$: Observable<MotionMasterMessage>;
-
-  /**
-   * URL set in call to open.
-   */
-  get url(): string | undefined;
-
-  /**
-   * Open socket.
-   * 
-   * The connected$ and eventually alive$ observables will emit true values.
-   */
-  open(url: string, pingSystemInterval?: number, systemAliveTimeout?: number): void;
-
-  /**
-   * Close socket.
-   * 
-   * The opened$ and alive$ observables will emit false values.
-   */
-  close(): void;
-
-  /**
-   * Send an instance of a message.
-   * 
-   * Subscribe to the message$ observable in order to receive the response messages.
-   */
-  send(message: MotionMasterMessage): void;
-}

package/src/lib/motion-master-req-res-web-socket.ts

@@ -1,119 +0,0 @@
-import { BehaviorSubject, filter, interval, map, Subject, Subscription, tap } from "rxjs";
-import { webSocket, WebSocketSubject, WebSocketSubjectConfig } from "rxjs/webSocket";
-import { logger } from "./logger";
-import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
-import { MotionMasterMessage } from "./types";
-
-export class MotionMasterReqResWebSocket implements MotionMasterReqResSocket {
-
-  readonly opened$ = new BehaviorSubject<boolean>(false);
-
-  readonly alive$ = new BehaviorSubject<boolean>(false);
-
-  readonly message$ = new Subject<MotionMasterMessage>();
-
-  private aliveTimeoutId = 0;
-
-  private pingSystem = MotionMasterMessage.create({
-    request: { pingSystem: MotionMasterMessage.Request.PingSystem.create() }
-  });
-
-  private pingSystemObserver = { next: () => this.send(this.pingSystem) };
-
-  private pingSystemSubscription = new Subscription();
-
-  private webSocket$?: WebSocketSubject<Uint8Array>;
-
-  private _url?: string;
-
-  get url(): string | undefined {
-    return this._url;
-  }
-
-  open(url: string, pingSystemInterval = 250, systemAliveTimeout = 1000): void {
-    if (this.opened$.getValue() === true) {
-      throw new Error('MotionMasterReqResWebSocket is already opened!');
-    }
-
-    this._url = url;
-
-    this.webSocket$ = this.createWebSocket(url, pingSystemInterval);
-
-    this.webSocket$?.pipe(
-      map((data: Uint8Array) => MotionMasterMessage.decode(data)),
-      tap(() => this.keepalive(systemAliveTimeout)),
-      filter((message) => !(message.status?.systemPong)),
-      tap((message) => {
-        if (message.status) {
-          const keys = Object.keys(message.status).join();
-          const motionMasterMessage = message.toJSON ? message.toJSON() : message;
-          logger.info({
-            namespace: 'reqResMessage',
-            motionMasterMessage,
-            type: message.type,
-          }, `Received ${keys}`);
-        }
-      }),
-    ).subscribe({
-      next: (message) => this.message$.next(message),
-      error: () => {
-        // ignore
-      },
-    });
-  }
-
-  close(): void {
-    clearTimeout(this.aliveTimeoutId);
-    this.pingSystemSubscription.unsubscribe();
-    this.webSocket$?.unsubscribe();
-  }
-
-  send(message: MotionMasterMessage): void {
-    if (!(message.request?.pingSystem)) {
-      if (message.request) {
-        const keys = Object.keys(message.request).join();
-        const motionMasterMessage = message.toJSON ? message.toJSON() : message;
-        logger.info({
-          namespace: 'reqResMessage',
-          motionMasterMessage,
-          type: message.type,
-        }, `Send ${keys}`);
-      }
-    }
-    this.webSocket$?.next(MotionMasterMessage.encode(message).finish());
-  }
-
-  private createWebSocket(url: string, pingSystemInterval = 250) {
-    const webSocketConfig: WebSocketSubjectConfig<Uint8Array> = {
-      binaryType: 'arraybuffer',
-      closeObserver: {
-        next: () => {
-          this.opened$.next(false);
-          logger.info(`Connection closed ${url}`);
-        },
-      },
-      deserializer: (e: MessageEvent) => new Uint8Array(e.data as unknown as Iterable<number>),
-      openObserver: {
-        next: () => {
-          this.pingSystemSubscription = interval(pingSystemInterval)
-            .subscribe(this.pingSystemObserver);
-          this.opened$.next(true);
-          logger.info(`Connection opened ${url}`);
-        },
-      },
-      serializer: (value: Uint8Array) => value,
-      url,
-    };
-
-    return webSocket(webSocketConfig);
-  }
-
-  private keepalive(systemAliveTimeout = 1000) {
-    if (this.alive$.getValue() === false) {
-      this.alive$.next(true);
-    }
-    self.clearTimeout(this.aliveTimeoutId);
-    this.aliveTimeoutId = self.setTimeout(() => this.alive$.next(false), systemAliveTimeout);
-  }
-
-}

package/src/lib/motion-master-req-res-worker-socket.ts

@@ -1,63 +0,0 @@
-import { BehaviorSubject, Subject } from "rxjs";
-import { logger } from "./logger";
-import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
-import { MotionMasterMessage } from "./types";
-import { createPlainObjectFromMotionMasterMessage } from "./util";
-
-export class MotionMasterReqResWorkerSocket implements MotionMasterReqResSocket {
-
-  readonly opened$ = new BehaviorSubject<boolean>(false);
-
-  readonly alive$ = new BehaviorSubject<boolean>(false);
-
-  readonly message$ = new Subject<MotionMasterMessage>();
-
-  private _url?: string;
-
-  constructor(
-    public readonly worker: Worker,
-  ) { }
-
-  get url(): string | undefined {
-    return this._url;
-  }
-
-  open(url: string, pingSystemInterval = 250, systemAliveTimeout = 1000): void {
-    if (this.opened$.getValue() === true) {
-      throw new Error('MotionMasterReqResWorkerSocket is already opened!');
-    }
-
-    this._url = url;
-
-    this.worker.onmessage = ({ data }) => {
-      if ('opened' in data) {
-        const { opened } = data;
-        this.opened$.next(opened);
-        logger.info(opened ? `Opened req/res 🔌 ${url}` : `Closed req/res 🔌 ${url}`);
-      } else if ('alive' in data) {
-        const { alive } = data;
-        this.alive$.next(alive);
-        logger.info(alive ? `System is alive 💓` : 'System is as dead as 🦤');
-      } else if ('message' in data) {
-        const { message: motionMasterMessage } = data;
-        this.message$.next(motionMasterMessage);
-        logger.info({ namespace: 'reqResMessage', motionMasterMessage, type: motionMasterMessage.type }, `Received ${motionMasterMessage.status.type}`);
-      }
-    }
-
-    this.worker.postMessage({
-      open: { url, pingSystemInterval, systemAliveTimeout },
-    });
-  }
-
-  close(): void {
-    this.worker.postMessage({ close: true });
-  }
-
-  send(message: MotionMasterMessage): void {
-    const motionMasterMessage = createPlainObjectFromMotionMasterMessage(message);
-    logger.info({ namespace: 'reqResMessage', motionMasterMessage, type: motionMasterMessage.type }, `Send ${motionMasterMessage.request.type}`);
-    this.worker.postMessage({ message });
-  }
-
-}

package/src/lib/operators.ts

@@ -1,93 +0,0 @@
-import { pipe, filter, map, timeout, takeWhile, retryWhen, concat, take, Observable, delay } from 'rxjs';
-import { getParameterValue } from './util';
-import { requestStatusResolver } from './request-status-resolver';
-import { MotionMasterMessage, ParameterValueType, RequestStatus, StatusKey } from './types';
-
-export function selectMotionMasterMessageStatusByMessageId<T>(key: StatusKey, id?: string) {
-  return pipe(
-    filter((message: MotionMasterMessage) => message.id === id),
-    map((message) => {
-      // Handling the special case when Motion Master sends SystemEvent instead of e.g. DeviceParameterInfo status for
-      // GetDeviceParameterInfo request message. This typically happens when request contains an invalid device address.
-      if (message.status?.systemEvent && key !== 'systemEvent') {
-        if (message.status.systemEvent.error) {
-          throw new Error(`Error selecting message: ${message.status.systemEvent.error.message ?? ''}`);
-        } else {
-          throw new Error(`Error selecting message. Received System Event instead of "${key.toString()}": ${JSON.stringify(message)}`);
-        }
-      }
-      return message.status?.[key] as T;
-    }),
-  );
-}
-
-export function extendStatus<T>(data: { statusKey: StatusKey, messageId: string }) {
-  return pipe(
-    map((status: T) => {
-      const { statusKey, messageId } = data;
-      const request = requestStatusResolver[statusKey]?.<T>(status);
-      return { ...status, messageId, request };
-    }),
-  );
-}
-
-export function transformMotionMasterMessageToStatus<T>(statusKey: StatusKey, requestTimeout: number, messageId: string) {
-  if (typeof requestTimeout !== 'number') {
-    throw new Error(`Invalid requestTimeout=${requestTimeout} provided for ${statusKey}`);
-  }
-
-  return pipe(
-    selectMotionMasterMessageStatusByMessageId<T>(statusKey, messageId),
-    timeout(requestTimeout),
-    extendStatus({ statusKey, messageId }),
-    takeWhile((status) => status.request !== 'succeeded' && status.request !== 'failed', true),
-  );
-}
-
-export function selectMotionMasterMessageByTopic<T>(topic: string) {
-  return pipe(
-    filter(([t]: [string, T]) => t === topic),
-    map(([, data]) => data),
-  );
-}
-
-export function selectMotionMasterMessageStatusByKey<T>(key: keyof MotionMasterMessage.IStatus) {
-  return pipe(
-    filter((message: MotionMasterMessage) => !!(message.status && message.status[key])),
-    map((message) => message.status?.[key] as T),
-  );
-}
-
-/**
- * Retry (resubscribe) to the source observable a number of attempts with delay timeout.
- */
-export function retryWithDelay<T>(delayTimeout = 1000, attempts = 3) {
-  return pipe(
-    retryWhen<T>((errors: Observable<Error>) => concat(
-      errors.pipe(
-        delay(delayTimeout),
-        take(attempts),
-      ),
-      errors.pipe(
-        map(error => {
-          throw error; // rethrow the source observable error if all attempts fail
-        }),
-      ),
-    )),
-  );
-}
-
-export function mapStatusMessageToParameterValues() {
-  return pipe(
-    map((message: MotionMasterMessage) => {
-      if (message.status?.monitoringParameterValues) {
-        const { timestamp, deviceParameterValues } = message.status.monitoringParameterValues;
-        return [
-          timestamp,
-          ...(deviceParameterValues?.parameterValues?.map((parameterValue) => getParameterValue(parameterValue)) ?? []),
-        ] as ParameterValueType[];
-      }
-      return [];
-    }),
-  );
-}

package/src/lib/options.ts

@@ -1,12 +0,0 @@
-import { MotionMasterMessage } from './types';
-
-export const parameterValueTypeOptions = {
-  'intValue': 'intValue',
-  'uintValue': 'uintValue',
-  'floatValue': 'floatValue',
-  'stringValue': 'stringValue',
-  'rawValue': 'rawValue',
-};
-
-export const ethercatNetworkStateOptions = MotionMasterMessage.Status.EthercatNetworkState.State;
-export const positionControllerTypeOptions = MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType;

package/src/lib/parameter.spec.ts

@@ -1,81 +0,0 @@
-import { makeParameterId, splitParameterId } from "./parameter";
-
-describe('parameter', () => {
-
-  describe('makeParameterId', () => {
-
-    test.each<[[(number | null | undefined), (number | null | undefined)], string]>([
-      [[0x1234, 123], '0x1234:7B'],
-      [[23, 23], '0x0017:17'],
-      [[0, 0], '0x0000:00'],
-      [[0x2000, undefined], '0x2000:00'],
-      [[0x2003, null], '0x2003:00'],
-      [[0x10000, 3], '0x00010000:03'],
-      [[0x100F0, undefined], '0x000100F0:00'],
-    ])('should for tuple %j return "%s"', (tuple, expected) => {
-      const result = makeParameterId(tuple);
-
-      expect(result).toBe(expected);
-    });
-
-    test.each([
-      [{}, '0x0000:00'],
-      [{ index: 0x2004, subindex: 4 }, '0x2004:04'],
-      [{ index: 0x1024 }, '0x1024:00'],
-    ])('should for parameter %j return "%s"', (parameter, expected) => {
-      const result = makeParameterId(parameter);
-
-      expect(result).toBe(expected);
-    });
-
-    test.each([
-      [0x1234, 123, '0x1234:7B'],
-      [23, 23, '0x0017:17'],
-      [0, 0, '0x0000:00'],
-      [0x2000, undefined, '0x2000:00'],
-      [0x2003, null, '0x2003:00'],
-      [0x10000, 3, '0x00010000:03'],
-      [0x100F0, undefined, '0x000100F0:00'],
-    ])('should for index %d and subindex %d return "%s"', (index, subindex, expected) => {
-      const result = makeParameterId(index, subindex);
-
-      expect(result).toBe(expected);
-    });
-
-    it('should throw if index is less than 0', () => {
-      expect(() => {
-        makeParameterId(-123, 0);
-      }).toThrow();
-    });
-
-    it('should throw if subindex is less than 0', () => {
-      expect(() => {
-        makeParameterId(0x1024, -3);
-      }).toThrow();
-    });
-
-  });
-
-  describe('splitParameterId', () => {
-
-    test.each([
-      ['0x1234:7B', [4660, 123]],
-      ['0x000100F0:00', [65776, 0]],
-    ])('should for id "%s" return tuple %j', (id, expected) => {
-      const result = splitParameterId(id);
-
-      expect(result).toEqual(expected);
-    });
-
-    test.each([
-      ['0x12:7B'],
-      ['0x1234:F'],
-      ['0x1234:FG'],
-      ['0x1H34:FF'],
-    ])('should throw error for id "%s"', (id) => {
-      expect(() => splitParameterId(id)).toThrow();
-    });
-
-  });
-
-});

package/src/lib/parameter.ts

@@ -1,119 +0,0 @@
-import { MotionMasterMessage, ParameterTypeValueKey, ParameterValueType } from "./types";
-
-export interface Parameter extends MotionMasterMessage.Status.DeviceParameterInfo.IParameter, MotionMasterMessage.Status.DeviceParameterValues.IParameterValue {
-  index: number;
-  subindex: number;
-  name: string;
-  value: ParameterValueType;
-  typeValue: ParameterTypeValueKey;
-}
-
-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
-  ];
-}