motion-master-client 0.0.30 → 0.0.32

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Files changed (7) hide show
  1. package/package.json +1 -1
  2. package/src/lib/motion-master-client.d.ts +6 -5
  3. package/src/lib/motion-master-client.js +14 -14
  4. package/src/lib/motion-master-client.js.map +1 -1
  5. package/src/lib/motion-master-req-res-client.d.ts +28 -1
  6. package/src/lib/motion-master-req-res-client.js +28 -1
  7. package/src/lib/motion-master-req-res-client.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.30",
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+ "version": "0.0.32",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/lib/motion-master-client.d.ts CHANGED
@@ -35,7 +35,7 @@ export declare class MotionMasterClient {
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  * Otherwise, it will wait up to requestTimeout for both sockets to open, or throw an error.
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  */
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  whenReady(requestTimeout?: number): Promise<true>;
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- startMonitoring(ids: DeviceParameterIds, interval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<ParameterValueType[]>;
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+ startMonitoring(ids: DeviceParameterIds, monitoringInterval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<ParameterValueType[]>;
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  /**
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  * TODO: return device parameters instead of just parameters
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  * get parameters from ESI uprfront, and then when parameters are received
@@ -44,10 +44,11 @@ export declare class MotionMasterClient {
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  * when assembling device parameter, get parameter from device in ESI based on product code, see ESI service
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  * this should probably done for other get parameters functions, get ESI file from device or prepared, get data from it
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  */
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- startMonitoringDeviceParameters(ids: DeviceParameterIds, interval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<Parameter[]>;
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- startMonitoringValue<T extends ParameterValueType = number>(id: string | [DeviceRef, number, number], interval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<T>;
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- trackTargetReached(deviceRef: DeviceRef, samplingInterval?: number): Observable<boolean>;
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- waitUntilTargetReached(deviceRef: DeviceRef, samplingInterval?: number): Observable<true>;
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+ startMonitoringDeviceParameters(ids: DeviceParameterIds, monitoringInterval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<Parameter[]>;
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+ startMonitoringValue<T extends ParameterValueType = number>(id: string | [DeviceRef, number, number], monitoringInterval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<T>;
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+ trackTargetReached(deviceRef: DeviceRef, monitoringInterval?: number): Observable<boolean>;
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+ waitUntilTargetReached(deviceRef: DeviceRef, monitoringInterval?: number): Observable<true>;
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+ whenTargetReached(deviceRef: DeviceRef, monitoringInterval?: number): Promise<true>;
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  stopMonitoring(messageId: string): void;
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  closeSockets(): void;
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  reopenSockets(): void;
package/src/lib/motion-master-client.js CHANGED
@@ -1,7 +1,6 @@
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  "use strict";
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  Object.defineProperty(exports, "__esModule", { value: true });
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  exports.MotionMasterClient = exports.createMotionMasterClient = void 0;
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- const tslib_1 = require("tslib");
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  const rxjs_1 = require("rxjs");
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  const uuid_1 = require("uuid");
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  const motion_master_pub_sub_client_1 = require("./motion-master-pub-sub-client");
@@ -48,11 +47,9 @@ class MotionMasterClient {
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  * Otherwise, it will wait up to requestTimeout for both sockets to open, or throw an error.
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  */
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  whenReady(requestTimeout = 5000) {
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- return tslib_1.__awaiter(this, void 0, void 0, function* () {
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- return (0, rxjs_1.firstValueFrom)(this.ready$.pipe((0, rxjs_1.timeout)(requestTimeout)));
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- });
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+ return (0, rxjs_1.firstValueFrom)(this.ready$.pipe((0, rxjs_1.timeout)(requestTimeout)));
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  }
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- startMonitoring(ids, interval, config, requestTimeout = 5000) {
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+ startMonitoring(ids, monitoringInterval, config, requestTimeout = 5000) {
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  return (0, rxjs_1.defer)(() => {
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  var _a, _b;
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  const topic = (_a = config === null || config === void 0 ? void 0 : config.topic) !== null && _a !== void 0 ? _a : (0, uuid_1.v4)();
@@ -71,7 +68,7 @@ class MotionMasterClient {
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  parameters: refs.map(([, index, subindex]) => ({ index, subindex, loadFromCache: false })),
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  sendProgress: false,
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  },
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- interval,
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+ interval: monitoringInterval,
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  topic,
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  };
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  return this.request.startMonitoringDeviceParameterValues(props, requestTimeout, messageId);
@@ -95,7 +92,7 @@ class MotionMasterClient {
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  * when assembling device parameter, get parameter from device in ESI based on product code, see ESI service
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  * this should probably done for other get parameters functions, get ESI file from device or prepared, get data from it
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  */
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- startMonitoringDeviceParameters(ids, interval, config, requestTimeout = 5000) {
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+ startMonitoringDeviceParameters(ids, monitoringInterval, config, requestTimeout = 5000) {
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  return (0, rxjs_1.defer)(() => {
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  var _a, _b;
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  const topic = (_a = config === null || config === void 0 ? void 0 : config.topic) !== null && _a !== void 0 ? _a : (0, uuid_1.v4)();
@@ -114,7 +111,7 @@ class MotionMasterClient {
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  parameters: refs.map(([, index, subindex]) => ({ index, subindex, loadFromCache: false })),
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  sendProgress: false,
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  },
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- interval,
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+ interval: monitoringInterval,
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  topic,
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  };
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  return this.request.startMonitoringDeviceParameterValues(props, requestTimeout, messageId);
@@ -130,16 +127,19 @@ class MotionMasterClient {
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  });
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  });
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  }
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- startMonitoringValue(id, interval, config, requestTimeout = 5000) {
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+ startMonitoringValue(id, monitoringInterval, config, requestTimeout = 5000) {
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  const ids = typeof id === 'string' ? [id] : [id];
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- return this.startMonitoring(ids, interval, config, requestTimeout).pipe((0, rxjs_1.map)((parameters) => { var _a; return ((_a = parameters[0]) !== null && _a !== void 0 ? _a : 0); }));
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+ return this.startMonitoring(ids, monitoringInterval, config, requestTimeout).pipe((0, rxjs_1.map)((parameters) => { var _a; return ((_a = parameters[0]) !== null && _a !== void 0 ? _a : 0); }));
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  }
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- trackTargetReached(deviceRef, samplingInterval = 20) {
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- return this.startMonitoringValue([deviceRef, 0x6041, 0], samplingInterval).pipe((0, rxjs_1.map)((value) => (value & 0x0400) > 0), // tr = target reached bit
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+ trackTargetReached(deviceRef, monitoringInterval = 20) {
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+ return this.startMonitoringValue([deviceRef, 0x6041, 0], monitoringInterval).pipe((0, rxjs_1.map)((value) => (value & 0x0400) > 0), // tr = target reached bit
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  (0, rxjs_1.distinctUntilChanged)());
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  }
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- waitUntilTargetReached(deviceRef, samplingInterval = 20) {
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- return this.trackTargetReached(deviceRef, samplingInterval).pipe((0, rxjs_1.filter)(Boolean), (0, rxjs_1.first)());
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+ waitUntilTargetReached(deviceRef, monitoringInterval = 20) {
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+ return this.trackTargetReached(deviceRef, monitoringInterval).pipe((0, rxjs_1.filter)(Boolean), (0, rxjs_1.first)());
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+ }
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+ whenTargetReached(deviceRef, monitoringInterval = 20) {
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+ return (0, rxjs_1.firstValueFrom)(this.waitUntilTargetReached(deviceRef, monitoringInterval));
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  }
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  stopMonitoring(messageId) {
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  this.request.stopMonitoringDeviceParameterValues({ startMonitoringRequestId: messageId });
package/src/lib/motion-master-client.js.map CHANGED
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package/src/lib/motion-master-req-res-client.d.ts CHANGED
@@ -915,6 +915,33 @@ export declare class MotionMasterReqResClient {
915
915
  * Set torque and velocity targets to 0, and set the position target to the current position value.
916
916
  */
917
917
  resetTargets(deviceRef: DeviceRef): Promise<void>;
918
- applySetPoints(deviceRef: DeviceRef): Promise<void>;
918
+ /**
919
+ * Apply set point.
920
+ *
921
+ * When running in position profile mode and setting a new position target value, it's important to note that the device won't immediately move to the new position.
922
+ * To execute a new position set-point or target value, you need to make certain changes to the controlword.
923
+ *
924
+ * To indicate that the new set-point is valid and should be executed, you need to trigger a rising edge of the new set-point bit in the controlword.
925
+ * This rising edge serves as a signal to the device that a new set-point is being provided.
926
+ *
927
+ * Once the device receives the rising edge of the new set-point bit, it will set the set-point acknowledge bit in the statusword to 1.
928
+ * This indicates that the device has acknowledged the new set-point and will execute the corresponding action, such as moving to the specified position.
929
+ *
930
+ * Afterwards, the device will signal its ability to accept new set-points by setting the set-point acknowledge bit back to 0 in the statusword.
931
+ * This signifies that the device is ready to receive and process additional set-points.
932
+ *
933
+ * It's important to note that the device won't wait for the previous set-point to finish before executing a new set-point.
934
+ * If you want to initiate a new set-point while the previous one is still being executed, you need to generate another rising edge of the new set-point bit in the controlword.
935
+ */
936
+ applySetPoint(deviceRef: DeviceRef): Promise<void>;
937
+ /**
938
+ * Set halt bit.
939
+ *
940
+ * The behavior of the halt function (bit 8) in the controlword depends on the specific operation mode of the device.
941
+ * When the halt bit is set to 1, the commanded motion will be interrupted, and the behavior of the device will follow the defined rules for the halt option code.
942
+ *
943
+ * After releasing the halt function by setting the halt bit to 0, the drive device will attempt to continue the commanded motion if possible,
944
+ * based on the specific operation mode and the conditions of the system.
945
+ */
919
946
  setHaltBit(deviceRef: DeviceRef, value: boolean): Promise<void>;
920
947
  }
package/src/lib/motion-master-req-res-client.js CHANGED
@@ -1663,7 +1663,25 @@ class MotionMasterReqResClient {
1663
1663
  ]);
1664
1664
  });
1665
1665
  }
1666
- applySetPoints(deviceRef) {
1666
+ /**
1667
+ * Apply set point.
1668
+ *
1669
+ * When running in position profile mode and setting a new position target value, it's important to note that the device won't immediately move to the new position.
1670
+ * To execute a new position set-point or target value, you need to make certain changes to the controlword.
1671
+ *
1672
+ * To indicate that the new set-point is valid and should be executed, you need to trigger a rising edge of the new set-point bit in the controlword.
1673
+ * This rising edge serves as a signal to the device that a new set-point is being provided.
1674
+ *
1675
+ * Once the device receives the rising edge of the new set-point bit, it will set the set-point acknowledge bit in the statusword to 1.
1676
+ * This indicates that the device has acknowledged the new set-point and will execute the corresponding action, such as moving to the specified position.
1677
+ *
1678
+ * Afterwards, the device will signal its ability to accept new set-points by setting the set-point acknowledge bit back to 0 in the statusword.
1679
+ * This signifies that the device is ready to receive and process additional set-points.
1680
+ *
1681
+ * It's important to note that the device won't wait for the previous set-point to finish before executing a new set-point.
1682
+ * If you want to initiate a new set-point while the previous one is still being executed, you need to generate another rising edge of the new set-point bit in the controlword.
1683
+ */
1684
+ applySetPoint(deviceRef) {
1667
1685
  return tslib_1.__awaiter(this, void 0, void 0, function* () {
1668
1686
  let controlword = yield this.upload(deviceRef, 0x6040, 0);
1669
1687
  if ((controlword & 0x0010) > 0) {
@@ -1675,6 +1693,15 @@ class MotionMasterReqResClient {
1675
1693
  yield this.download(deviceRef, 0x6040, 0, controlword);
1676
1694
  });
1677
1695
  }
1696
+ /**
1697
+ * Set halt bit.
1698
+ *
1699
+ * The behavior of the halt function (bit 8) in the controlword depends on the specific operation mode of the device.
1700
+ * When the halt bit is set to 1, the commanded motion will be interrupted, and the behavior of the device will follow the defined rules for the halt option code.
1701
+ *
1702
+ * After releasing the halt function by setting the halt bit to 0, the drive device will attempt to continue the commanded motion if possible,
1703
+ * based on the specific operation mode and the conditions of the system.
1704
+ */
1678
1705
  setHaltBit(deviceRef, value) {
1679
1706
  return tslib_1.__awaiter(this, void 0, void 0, function* () {
1680
1707
  let controlword = yield this.upload(deviceRef, 0x6040, 0);
package/src/lib/motion-master-req-res-client.js.map CHANGED
@@ -1 +1 @@
1
- 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