motion-master-client 0.0.308 → 0.0.310

package/src/lib/motion-master-req-res-client.d.ts

@@ -6,7 +6,7 @@ import { HardwareDescription, StackInfo } from './hardware-description';
 import { MotionMasterReqResSocket } from './motion-master-req-res-socket';
 import { UIFeaturesConfig } from './parameter';
 import { SystemLogLine } from './system-log-line';
-import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo, RequestStatusMessage, UiPdoMapping, UiConfig, RequestStatus, ExecuteForwardCallRequest, ForwardCallStatus, PlantModel } from './types';
+import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo, RequestStatusMessage, UiPdoMapping, UiConfig, RequestStatus, ExecuteForwardCallRequest, ForwardCallStatus, PlantModel, NotchFilter, LoadConfigStrategy, SystemInformationStatus, SetPdoModeRequest, PdoModeStatus } from './types';
 import { Cia402State, ModesOfOperation } from './cia402';
 import { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse, IcMuCalibrationModeOsCommandResponse, OpenLoopFieldModeOsCommandResponse, HrdStreamingOsCommandResponse, TorqueConstantMeasurementOsCommandResponse, SkippedCyclesCounterOsCommandResponse, IgnoreBissStatusBitsOsCommandResponse, SystemIdentificationOsCommandResponse, KublerEncoderCommandOsCommandResponse, UseInternalEncoderVelocityOsCommandResponse, KublerEncoderRegisterCommunicationOsCommandResponse, SmmAcyclicHandlerOsCommandResponse, HrdStreamingOsCommandAction, HrdStreamingOsCommandDataIndex, SmmAcyclicHandlerLoadParametersForVerificationOsCommandResponse } from './os-command';
 import { IntegroVariant } from './integro-variant';
@@ -135,6 +135,14 @@ export declare class MotionMasterReqResClient {
      * Retrieve the version of Motion Master. The version follows [Semantic Versioning 2.0.0](https://semver.org/).
      */
     getSystemVersion(requestTimeout: number, messageId?: string): Observable<SystemVersionStatus>;
+    /**
+     * Retrieve system information from Motion Master.
+     *
+     * The returned information includes:
+     * - `version`: The Motion Master version, following [Semantic Versioning 2.0.0](https://semver.org/).
+     * - `startOptions`: The command-line arguments used to start Motion Master.
+     */
+    getSystemInformation(requestTimeout: number, messageId?: string): Observable<SystemInformationStatus>;
     /**
      * Get device info.
      *
@@ -784,6 +792,10 @@ export declare class MotionMasterReqResClient {
      * This request is used to execute any function provided by the Standalone Auto-tuning Service which is started by the Motion Master.
      */
     executeForwardCall(props: ExecuteForwardCallRequest, requestTimeout: number, messageId?: string): Observable<ForwardCallStatus>;
+    /**
+     * Set PDO mode.
+     */
+    setPdoMode(props: SetPdoModeRequest, requestTimeout: number, messageId?: string): Observable<PdoModeStatus>;
     /**
      * Send request.
      *
@@ -1255,17 +1267,18 @@ export declare class MotionMasterReqResClient {
      */
     saveConfig(deviceRef: DeviceRef): Observable<void>;
     /**
-     * Replace the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
+     * Replace or merge the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
      * The new configuration is loaded using the 0x1011:01 Restore All Default Parameters.
      * Optionally refreshes the device parameter values on Motion Master after applying the new configuration.
      *
      * @param deviceRef A reference to the device where the configuration will be applied.
      * @param data The new configuration data to be written to the config.csv file.
+     * @param strategy The strategy to use when loading the configuration. Can be either 'replace' to overwrite the existing configuration or 'merge' to combine the new configuration with the existing one.
      * @param retryConfig Configuration settings for retrying the restore default parameters operation.
      * @param refresh A flag to refresh device parameter values after loading the new configuration, as Motion Master will otherwise use the old values.
      * @returns An observable that emits once the configuration has been successfully loaded.
      */
-    loadConfig(deviceRef: DeviceRef, data: Uint8Array | string, retryConfig?: RetryConfig, refresh?: boolean): Observable<void>;
+    loadConfig(deviceRef: DeviceRef, data: Uint8Array | string, strategy?: LoadConfigStrategy, retryConfig?: RetryConfig, refresh?: boolean): Observable<void>;
     /**
      * Checks if the device has firmware by reading the Manufacturer Software Version parameter (0x100A:00).
      */
@@ -1303,7 +1316,7 @@ export declare class MotionMasterReqResClient {
     /**
      * @link https://www.wrike.com/open.htm?id=1375749957
      *
-     * TODO: Verify if the device is an Actilink S device and check the corresponding variant file.
+     * @todo: Verify if the device is an Actilink S device and check the corresponding variant file.
      */
     isIntegroWithMultiturnEncoder(deviceRef: DeviceRef): Promise<boolean>;
     /**
@@ -1981,4 +1994,35 @@ export declare class MotionMasterReqResClient {
      * ```
      */
     executeForwardCallAndParseResponse(data: Uint8Array | string | object, requestTimeout?: number, messageId?: string): Observable<any>;
+    /**
+     * Auto-tunes the notch filter parameters based on the device's plant model.
+     *
+     * @param deviceSerialNumber - The serial number of the target device.
+     * @returns An `Observable<NotchFilter>` that emits the parsed notch filter configuration upon success.
+     *
+     * @throws Will throw an error if:
+     * - `deviceRef` is invalid.
+     * - The device does not have a plant model.
+     * - The forward call to the device fails.
+     * - The auto-tune notch filter does not return finite valid values.
+     * - The response cannot be parsed as valid JSON.
+     */
+    autoTuneNotchFilter(deviceRef: DeviceRef): Observable<NotchFilter>;
+    /**
+     *
+     * Writes notch filter parameter values to the specified device.
+     *
+     * This method sets the individual parameters of the notch filter (0x2023) on the device:
+     * - Subindex `0x01` → enabled flag
+     * - Subindex `0x02` → center frequency (rounded to nearest integer)
+     * - Subindex `0x03` → rejection band (rounded to nearest integer)
+     * - Subindex `0x04` → depth
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param notchFilter - Notch filter values to write to the device.
+     * @param requestTimeout - Optional timeout in milliseconds for the request (default: 1000).
+     * @returns An `Observable<void>` that completes when the parameter values have been written successfully.
+     *
+     */
+    setNotchFilterParameterValues(deviceRef: DeviceRef, notchFilter: NotchFilter, requestTimeout?: number): Observable<void>;
 }

package/src/lib/motion-master-req-res-client.js

@@ -163,6 +163,18 @@ class MotionMasterReqResClient {
         const id = this.sendRequest({ getSystemVersion }, messageId);
         return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemVersion', requestTimeout, id));
     }
+    /**
+     * Retrieve system information from Motion Master.
+     *
+     * The returned information includes:
+     * - `version`: The Motion Master version, following [Semantic Versioning 2.0.0](https://semver.org/).
+     * - `startOptions`: The command-line arguments used to start Motion Master.
+     */
+    getSystemInformation(requestTimeout, messageId) {
+        const getSystemInformation = types_1.MotionMasterMessage.Request.GetSystemInformation.create();
+        const id = this.sendRequest({ getSystemInformation }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemInformation', requestTimeout, id));
+    }
     /**
      * Get device info.
      *
@@ -1163,6 +1175,14 @@ class MotionMasterReqResClient {
         const id = this.sendRequest({ executeForwardCall }, messageId);
         return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('forwardCall', requestTimeout, id));
     }
+    /**
+     * Set PDO mode.
+     */
+    setPdoMode(props, requestTimeout, messageId) {
+        const setPdoMode = types_1.MotionMasterMessage.Request.SetPdoMode.create(props);
+        const id = this.sendRequest({ setPdoMode }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('pdoMode', requestTimeout, id));
+    }
     /**
      * Send request.
      *
@@ -2505,34 +2525,53 @@ class MotionMasterReqResClient {
         return this.storeParameters(deviceRef);
     }
     /**
-     * Replace the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
+     * Replace or merge the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
      * The new configuration is loaded using the 0x1011:01 Restore All Default Parameters.
      * Optionally refreshes the device parameter values on Motion Master after applying the new configuration.
      *
      * @param deviceRef A reference to the device where the configuration will be applied.
      * @param data The new configuration data to be written to the config.csv file.
+     * @param strategy The strategy to use when loading the configuration. Can be either 'replace' to overwrite the existing configuration or 'merge' to combine the new configuration with the existing one.
      * @param retryConfig Configuration settings for retrying the restore default parameters operation.
      * @param refresh A flag to refresh device parameter values after loading the new configuration, as Motion Master will otherwise use the old values.
      * @returns An observable that emits once the configuration has been successfully loaded.
      */
-    loadConfig(deviceRef, data, retryConfig = { count: 10, delay: 500 }, refresh = true) {
-        let content;
-        if (typeof data === 'string') {
-            const encoder = new TextEncoder();
-            content = encoder.encode(data);
-        }
-        else {
-            content = data;
-        }
-        return this.setFile(deviceRef, 'config.csv', content, true).pipe((0, operators_1.mergeMap)(() => this.restoreDefaultParameters(deviceRef, types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig)), (0, operators_1.mergeMap)(() => {
+    loadConfig(deviceRef, data, strategy = 'replace', retryConfig = { count: 10, delay: 500 }, refresh = true) {
+        const encoder = new TextEncoder(); // always utf-8
+        const decoder = new TextDecoder('utf-8'); // explicitly set utf-8
+        const content = typeof data === 'string' ? encoder.encode(data) : data;
+        // If merging, parse the user-provided config file to extract its parameters.
+        const csv = decoder.decode(content);
+        const userConfigFile = new config_file_1.ConfigFile(csv);
+        // Function to write the config file to the device.
+        const setConfigFile = (content) => (0, rxjs_1.defer)(() => this.setFile(deviceRef, 'config.csv', content, true));
+        // If merging, read the existing config file from the device, merge it with the user-provided config, and prepare the merged content for writing.
+        const mergeConfigFiles$ = (0, rxjs_1.defer)(() => this.getDecodedFile(deviceRef, 'config.csv').pipe((0, operators_1.map)((text) => {
+            const deviceConfigFile = new config_file_1.ConfigFile(text);
+            // Merge user and device parameters. The order is important: userConfig parameters
+            // are kept in case of duplicates. Finally, sort by index/subindex for consistency.
+            deviceConfigFile.parameters = [...userConfigFile.parameters, ...deviceConfigFile.parameters]
+                .filter((item, index, array) => array.findIndex((obj) => obj.index === item.index && obj.subindex === item.subindex) === index)
+                .sort((a, b) => a.index - b.index || a.subindex - b.subindex);
+            return encoder.encode(deviceConfigFile.toString());
+        })));
+        const setConfigFile$ = (0, rxjs_1.defer)(() => strategy === 'merge'
+            ? mergeConfigFiles$.pipe((0, operators_1.mergeMap)((configContent) => setConfigFile(configContent)))
+            : setConfigFile(content));
+        return setConfigFile$.pipe((0, operators_1.mergeMap)(() => this.restoreDefaultParameters(deviceRef, types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig)), (0, operators_1.mergeMap)(() => {
             if (!refresh) {
                 return rxjs_1.EMPTY;
             }
-            const decoder = new TextDecoder('utf-8'); // You can specify the encoding if needed
-            const text = decoder.decode(content);
-            const config = new config_file_1.ConfigFile(text);
             const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-            return this.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameters: config.parameters.map((p) => ({ index: p.index, subindex: p.subindex, loadFromCache: false })), sendProgress: false }), 30000).pipe((0, operators_1.map)(() => undefined));
+            return this.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { 
+                // TODO: Currently using `userConfigFile.parameters`.
+                // Ideally, use the combined parameters when merging,
+                // otherwise some parameters written to the device's config.csv might not get refreshed.
+                parameters: userConfigFile.parameters.map((p) => ({
+                    index: p.index,
+                    subindex: p.subindex,
+                    loadFromCache: false,
+                })), sendProgress: false }), 30000).pipe((0, operators_1.map)(() => undefined));
         }));
     }
     /**
@@ -2605,7 +2644,7 @@ class MotionMasterReqResClient {
     /**
      * @link https://www.wrike.com/open.htm?id=1375749957
      *
-     * TODO: Verify if the device is an Actilink S device and check the corresponding variant file.
+     * @todo: Verify if the device is an Actilink S device and check the corresponding variant file.
      */
     isIntegroWithMultiturnEncoder(deviceRef) {
         var _a;
@@ -3858,6 +3897,70 @@ class MotionMasterReqResClient {
             throw new Error(`Failed to execute forward call: ${((_a = status.error) === null || _a === void 0 ? void 0 : _a.message) || 'Unknown error'}`);
         }));
     }
+    /**
+     * Auto-tunes the notch filter parameters based on the device's plant model.
+     *
+     * @param deviceSerialNumber - The serial number of the target device.
+     * @returns An `Observable<NotchFilter>` that emits the parsed notch filter configuration upon success.
+     *
+     * @throws Will throw an error if:
+     * - `deviceRef` is invalid.
+     * - The device does not have a plant model.
+     * - The forward call to the device fails.
+     * - The auto-tune notch filter does not return finite valid values.
+     * - The response cannot be parsed as valid JSON.
+     */
+    autoTuneNotchFilter(deviceRef) {
+        return this.getPlantModel(deviceRef).pipe((0, operators_1.mergeMap)((plantModel) => {
+            if (!plantModel) {
+                throw new Error('Plant model is not available on the device.');
+            }
+            return this.executeForwardCallAndParseResponse({
+                run: 'auto_tune_notch',
+                data: {
+                    plant_model: {
+                        numerator: plantModel.numerator,
+                        denominator: plantModel.denominator,
+                    },
+                },
+            });
+        }), (0, operators_1.map)((response) => {
+            var _a;
+            if (response.notch_dp === null || response.notch_fc === null || response.notch_fw === null) {
+                throw new Error('Auto-tune notch filter returned null values.');
+            }
+            return {
+                enabled: (_a = response.notch_en) !== null && _a !== void 0 ? _a : false,
+                centerFrequency: response.notch_fc,
+                rejectionBand: response.notch_fw,
+                depth: response.notch_dp,
+            };
+        }));
+    }
+    /**
+     *
+     * Writes notch filter parameter values to the specified device.
+     *
+     * This method sets the individual parameters of the notch filter (0x2023) on the device:
+     * - Subindex `0x01` → enabled flag
+     * - Subindex `0x02` → center frequency (rounded to nearest integer)
+     * - Subindex `0x03` → rejection band (rounded to nearest integer)
+     * - Subindex `0x04` → depth
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param notchFilter - Notch filter values to write to the device.
+     * @param requestTimeout - Optional timeout in milliseconds for the request (default: 1000).
+     * @returns An `Observable<void>` that completes when the parameter values have been written successfully.
+     *
+     */
+    setNotchFilterParameterValues(deviceRef, notchFilter, requestTimeout = 1000) {
+        return this.setParameterValues([
+            [deviceRef, 0x2023, 0x01, notchFilter.enabled ? 1 : 0],
+            [deviceRef, 0x2023, 0x02, Math.round(notchFilter.centerFrequency)],
+            [deviceRef, 0x2023, 0x03, Math.round(notchFilter.rejectionBand)],
+            [deviceRef, 0x2023, 0x04, notchFilter.depth],
+        ], requestTimeout);
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 /**