motion-master-client 0.0.338 → 0.0.340

package/src/lib/device-parameter.js

@@ -1,7 +1,37 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.parsePdoSubItemValue = exports.splitDeviceParameterId = exports.deviceParameterIdRegExp = exports.makeDeviceParameterId = void 0;
+exports.flattenUiPdoMapping = exports.uiConfigWithDefaultPdoMapping = exports.parsePdoSubItemValue = exports.splitDeviceParameterId = exports.deviceParameterIdRegExp = exports.makeDeviceParameterId = void 0;
 const parameter_1 = require("./parameter");
+/**
+ * Constructs a device parameter ID string from a device serial number and parameter identifiers.
+ *
+ * The resulting ID has the format:
+ * ```
+ * <parameterId>.<serialNumber>
+ * ```
+ * where `<parameterId>` is generated by `makeParameterId` and `<serialNumber>` is the device's serial number.
+ *
+ * @param serialNumber - The serial number of the device.
+ * @param a - Optional parameter identifier. Can be:
+ *   - a number representing the index,
+ *   - an object with optional `index` and `subindex` properties,
+ *   - a tuple `[index, subindex]` where each element may be `number`, `null`, or `undefined`.
+ * @param b - Optional subindex if `a` is provided as a number.
+ *
+ * @returns The constructed device parameter ID string in the format `<parameterId>.<serialNumber>`.
+ *
+ * @example
+ * ```ts
+ * const id1 = makeDeviceParameterId("Device123", 0x6040, 0x00);
+ * // id1 = "0x6040:00.Device123"
+ *
+ * const id2 = makeDeviceParameterId("Device123", { index: 0x6040, subindex: 0x01 });
+ * // id2 = "0x6040:01.Device123"
+ *
+ * const id3 = makeDeviceParameterId("Device123", [0x6040, 0x02]);
+ * // id3 = "0x6040:02.Device123"
+ * ```
+ */
 function makeDeviceParameterId(serialNumber, a, b) {
     const parameterId = (0, parameter_1.makeParameterId)(a, b);
     return `${parameterId}.${serialNumber}`;
@@ -15,10 +45,27 @@ exports.makeDeviceParameterId = makeDeviceParameterId;
  */
 exports.deviceParameterIdRegExp = /^0x([0-9a-fA-F]{4,}):([0-9a-fA-F]{2})\.([\d-]+)$/;
 /**
- * Split device parameter id into parts.
+ * Splits a device parameter ID string into its components: index, subindex, and device serial number.
+ *
+ * The expected format of the ID must match `deviceParameterIdRegExp`.
+ * If the ID does not match the expected format, an error is thrown.
+ *
+ * @param id - The device parameter ID string to split.
+ * @returns A tuple `[index, subindex, deviceSerial]` where:
+ *   - `index` is the 16-bit parameter index (parsed from hexadecimal),
+ *   - `subindex` is the 8-bit parameter subindex (parsed from hexadecimal),
+ *   - `deviceSerial` is the device serial number as a string.
+ *
+ * @throws {Error} If the provided ID does not match the expected regular expression.
  *
- * @param id - device parameter id like "0x2110:1A.8502-03-0001353-2115"
- * @returns tuple of device serial number, index, and subindex
+ * @example
+ * ```ts
+ * const id = "0x6040:00.123-ABC";
+ * const [deviceSerial, index, subindex] = splitDeviceParameterId(id);
+ * // deviceSerial = "123-ABC"
+ * // index = 0x6040
+ * // subindex = 0x00
+ * ```
  */
 function splitDeviceParameterId(id) {
     const match = id.match(exports.deviceParameterIdRegExp);
@@ -61,4 +108,70 @@ function parsePdoSubItemValue(value) {
     return [index, subindex, bitlen];
 }
 exports.parsePdoSubItemValue = parsePdoSubItemValue;
+/**
+ * Default UI configuration containing the PDO mapping.
+ *
+ * This configuration is used as a fallback when a device-specific UI configuration
+ * is not available. It defines both RX (receive) and TX (transmit) PDOs with
+ * their corresponding object dictionary entries.
+ *
+ * ⚠️ Important: Keep this in sync with the default PDO mapping in Motion Master
+ * to ensure consistent behavior across devices.
+ */
+exports.uiConfigWithDefaultPdoMapping = {
+    pdoMapping: {
+        rx: {
+            '0x1600': ['0x60400010', '0x60600008', '0x60710010', '0x607a0020', '0x60ff0020', '0x60b20010', '0x27010020'],
+            '0x1601': ['0x60fe0120', '0x60fe0220'],
+            '0x1602': ['0x27030020', '0x60b10020', '0x20120120'],
+        },
+        tx: {
+            '0x1a00': [
+                '0x60410010',
+                '0x60610008',
+                '0x60640020',
+                '0x606c0020',
+                '0x60770010',
+                '0x60f40020',
+                '0x21110220',
+                '0x21130220',
+            ],
+            '0x1a01': ['0x24010010', '0x24020010', '0x24030010', '0x24040010', '0x27020020'],
+            '0x1a02': ['0x60fd0020'],
+            '0x1a03': ['0x27040020', '0x20f00020', '0x60fc0020', '0x606b0020', '0x60740010', '0x60790020'],
+        },
+    },
+};
+/**
+ * Flattens a PDO mapping into an array of [deviceRef, index, subindex] entries.
+ *
+ * This function iterates over both RX and TX PDOs in the provided `pdoMapping` and
+ * extracts the index and subindex from each 32-bit PDO entry using `parsePdoSubItemValue`.
+ *
+ * @param deviceRef - The reference to the device associated with this PDO mapping.
+ * @param pdoMapping - The UI PDO mapping object containing RX and TX PDO entries.
+ * @returns An array where each item is a tuple `[deviceRef, index, subindex]`.
+ *
+ * @example
+ * ```ts
+ * const deviceRef = 1;
+ * const flatArray = flattenUiPdoMapping(deviceRef, uiPdoMapping);
+ * // flatArray will contain tuples like [deviceRef, 0x2012, 0x01]
+ * ```
+ */
+function flattenUiPdoMapping(deviceRef, pdoMapping) {
+    const result = [];
+    for (const pdoType of ['rx', 'tx']) {
+        for (const key in pdoMapping[pdoType]) {
+            const entries = pdoMapping[pdoType][key];
+            for (const entry of entries) {
+                const value = parseInt(entry, 16); // hex string -> number
+                const [index, subindex] = parsePdoSubItemValue(value); // ignore bitlen
+                result.push([deviceRef, index, subindex]);
+            }
+        }
+    }
+    return result;
+}
+exports.flattenUiPdoMapping = flattenUiPdoMapping;
 //# sourceMappingURL=device-parameter.js.map

package/src/lib/device-parameter.js.map

@@ -1 +1 @@
-{"version":3,"file":"device-parameter.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/device-parameter.ts"],"names":[],"mappings":";;;AAAA,2CAAyD;AA8FzD,SAAgB,qBAAqB,CACnC,YAAoB,EACpB,CAG0D,EAC1D,CAAiB;IAEjB,MAAM,WAAW,GAAG,IAAA,2BAAe,EAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1C,OAAO,GAAG,WAAW,IAAI,YAAY,EAAE,CAAC;AAC1C,CAAC;AAVD,sDAUC;AAED;;;;;GAKG;AACU,QAAA,uBAAuB,GAAG,kDAAkD,CAAC;AAE1F;;;;;GAKG;AACH,SAAgB,sBAAsB,CAAC,EAAU;IAC/C,MAAM,KAAK,GAAG,EAAE,CAAC,KAAK,CAAC,+BAAuB,CAAC,CAAC;IAEhD,IAAI,CAAC,KAAK,EAAE;QACV,MAAM,IAAI,KAAK,CAAC,wBAAwB,EAAE,2CAA2C,+BAAuB,EAAE,CAAC,CAAC;KACjH;IAED,OAAO;QACL,KAAK,CAAC,CAAC,CAAC;QACR,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;QACtB,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,WAAW;KACpC,CAAC;AACJ,CAAC;AAZD,wDAYC;AAED;;;;;;;;;;;;;;;;;GAiBG;AACH,SAAgB,oBAAoB,CAAC,KAAa;IAChD,MAAM,EAAE,GAAG,KAAK,GAAG,IAAI,CAAC;IACxB,MAAM,EAAE,GAAG,CAAC,KAAK,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC;IAC/B,MAAM,EAAE,GAAG,CAAC,KAAK,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC;IAChC,MAAM,EAAE,GAAG,CAAC,KAAK,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC;IAEhC,MAAM,KAAK,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC;IAC7B,MAAM,QAAQ,GAAG,EAAE,CAAC;IACpB,MAAM,MAAM,GAAG,EAAE,CAAC;IAElB,OAAO,CAAC,KAAK,EAAE,QAAQ,EAAE,MAAM,CAAC,CAAC;AACnC,CAAC;AAXD,oDAWC"}
+{"version":3,"file":"device-parameter.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/device-parameter.ts"],"names":[],"mappings":";;;AAAA,2CAAyD;AA+FzD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA6BG;AACH,SAAgB,qBAAqB,CACnC,YAAoB,EACpB,CAG0D,EAC1D,CAAiB;IAEjB,MAAM,WAAW,GAAG,IAAA,2BAAe,EAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1C,OAAO,GAAG,WAAW,IAAI,YAAY,EAAE,CAAC;AAC1C,CAAC;AAVD,sDAUC;AAED;;;;;GAKG;AACU,QAAA,uBAAuB,GAAG,kDAAkD,CAAC;AAE1F;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,SAAgB,sBAAsB,CAAC,EAAU;IAC/C,MAAM,KAAK,GAAG,EAAE,CAAC,KAAK,CAAC,+BAAuB,CAAC,CAAC;IAEhD,IAAI,CAAC,KAAK,EAAE;QACV,MAAM,IAAI,KAAK,CAAC,wBAAwB,EAAE,2CAA2C,+BAAuB,EAAE,CAAC,CAAC;KACjH;IAED,OAAO;QACL,KAAK,CAAC,CAAC,CAAC;QACR,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;QACtB,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,WAAW;KACpC,CAAC;AACJ,CAAC;AAZD,wDAYC;AAED;;;;;;;;;;;;;;;;;GAiBG;AACH,SAAgB,oBAAoB,CAAC,KAAa;IAChD,MAAM,EAAE,GAAG,KAAK,GAAG,IAAI,CAAC;IACxB,MAAM,EAAE,GAAG,CAAC,KAAK,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC;IAC/B,MAAM,EAAE,GAAG,CAAC,KAAK,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC;IAChC,MAAM,EAAE,GAAG,CAAC,KAAK,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC;IAEhC,MAAM,KAAK,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC;IAC7B,MAAM,QAAQ,GAAG,EAAE,CAAC;IACpB,MAAM,MAAM,GAAG,EAAE,CAAC;IAElB,OAAO,CAAC,KAAK,EAAE,QAAQ,EAAE,MAAM,CAAC,CAAC;AACnC,CAAC;AAXD,oDAWC;AAED;;;;;;;;;GASG;AACU,QAAA,6BAA6B,GAAa;IACrD,UAAU,EAAE;QACV,EAAE,EAAE;YACF,QAAQ,EAAE,CAAC,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,CAAC;YAC5G,QAAQ,EAAE,CAAC,YAAY,EAAE,YAAY,CAAC;YACtC,QAAQ,EAAE,CAAC,YAAY,EAAE,YAAY,EAAE,YAAY,CAAC;SACrD;QACD,EAAE,EAAE;YACF,QAAQ,EAAE;gBACR,YAAY;gBACZ,YAAY;gBACZ,YAAY;gBACZ,YAAY;gBACZ,YAAY;gBACZ,YAAY;gBACZ,YAAY;gBACZ,YAAY;aACb;YACD,QAAQ,EAAE,CAAC,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,CAAC;YAChF,QAAQ,EAAE,CAAC,YAAY,CAAC;YACxB,QAAQ,EAAE,CAAC,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,CAAC;SAC/F;KACF;CACF,CAAC;AAEF;;;;;;;;;;;;;;;;GAgBG;AACH,SAAgB,mBAAmB,CAAC,SAAoB,EAAE,UAAwB;IAChF,MAAM,MAAM,GAAkC,EAAE,CAAC;IAEjD,KAAK,MAAM,OAAO,IAAI,CAAC,IAAI,EAAE,IAAI,CAAU,EAAE;QAC3C,KAAK,MAAM,GAAG,IAAI,UAAU,CAAC,OAAO,CAAC,EAAE;YACrC,MAAM,OAAO,GAAG,UAAU,CAAC,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC;YACzC,KAAK,MAAM,KAAK,IAAI,OAAO,EAAE;gBAC3B,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC,CAAC,uBAAuB;gBAC1D,MAAM,CAAC,KAAK,EAAE,QAAQ,CAAC,GAAG,oBAAoB,CAAC,KAAK,CAAC,CAAC,CAAC,gBAAgB;gBACvE,MAAM,CAAC,IAAI,CAAC,CAAC,SAAS,EAAE,KAAK,EAAE,QAAQ,CAAC,CAAC,CAAC;aAC3C;SACF;KACF;IAED,OAAO,MAAM,CAAC;AAChB,CAAC;AAfD,kDAeC"}

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

@@ -2137,4 +2137,16 @@ export declare class MotionMasterReqResClient {
      * - This function assumes positive values; a negative value may indicate an error or reversed rotation.
      */
     getGearRatio(deviceRef: DeviceRef): Promise<number>;
+    /**
+     * Retrieves the PDO mapping for the given device.
+     *
+     * This method attempts to get the device-specific UI configuration and returns
+     * its PDO mapping. If the device does not have a specific UI configuration or
+     * its PDO mapping is missing, the default PDO mapping (`uiConfigWithDefaultPdoMapping`)
+     * is returned instead.
+     *
+     * @param deviceRef - Reference to the device for which the UI configuration is requested.
+     * @returns An `Observable` that emits the RX and TX PDO mapping for the device.
+     */
+    getUiConfigOrDefaultPdoMapping(deviceRef: DeviceRef): Observable<UiPdoMapping>;
 }

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

@@ -4197,6 +4197,20 @@ class MotionMasterReqResClient {
             }
         });
     }
+    /**
+     * Retrieves the PDO mapping for the given device.
+     *
+     * This method attempts to get the device-specific UI configuration and returns
+     * its PDO mapping. If the device does not have a specific UI configuration or
+     * its PDO mapping is missing, the default PDO mapping (`uiConfigWithDefaultPdoMapping`)
+     * is returned instead.
+     *
+     * @param deviceRef - Reference to the device for which the UI configuration is requested.
+     * @returns An `Observable` that emits the RX and TX PDO mapping for the device.
+     */
+    getUiConfigOrDefaultPdoMapping(deviceRef) {
+        return this.getUiConfig(deviceRef).pipe((0, operators_1.map)((uiConfig) => { var _a; return (_a = uiConfig.pdoMapping) !== null && _a !== void 0 ? _a : device_parameter_1.uiConfigWithDefaultPdoMapping.pdoMapping; }));
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 /**