motion-master-client 0.0.339 → 0.0.340

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Files changed (17) hide show
  1. package/package.json +1 -1
  2. package/src/api.js +79 -73
  3. package/src/api.js.map +1 -1
  4. package/src/lib/data-monitoring.d.ts +2 -2
  5. package/src/lib/data-monitoring.js +2 -2
  6. package/src/lib/device-parameter.d.ts +50 -3
  7. package/src/lib/device-parameter.js +117 -4
  8. package/src/lib/device-parameter.js.map +1 -1
  9. package/src/lib/motion-master-req-res-client.d.ts +12 -0
  10. package/src/lib/motion-master-req-res-client.js +14 -0
  11. package/src/lib/motion-master-req-res-client.js.map +1 -1
  12. package/src/lib/operators.d.ts +195 -1
  13. package/src/lib/operators.js +202 -1
  14. package/src/lib/operators.js.map +1 -1
  15. package/src/lib/util.d.ts +299 -160
  16. package/src/lib/util.js +301 -170
  17. package/src/lib/util.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
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  "name": "motion-master-client",
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- "version": "0.0.339",
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+ "version": "0.0.340",
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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/api.js CHANGED
@@ -16,6 +16,7 @@ const motion_composer_1 = require("./lib/motion-composer");
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  const integro_encoder_calibration_1 = require("./lib/integro-encoder-calibration");
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  const limited_range_system_identification_1 = require("./lib/limited-range-system-identification");
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  const os_command_1 = require("./lib/os-command");
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+ const device_parameter_1 = require("./lib/device-parameter");
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  Object.assign(globalThis, { WebSocket: require('ws') });
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  const log = (0, debug_1.default)('mmapi');
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  const app = (0, express_1.default)();
@@ -30,44 +31,40 @@ function asBoolean(value) {
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  }
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  return value.toLowerCase() === 'true' || value === '1';
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  }
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+ /**
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+ * Creates the default data monitoring parameter IDs for a given device.
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+ *
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+ * This function retrieves the UI PDO mapping for the specified device and flattens it
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+ * into an array of `[deviceRef, index, subindex]` tuples suitable for data monitoring.
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+ *
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+ * If a `client` is available, it attempts to fetch the device-specific UI config using
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+ * `getUiConfigOrDefaultPdoMapping`. If this fails, the function falls back to the
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+ * default PDO mapping (`uiConfigWithDefaultPdoMapping`).
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+ *
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+ * @param deviceRef - The reference to the device for which to create parameter IDs.
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+ * @returns A promise that resolves to an array of `[deviceRef, index, subindex]` tuples,
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+ * where `index` and `subindex` are numbers extracted from each PDO entry.
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+ *
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+ * @example
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+ * ```ts
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+ * const deviceRef = 1;
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+ * const parameterIds = await createDefaultDataMonitoringParameterIds(deviceRef);
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+ * // parameterIds contains tuples like [deviceRef, 0x6040, 0x00]
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+ * ```
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+ */
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  function createDefaultDataMonitoringParameterIds(deviceRef) {
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- return [
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- // 0x1600: RxPDO Mapping 1
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- [deviceRef, 0x6040, 0x00],
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- [deviceRef, 0x6060, 0x00],
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- [deviceRef, 0x6071, 0x00],
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- [deviceRef, 0x607a, 0x00],
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- [deviceRef, 0x60ff, 0x00],
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- [deviceRef, 0x60b2, 0x00],
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- [deviceRef, 0x2701, 0x00],
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- // 0x1601: RxPDO Mapping 2
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- [deviceRef, 0x60fe, 0x01],
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- [deviceRef, 0x60fe, 0x02],
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- // 0x1602: RxPDO Mapping 3
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- [deviceRef, 0x2703, 0x00],
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- [deviceRef, 0x60b1, 0x00],
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- // 0x1A00: TxPDO Mapping 1
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- [deviceRef, 0x6041, 0x00],
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- [deviceRef, 0x6061, 0x00],
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- [deviceRef, 0x6064, 0x00],
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- [deviceRef, 0x606c, 0x00],
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- [deviceRef, 0x6077, 0x00],
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- [deviceRef, 0x60f4, 0x00],
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- // 0x1A01: TxPDO Mapping 2
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- [deviceRef, 0x2401, 0x00],
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- [deviceRef, 0x2402, 0x00],
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- [deviceRef, 0x2403, 0x00],
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- [deviceRef, 0x2404, 0x00],
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- [deviceRef, 0x2702, 0x00],
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- // 0x1A02: TxPDO Mapping 3
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- [deviceRef, 0x60fd, 0x00],
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- // 0x1A03: TxPDO Mapping 4
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- [deviceRef, 0x2704, 0x00],
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- [deviceRef, 0x20f0, 0x00],
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- [deviceRef, 0x60fc, 0x00],
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- [deviceRef, 0x606b, 0x00],
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- [deviceRef, 0x6074, 0x00], // Torque demand
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- ];
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+ return tslib_1.__awaiter(this, void 0, void 0, function* () {
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+ let pdoMapping = device_parameter_1.uiConfigWithDefaultPdoMapping.pdoMapping;
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+ if (client) {
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+ try {
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+ pdoMapping = yield (0, rxjs_1.lastValueFrom)(client.request.getUiConfigOrDefaultPdoMapping(deviceRef));
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+ }
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+ catch (_a) {
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+ // ignore
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+ }
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+ }
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+ return (0, device_parameter_1.flattenUiPdoMapping)(deviceRef, pdoMapping);
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+ });
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  }
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  // Enable CORS for all routes and all origins
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  app.use((0, cors_1.default)());
@@ -643,25 +640,28 @@ app.get('/api/devices/:deviceRef/set-halt-bit/:value', asyncHandler((req, res) =
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  app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
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  var _47, _48;
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  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
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- const target = parseInt(((_47 = req.query['target']) !== null && _47 !== void 0 ? _47 : '1000'));
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+ const target = parseInt(((_47 = req.query['target']) !== null && _47 !== void 0 ? _47 : '100'));
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  const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
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  const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
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  const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
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  const slope = parseInt(((_48 = req.query['slope']) !== null && _48 !== void 0 ? _48 : '50'));
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  const window = parseInt(req.query['window']) || undefined;
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  const windowTime = parseInt(req.query['window-time']) || undefined;
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- const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
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+ const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
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+ const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
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  dataMonitoring.start();
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+ const config = {
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+ target,
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+ holdingDuration,
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+ skipQuickStop,
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+ targetReachTimeout,
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+ slope,
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+ window,
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+ windowTime,
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+ };
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+ log('Running torque profile with config: ' + JSON.stringify(config, null, 2));
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  try {
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- yield client.runTorqueProfile(deviceRef, {
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- target,
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- holdingDuration,
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- skipQuickStop,
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- targetReachTimeout,
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- slope,
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- window,
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- windowTime,
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- });
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+ yield client.runTorqueProfile(deviceRef, config);
665
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  res.type('text/csv').send(dataMonitoring.csv);
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  }
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  finally {
@@ -682,19 +682,22 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
682
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  const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
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  const window = parseInt(req.query['window']) || undefined;
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  const windowTime = parseInt(req.query['window-time']) || undefined;
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- const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
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- dataMonitoring.start(); // ignore error
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+ const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
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+ const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
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+ dataMonitoring.start();
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+ const config = {
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+ acceleration,
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+ target,
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+ deceleration,
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+ holdingDuration,
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+ skipQuickStop,
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+ targetReachTimeout,
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+ window,
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+ windowTime,
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+ };
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+ log('Running velocity profile with config: ' + JSON.stringify(config, null, 2));
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  try {
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- yield client.runVelocityProfile(deviceRef, {
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- acceleration,
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- target,
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- deceleration,
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- holdingDuration,
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- skipQuickStop,
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- targetReachTimeout,
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- window,
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- windowTime,
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- });
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+ yield client.runVelocityProfile(deviceRef, config);
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  res.type('text/csv').send(dataMonitoring.csv);
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  }
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  finally {
@@ -717,21 +720,24 @@ app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res)
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  const velocity = parseInt(((_55 = req.query['velocity']) !== null && _55 !== void 0 ? _55 : '100'));
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  const window = parseInt(req.query['window']) || undefined;
719
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  const windowTime = parseInt(req.query['window-time']) || undefined;
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- const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
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+ const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
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+ const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
721
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  dataMonitoring.start();
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+ const config = {
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+ acceleration,
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+ target,
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+ deceleration,
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+ holdingDuration,
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+ relative,
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+ skipQuickStop,
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+ targetReachTimeout,
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+ velocity,
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+ window,
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+ windowTime,
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+ };
738
+ log('Running position profile with config: ' + JSON.stringify(config, null, 2));
722
739
  try {
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- yield client.runPositionProfile(deviceRef, {
724
- acceleration,
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- target,
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- deceleration,
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- holdingDuration,
728
- relative,
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- skipQuickStop,
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- targetReachTimeout,
731
- velocity,
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- window,
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- windowTime,
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- });
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+ yield client.runPositionProfile(deviceRef, config);
735
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  res.type('text/csv').send(dataMonitoring.csv);
736
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  }
737
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  finally {
package/src/api.js.map CHANGED
@@ -1 +1 @@
1
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package/src/lib/data-monitoring.d.ts CHANGED
@@ -52,7 +52,7 @@ export declare class DataMonitoring {
52
52
  * @param client - The Motion Master client used to communicate with the device.
53
53
  * @param ids - An array of device parameter IDs to monitor. Each ID can be a string
54
54
  * or a tuple `[deviceRef, index, subindex]`.
55
- * @param monitoringInterval - The interval, in milliseconds, at which parameter
55
+ * @param monitoringInterval - The interval, in microseconds, at which parameter
56
56
  * values should be sampled.
57
57
  * @param config - Optional monitoring configuration, such as filters or buffering
58
58
  * options.
@@ -122,7 +122,7 @@ export declare class DataMonitoring {
122
122
  */
123
123
  get timestamps(): number[];
124
124
  /**
125
- * Returns the time differences (in milliseconds) between consecutive
125
+ * Returns the time differences (in microseconds) between consecutive
126
126
  * timestamp values.
127
127
  *
128
128
  * Each duration is computed as:
package/src/lib/data-monitoring.js CHANGED
@@ -21,7 +21,7 @@ class DataMonitoring {
21
21
  * @param client - The Motion Master client used to communicate with the device.
22
22
  * @param ids - An array of device parameter IDs to monitor. Each ID can be a string
23
23
  * or a tuple `[deviceRef, index, subindex]`.
24
- * @param monitoringInterval - The interval, in milliseconds, at which parameter
24
+ * @param monitoringInterval - The interval, in microseconds, at which parameter
25
25
  * values should be sampled.
26
26
  * @param config - Optional monitoring configuration, such as filters or buffering
27
27
  * options.
@@ -154,7 +154,7 @@ class DataMonitoring {
154
154
  return this.data.map((values) => values[this.timestampIndex]);
155
155
  }
156
156
  /**
157
- * Returns the time differences (in milliseconds) between consecutive
157
+ * Returns the time differences (in microseconds) between consecutive
158
158
  * timestamp values.
159
159
  *
160
160
  * Each duration is computed as:
package/src/lib/device-parameter.d.ts CHANGED
@@ -1,4 +1,5 @@
1
1
  import { Parameter } from './parameter';
2
+ import { DeviceRef, UiConfig, UiPdoMapping } from './types';
2
3
  /**
3
4
  * Represents a device-specific parameter with optional metadata flags.
4
5
  *
@@ -88,10 +89,27 @@ export declare function makeDeviceParameterId(serialNumber: string, index?: numb
88
89
  */
89
90
  export declare const deviceParameterIdRegExp: RegExp;
90
91
  /**
91
- * Split device parameter id into parts.
92
+ * Splits a device parameter ID string into its components: index, subindex, and device serial number.
92
93
  *
93
- * @param id - device parameter id like "0x2110:1A.8502-03-0001353-2115"
94
- * @returns tuple of device serial number, index, and subindex
94
+ * The expected format of the ID must match `deviceParameterIdRegExp`.
95
+ * If the ID does not match the expected format, an error is thrown.
96
+ *
97
+ * @param id - The device parameter ID string to split.
98
+ * @returns A tuple `[index, subindex, deviceSerial]` where:
99
+ * - `index` is the 16-bit parameter index (parsed from hexadecimal),
100
+ * - `subindex` is the 8-bit parameter subindex (parsed from hexadecimal),
101
+ * - `deviceSerial` is the device serial number as a string.
102
+ *
103
+ * @throws {Error} If the provided ID does not match the expected regular expression.
104
+ *
105
+ * @example
106
+ * ```ts
107
+ * const id = "0x6040:00.123-ABC";
108
+ * const [deviceSerial, index, subindex] = splitDeviceParameterId(id);
109
+ * // deviceSerial = "123-ABC"
110
+ * // index = 0x6040
111
+ * // subindex = 0x00
112
+ * ```
95
113
  */
96
114
  export declare function splitDeviceParameterId(id: string): [string, number, number];
97
115
  /**
@@ -113,3 +131,32 @@ export declare function splitDeviceParameterId(id: string): [string, number, num
113
131
  * - `bitlen` — The bit length of the mapped item.
114
132
  */
115
133
  export declare function parsePdoSubItemValue(value: number): [number, number, number];
134
+ /**
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+ * Default UI configuration containing the PDO mapping.
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+ *
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+ * This configuration is used as a fallback when a device-specific UI configuration
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+ * is not available. It defines both RX (receive) and TX (transmit) PDOs with
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+ * their corresponding object dictionary entries.
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+ *
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+ * ⚠️ Important: Keep this in sync with the default PDO mapping in Motion Master
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+ * to ensure consistent behavior across devices.
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+ */
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+ export declare const uiConfigWithDefaultPdoMapping: UiConfig;
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+ /**
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+ * Flattens a PDO mapping into an array of [deviceRef, index, subindex] entries.
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+ *
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+ * This function iterates over both RX and TX PDOs in the provided `pdoMapping` and
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+ * extracts the index and subindex from each 32-bit PDO entry using `parsePdoSubItemValue`.
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+ *
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+ * @param deviceRef - The reference to the device associated with this PDO mapping.
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+ * @param pdoMapping - The UI PDO mapping object containing RX and TX PDO entries.
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+ * @returns An array where each item is a tuple `[deviceRef, index, subindex]`.
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+ *
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+ * @example
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+ * ```ts
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+ * const deviceRef = 1;
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+ * const flatArray = flattenUiPdoMapping(deviceRef, uiPdoMapping);
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+ * // flatArray will contain tuples like [deviceRef, 0x2012, 0x01]
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+ * ```
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+ */
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+ export declare function flattenUiPdoMapping(deviceRef: DeviceRef, pdoMapping: UiPdoMapping): [DeviceRef, number, number][];