motion-master-client 0.0.339 → 0.0.341

package/src/lib/circulo.js.map

@@ -1 +1 @@
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package/src/lib/data-monitoring.d.ts

@@ -52,7 +52,7 @@ export declare class DataMonitoring {
      * @param client - The Motion Master client used to communicate with the device.
      * @param ids - An array of device parameter IDs to monitor. Each ID can be a string
      *              or a tuple `[deviceRef, index, subindex]`.
-     * @param monitoringInterval - The interval, in milliseconds, at which parameter
+     * @param monitoringInterval - The interval, in microseconds, at which parameter
      *                             values should be sampled.
      * @param config - Optional monitoring configuration, such as filters or buffering
      *                 options.
@@ -122,7 +122,7 @@ export declare class DataMonitoring {
      */
     get timestamps(): number[];
     /**
-     * Returns the time differences (in milliseconds) between consecutive
+     * Returns the time differences (in microseconds) between consecutive
      * timestamp values.
      *
      * Each duration is computed as:

package/src/lib/data-monitoring.js

@@ -21,7 +21,7 @@ class DataMonitoring {
      * @param client - The Motion Master client used to communicate with the device.
      * @param ids - An array of device parameter IDs to monitor. Each ID can be a string
      *              or a tuple `[deviceRef, index, subindex]`.
-     * @param monitoringInterval - The interval, in milliseconds, at which parameter
+     * @param monitoringInterval - The interval, in microseconds, at which parameter
      *                             values should be sampled.
      * @param config - Optional monitoring configuration, such as filters or buffering
      *                 options.
@@ -154,7 +154,7 @@ class DataMonitoring {
         return this.data.map((values) => values[this.timestampIndex]);
     }
     /**
-     * Returns the time differences (in milliseconds) between consecutive
+     * Returns the time differences (in microseconds) between consecutive
      * timestamp values.
      *
      * Each duration is computed as:

package/src/lib/device-parameter.d.ts

@@ -1,4 +1,5 @@
 import { Parameter } from './parameter';
+import { DeviceRef, UiConfig, UiPdoMapping } from './types';
 /**
  * Represents a device-specific parameter with optional metadata flags.
  *
@@ -88,10 +89,27 @@ export declare function makeDeviceParameterId(serialNumber: string, index?: numb
  */
 export declare const deviceParameterIdRegExp: RegExp;
 /**
- * Split device parameter id into parts.
+ * Splits a device parameter ID string into its components: index, subindex, and device serial number.
  *
- * @param id - device parameter id like "0x2110:1A.8502-03-0001353-2115"
- * @returns tuple of device serial number, index, and subindex
+ * 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.
+ *
+ * @example
+ * ```ts
+ * const id = "0x6040:00.123-ABC";
+ * const [deviceSerial, index, subindex] = splitDeviceParameterId(id);
+ * // deviceSerial = "123-ABC"
+ * // index = 0x6040
+ * // subindex = 0x00
+ * ```
  */
 export declare function splitDeviceParameterId(id: string): [string, number, number];
 /**
@@ -113,3 +131,32 @@ export declare function splitDeviceParameterId(id: string): [string, number, num
  * - `bitlen` — The bit length of the mapped item.
  */
 export declare function parsePdoSubItemValue(value: number): [number, number, number];
+/**
+ * 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.
+ */
+export declare const uiConfigWithDefaultPdoMapping: UiConfig;
+/**
+ * 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]
+ * ```
+ */
+export declare function flattenUiPdoMapping(deviceRef: DeviceRef, pdoMapping: UiPdoMapping): [DeviceRef, number, number][];

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

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package/src/lib/device.d.ts

@@ -5,18 +5,21 @@ import { UIFeaturesConfig } from './parameter';
 import { DeviceRef, DeviceRefObj } from './types';
 export declare const filenamePartRegExp: RegExp;
 /**
- * Represents a single device with extended properties beyond those provided by the Motion Master API.
- * Certain properties, such as the ID (serial number), hardware description, and integro variant, require additional file requests from Motion Master.
+ * Represents a single device with extended metadata beyond what the Motion Master API provides.
+ *
+ * Some properties—such as the serial number, hardware description, and variant—must be retrieved
+ * through additional file requests from Motion Master.
  */
 export interface Device {
     /**
-     * The EtherCAT alias number of the device.
+     * The EtherCAT alias of the device, if configured.
      */
     alias?: number;
     /**
-     * The unique address assigned to the device in the network.
-     * This number is included in messages to Motion Master to reference the device.
-     * Since the device address changes with each power cycle, the client library uses {@link DeviceRef} for consistent device referencing.
+     * The device address assigned by the EtherCAT master.
+     *
+     * Used when sending commands to Motion Master. Since the address changes after each
+     * power cycle, the client library uses {@link DeviceRef} as a stable reference.
      */
     deviceAddress: number;
     /**
@@ -25,7 +28,7 @@ export interface Device {
      */
     deviceProductId?: string;
     /**
-     * The firmware ID for the device, used to identify and resolve the corresponding firmware package.
+     * Firmware ID used to identify and resolve the firmware package for the device.
      */
     fwid?: string;
     /**
@@ -33,75 +36,118 @@ export interface Device {
      */
     hardwareDescription?: HardwareDescription;
     /**
-     * A unique identifier for the device.
-     * The device serial number is a strong candidate for this identifier.
+     * Unique identifier of the device, typically its serial number.
      */
     id: string;
     /**
-     * Identifier for the image file associated with the device.
-     * Retrieved from the assembly or device entries in the hardware description file.
+     * Identifier of the image associated with this device.
+     * Retrieved from the assembly or device entries of the hardware description file.
      */
     imageId?: string;
     /**
-     * Parsed `.variant` file containing variant-specific information.
+     * Parsed `.variant` file describing variant-specific information.
      */
     integroVariant?: IntegroVariant;
     /**
-     * Device position in the network stack.
-     * Note: In SOEM, the position starts at 1, as 0 is reserved for broadcasting.
-     * In the IgH EtherCAT Master, the position starts at 0.
+     * Device position in the EtherCAT topology.
+     *
+     * - SOEM: positions start at 1 (0 is broadcast)
+     * - IgH EtherCAT Master: positions start at 0
      */
     position?: number;
     /**
-     * The product ID of the device or assembly.
+     * Product ID of the device or its assembly.
      * Example: `6000`
      */
     productId?: string;
     /**
-     * The serial number of the device as read from the hardware description file.
+     * Serial number read from the hardware description file.
      */
     serialNumber?: string;
     /**
-     * Parsed `.stack_info.json` file containing stack-related metadata.
+     * Parsed `.stack_info.json` file with stack-related metadata.
      */
     stackInfo?: StackInfo;
     /**
-     * The type of the device, which can be one of the following:
+     * Device type:
      * - `0`: UNSPECIFIED
      * - `1`: SOMANET_CIA401_ETHERCAT
      * - `2`: SOMANET_CIA402_ETHERCAT
      */
     type?: number;
     /**
-     * User interface configuration for device-specific features.
+     * UI configuration for device-specific features.
      */
     uiFeaturesConfig?: UIFeaturesConfig;
     /**
-     * This is a combination of the product ID and revision for a device.
+     * Product ID and revision combined.
      * Example: `8506-01`
      */
     versionedDeviceProductId?: string;
     /**
-     * This is a combination of the product ID and revision for a device or assembly.
+     * Product or assembly ID and revision combined.
      * Example: `6000-01`
      */
     versionedProductId?: string;
 }
+/**
+ * Returns the first defined value from a {@link DeviceRefObj}.
+ */
 export declare function getDeviceRefFromDeviceRefObj(deviceRefObj: DeviceRefObj): string | number | null;
+/**
+ * Ensures that a {@link DeviceRef} is numeric if possible.
+ *
+ * If the value is numeric-like, it is converted to a number; otherwise the original string is returned.
+ */
 export declare function ensureDeviceRef(deviceRef: DeviceRef): DeviceRef;
+/**
+ * Converts a {@link DeviceRef} into a structured {@link DeviceRefObj}.
+ *
+ * - Numbers ≤ `0xffff` are treated as device positions.
+ * - Larger numbers are treated as device addresses.
+ * - Strings are treated as serial numbers.
+ */
 export declare function makeDeviceRefObj(deviceRef: DeviceRef): DeviceRefObj;
+/**
+ * Type guard verifying that a value is a valid {@link DeviceRef}.
+ */
 export declare function isDeviceRef(deviceRef: any): deviceRef is DeviceRef;
+/**
+ * Validates the structure of a {@link DeviceRefObj}.
+ */
 export declare function isValidDeviceRefObj(obj: DeviceRefObj): boolean;
+/**
+ * Parses a single device log line.
+ *
+ * Expected format:
+ * `HH:MM:SS.mmm LEVEL|MESSAGE`
+ */
 export declare function parseDeviceLog(line: string): DeviceLogLine | undefined;
+/**
+ * Parses multi-line log content into an array of {@link DeviceLogLine}.
+ */
 export declare function parseDeviceLogContent(content: string): DeviceLogLine[];
+/**
+ * Computes the "zero home offset" given a home offset and the current device position.
+ */
 export declare function computeZeroHomeOffsetFromPosition(homeOffset: number, position: number): number;
 /**
- * The FoE read command with the filename "fs-stackunlock=DD1317" enables writing or deleting protected files (i.e., files that begin with a dot ".").
+ * Name of the FoE file used to unlock protected filesystem operations.
+ *
+ * Sending a FoE read command with this filename allows writing or deleting
+ * protected files (i.e., files whose names start with a dot).
  */
 export declare const stackUnlockFilename = "fs-stackunlock=DD1317";
 /**
- * Base64-encoded empty firmware binary used during a Factory Reset to remove the currently installed firmware.
+ * Base64-encoded empty firmware image used during Factory Reset
+ * to remove the currently installed firmware.
  */
 export declare const emptyAppBase64 = "UEsDBBQACAAIABBye08AAAAAAAAAAAAAAAANACAAYXBwX2VtcHR5LmJpblVUDQAHMHfeXTB33l0wd95ddXgLAAEE6AMAAAToAwAAAwBQSwcIAAAAAAIAAAAAAAAAUEsBAhQDFAAIAAgAEHJ7TwAAAAACAAAAAAAAAA0AIAAAAAAAAAAAAKSBAAAAAGFwcF9lbXB0eS5iaW5VVA0ABzB33l0wd95dMHfeXXV4CwABBOgDAAAE6AMAAFBLBQYAAAAAAQABAFsAAABdAAAAAAA=";
+/**
+ * Returns `true` if the filename represents a multi-part ZIP file.
+ */
 export declare function isFilenamePart(filename: string): boolean;
+/**
+ * Default set of files preserved during Factory Reset.
+ */
 export declare const factoryResetDefaultFilesToKeep: string[];