npm - motion-master-client - Versions diffs - 0.0.344 → 0.0.350 - Mend

motion-master-client 0.0.344 → 0.0.350

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (10) hide show

package/package.json +1 -1
package/src/lib/fetch.d.ts +2 -2
package/src/lib/fetch.js +5 -5
package/src/lib/fetch.js.map +1 -1
package/src/lib/limited-range-system-identification.d.ts +1 -1
package/src/lib/motion-master-req-res-client.js +3 -0
package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/lib/os-command.d.ts +2 -4
package/src/lib/os-command.js +8 -9
package/src/lib/os-command.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.344",
+  "version": "0.0.350",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/fetch.d.ts CHANGED Viewed

@@ -171,7 +171,7 @@ export declare function listOblacDrivesUpdateServiceVersions(): Promise<string[]
 /**
  * Retrieves the list of supported encoder configuration types from a JSON resource hosted on AWS S3.
  *
- * @deprecated Use new structure with `fetchEncoderConfigurationUsage` instead
+ * @deprecated Use new structure with `fetchEncoderConfigurationsUsage` instead
  * @returns A promise that resolves to a `FirmwareProductSupportedOptions` object
  * containing the supported encoder configuration types.
  */
@@ -182,7 +182,7 @@ export declare function fetchSupportedEncoderConfigurationTypes(): Promise<Firmw
  * @returns A promise that resolves to a `EncoderConfigurationUsage` object
  * containing the encoder configuration supported types and subindexes usage .
  */
-export declare function fetchEncoderConfigurationUsage(): Promise<EncoderConfigurationUsage>;
+export declare function fetchEncoderConfigurationsUsage(): Promise<EncoderConfigurationUsage>;
 /**
  * Retrieves the list of supported analog inputs from a JSON resource hosted on AWS S3.
  *

package/src/lib/fetch.js CHANGED Viewed

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.fetchEncoderConfigurations = exports.fetchMotorConfigurations = exports.fetchSupportedDios = exports.fetchSupportedAis = exports.fetchEncoderConfigurationUsage = exports.fetchSupportedEncoderConfigurationTypes = exports.listOblacDrivesUpdateServiceVersions = exports.listFirmwarePackages = exports.fetchOblacDrivesReleases = exports.fetchFirmwareChangelog = exports.fetchProductImage = exports.fetchFirmwarePackage = exports.fetchEsi = exports.fetchBrandData = exports.fetchAndResolve = exports.fetchFromBox = exports.makeCdnUrl = exports.compareBundlesByVersionDesc = exports.cacheOnBox = exports.cacheApiBasePath = exports.cacheS3BasePath = exports.cacheOrigin = exports.cacheHostname = exports.cdnBasePath = exports.oblacDrivesApiGatewayOrigin = exports.hostname = exports.oblacDrivesBrandId = void 0;
+exports.fetchEncoderConfigurations = exports.fetchMotorConfigurations = exports.fetchSupportedDios = exports.fetchSupportedAis = exports.fetchEncoderConfigurationsUsage = exports.fetchSupportedEncoderConfigurationTypes = exports.listOblacDrivesUpdateServiceVersions = exports.listFirmwarePackages = exports.fetchOblacDrivesReleases = exports.fetchFirmwareChangelog = exports.fetchProductImage = exports.fetchFirmwarePackage = exports.fetchEsi = exports.fetchBrandData = exports.fetchAndResolve = exports.fetchFromBox = exports.makeCdnUrl = exports.compareBundlesByVersionDesc = exports.cacheOnBox = exports.cacheApiBasePath = exports.cacheS3BasePath = exports.cacheOrigin = exports.cacheHostname = exports.cdnBasePath = exports.oblacDrivesApiGatewayOrigin = exports.hostname = exports.oblacDrivesBrandId = void 0;
 const tslib_1 = require("tslib");
 const rxjs_1 = require("rxjs");
 const semver_1 = require("semver");
@@ -335,7 +335,7 @@ exports.listOblacDrivesUpdateServiceVersions = listOblacDrivesUpdateServiceVersi
 /**
  * Retrieves the list of supported encoder configuration types from a JSON resource hosted on AWS S3.
  *
- * @deprecated Use new structure with `fetchEncoderConfigurationUsage` instead
+ * @deprecated Use new structure with `fetchEncoderConfigurationsUsage` instead
  * @returns A promise that resolves to a `FirmwareProductSupportedOptions` object
  * containing the supported encoder configuration types.
  */
@@ -352,13 +352,13 @@ exports.fetchSupportedEncoderConfigurationTypes = fetchSupportedEncoderConfigura
  * @returns A promise that resolves to a `EncoderConfigurationUsage` object
  * containing the encoder configuration supported types and subindexes usage .
  */
-function fetchEncoderConfigurationUsage() {
+function fetchEncoderConfigurationsUsage() {
     return tslib_1.__awaiter(this, void 0, void 0, function* () {
-        const path = `/encoder-configuration-usage.json`;
+        const path = `/encoder-configurations-usage.json`;
         return yield fetchAndResolve(path, 'json', true);
     });
 }
-exports.fetchEncoderConfigurationUsage = fetchEncoderConfigurationUsage;
+exports.fetchEncoderConfigurationsUsage = fetchEncoderConfigurationsUsage;
 /**
  * Retrieves the list of supported analog inputs from a JSON resource hosted on AWS S3.
  *

package/src/lib/fetch.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/src/lib/limited-range-system-identification.d.ts CHANGED Viewed

@@ -15,7 +15,7 @@ export interface LimitedRangeSystemIdentificationOptions extends ChirpSignalOpti
      * The symmetric position excursion limit (±value), expressed in
      * position units. This defines the maximum allowable deviation from the
      * reference position during chirp excitation. As the position error approaches
-     * this limit, the adaptive algorithm reduces the position-loop Kp to keep the
+     * this limit, the adaptive algorithm increases the position-loop Kp to keep the
      * joint within the bounded range.
      */
     rangeLimit: number;

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

@@ -2332,6 +2332,9 @@ class MotionMasterReqResClient {
     }
     abortOsCommand(deviceRef) {
         return this.setOsCommandMode(deviceRef, os_command_1.OsCommandMode.ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER);
+        // TODO: Poll for the OS command response.
+        // If the command is completed or aborted, reset mode to 0 to execute the next command immediately.
+        // Otherwise, stop polling when the specified timeout is reached and throw an error.
     }
     runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal = 1, slaveAddress = 0, rw = 0, registerAddress = 0, registerWriteValue = 0, commandTimeout = 10000, responsePollingInterval = 1000, osCommandMode = false) {
         const command = (0, os_command_1.createEncoderRegisterCommunicationOsCommand)(encoderOrdinal, slaveAddress, rw, registerAddress, registerWriteValue);

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

	@@ -1 +1 @@
1	- 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package/src/lib/os-command.d.ts CHANGED Viewed

@@ -281,12 +281,10 @@ export declare const hrdStreamingOsCommandErrors: OsCommandErrors;
  * - `torque` is the 16-bit signed integer from the buffer
  * - `velocity` is the floating-point velocity value converted from Q15 and rounded to an integer
  *
- * If the buffer length is not a multiple of 6, an error is logged and
- * an empty array is returned.
+ * If the buffer length is not a multiple of 6, a warning is logged and any trailing bytes are discarded.
  *
  * @param data - A `Uint8Array` containing raw HRD binary data.
- * @returns An array of `[velocityQ15, torque, velocity]` tuples,
- *          one per sample, or an empty array if the buffer is invalid.
+ * @returns An array of `[velocityQ15, torque, velocity]` tuples one per sample.
  */
 export declare function parseHrdBuffer(data: Uint8Array): number[][];
 /**

package/src/lib/os-command.js CHANGED Viewed

@@ -322,23 +322,22 @@ exports.hrdStreamingOsCommandErrors = {
  * - `torque` is the 16-bit signed integer from the buffer
  * - `velocity` is the floating-point velocity value converted from Q15 and rounded to an integer
  *
- * If the buffer length is not a multiple of 6, an error is logged and
- * an empty array is returned.
+ * If the buffer length is not a multiple of 6, a warning is logged and any trailing bytes are discarded.
  *
  * @param data - A `Uint8Array` containing raw HRD binary data.
- * @returns An array of `[velocityQ15, torque, velocity]` tuples,
- *          one per sample, or an empty array if the buffer is invalid.
+ * @returns An array of `[velocityQ15, torque, velocity]` tuples one per sample.
  */
 function parseHrdBuffer(data) {
     const bytesPerSample = 6;
-    if (data.byteLength % bytesPerSample !== 0) {
-        console.error(`Invalid HRD buffer length: ${data.byteLength}. ` + `Expected a multiple of ${bytesPerSample}.`);
-        return [];
+    const validLength = data.byteLength - (data.byteLength % bytesPerSample);
+    if (validLength !== data.byteLength) {
+        console.warn(`HRD buffer length ${data.byteLength} is not a multiple of ${bytesPerSample}. ` +
+            `Discarding ${data.byteLength - validLength} trailing byte(s).`);
     }
     const samples = [];
-    const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    const view = new DataView(data.buffer, data.byteOffset, validLength);
     let offset = 0;
-    while (offset + bytesPerSample <= data.byteLength) {
+    while (offset < validLength) {
         const velocityQ15 = view.getInt32(offset, true); // 4 bytes little-endian, Q15 format
         const torque = view.getInt16(offset + 4, true); // 2 bytes little-endian
         const velocity = (0, util_1.fromQ)(velocityQ15, 15, true); // converted from Q15 and rounded to an integer

package/src/lib/os-command.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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