npm - motion-master-client - Versions diffs - 0.0.356 → 0.0.358 - Mend

motion-master-client 0.0.356 → 0.0.358

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 (14) hide show

package/package.json +1 -1
package/src/api.js +21 -2
package/src/api.js.map +1 -1
package/src/index.d.ts +1 -0
package/src/index.js +1 -0
package/src/index.js.map +1 -1
package/src/lib/config-file.js +6 -5
package/src/lib/config-file.js.map +1 -1
package/src/lib/motion-master-req-res-client.d.ts +27 -9
package/src/lib/motion-master-req-res-client.js +90 -37
package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/lib/pdo.d.ts +61 -0
package/src/lib/pdo.js +60 -0
package/src/lib/pdo.js.map +1 -0

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.356",
+  "version": "0.0.358",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js CHANGED Viewed

@@ -280,8 +280,27 @@ app.get('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => ts
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const filename = req.params['filename'];
     const requestTimeout = parseInt(((_u = req.query['request-timeout']) !== null && _u !== void 0 ? _u : '30000'));
-    const value = yield (0, rxjs_1.lastValueFrom)(client.request.getDecodedFile(deviceRef, filename, requestTimeout));
-    res.send(value);
+    try {
+        // Try to get the file as decoded text
+        const value = yield (0, rxjs_1.lastValueFrom)(client.request.getDecodedFile(deviceRef, filename, requestTimeout));
+        // Set header to plain text so browsers render it directly
+        res.set('Content-Type', 'text/plain');
+        res.send(value);
+    }
+    catch (err) {
+        // If decoding fails (likely binary), get the raw file
+        const value = yield (0, rxjs_1.lastValueFrom)(client.request.getFile(deviceRef, filename, requestTimeout));
+        // If file is not found, return 404
+        if (!value) {
+            res.status(404).send({ message: `File ${filename} not found on device ${deviceRef}.` });
+            return;
+        }
+        // Convert Array or Uint8Array to Buffer for sending
+        const buffer = Buffer.from(value);
+        // Set header to octet-stream (standard for binary downloads)
+        res.set('Content-Type', 'application/octet-stream');
+        res.send(buffer);
+    }
 })));
 app.put('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     var _v;

package/src/api.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/src/index.d.ts CHANGED Viewed

@@ -35,6 +35,7 @@ export * from './lib/operators';
 export * from './lib/options';
 export * from './lib/os-command';
 export * from './lib/parameter';
+export * from './lib/pdo';
 export * from './lib/product';
 export * from './lib/request-status-resolver';
 export * from './lib/sii';

package/src/index.js CHANGED Viewed

@@ -38,6 +38,7 @@ tslib_1.__exportStar(require("./lib/operators"), exports);
 tslib_1.__exportStar(require("./lib/options"), exports);
 tslib_1.__exportStar(require("./lib/os-command"), exports);
 tslib_1.__exportStar(require("./lib/parameter"), exports);
+tslib_1.__exportStar(require("./lib/pdo"), exports);
 tslib_1.__exportStar(require("./lib/product"), exports);
 tslib_1.__exportStar(require("./lib/request-status-resolver"), exports);
 tslib_1.__exportStar(require("./lib/sii"), exports);

package/src/index.js.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,wDAA8B;AAC9B,4DAAkC;AAClC,gEAAsC;AACtC,uDAA6B;AAC7B,iEAAuC;AACvC,gEAAsC;AACtC,wDAA8B;AAC9B,yDAA+B;AAC/B,yDAA+B;AAC/B,sDAA4B;AAC5B,yDAA+B;AAC/B,qEAA2C;AAC3C,uDAA6B;AAC7B,4EAAkD;AAClD,gEAAsC;AACtC,0DAAgC;AAChC,oFAA0D;AAC1D,uDAA6B;AAC7B,kEAAwC;AACxC,iEAAuC;AACvC,gEAAsC;AACtC,qEAA2C;AAC3C,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,qEAA2C;AAC3C,uDAA6B;AAC7B,0DAAgC;AAChC,wDAA8B;AAC9B,2DAAiC;AACjC,0DAAgC;AAChC,oDAA0B;AAC1B,wDAA8B;AAC9B,wEAA8C;AAC9C,oDAA0B;AAC1B,uDAA6B;AAC7B,oDAA0B;AAC1B,gEAAsC;AACtC,sDAA4B;AAC5B,sDAA4B;AAC5B,8DAAoC;AACpC,qDAA2B;AAC3B,kFAAwD"}

package/src/lib/config-file.js CHANGED Viewed

@@ -11,24 +11,25 @@ class ConfigFile {
         var _a, _b;
         this.content = content;
         this.file = file;
-        this.parseResult = (0, papaparse_1.parse)(content, {
+        const normalizedContent = content.replace(/[\r\n]+/g, '\n');
+        this.parseResult = (0, papaparse_1.parse)(normalizedContent, {
             skipEmptyLines: true,
             transform: (value) => value.trim(),
         });
         if (((_b = (_a = this.parseResult) === null || _a === void 0 ? void 0 : _a.errors) === null || _b === void 0 ? void 0 : _b.length) > 0) {
             throw new Error('Failed to parse the contents of the configuration CSV file.');
         }
-        const matchApiId = content.match(/#\s+(\d{4}-\d{2}(-\d{4})?(-\d+)*)$/m);
+        const matchApiId = normalizedContent.match(/#\s+(\d{4}-\d{2}(-\d{4})?(-\d+)*)$/m);
         if (matchApiId) {
             this.apiId = matchApiId[1];
         }
-        const matchFirmwareVersion = content.match(/^#\s+(v.*)$/m);
+        const matchFirmwareVersion = normalizedContent.match(/^#\s+(v.*)$/m);
         if (matchFirmwareVersion) {
             this.firmwareVersion = matchFirmwareVersion[1];
         }
-        const matchFirstParameterRow = content.match(/^0x\d{4}/m);
+        const matchFirstParameterRow = normalizedContent.match(/^0x\d{4}/m);
         if (matchFirstParameterRow === null || matchFirstParameterRow === void 0 ? void 0 : matchFirstParameterRow.index) {
-            this.header = content.slice(0, matchFirstParameterRow.index - 1);
+            this.header = normalizedContent.slice(0, matchFirstParameterRow.index - 1);
         }
         this.parameters = this.parseResult.data
             .filter(([c0]) => c0.startsWith('0x'))

package/src/lib/config-file.js.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"config-file.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/config-file.ts"],"names":[],"mappings":";;;AAAA,yCAA+C;AAC/C,2CAAkF;AAKlF;;GAEG;AACH,MAAa,UAAU;IAQrB,YACkB,OAAe,EACf,IAA4D;;QAD5D,YAAO,GAAP,OAAO,CAAQ;QACf,SAAI,GAAJ,IAAI,CAAwD;QAE5E,MAAM,iBAAiB,GAAG,OAAO,CAAC,OAAO,CAAC,UAAU,EAAE,IAAI,CAAC,CAAC;QAE5D,IAAI,CAAC,WAAW,GAAG,IAAA,iBAAK,EAAW,iBAAiB,EAAE;YACpD,cAAc,EAAE,IAAI;YACpB,SAAS,EAAE,CAAC,KAAa,EAAE,EAAE,CAAC,KAAK,CAAC,IAAI,EAAE;SAC3C,CAAC,CAAC;QAEH,IAAI,CAAA,MAAA,MAAA,IAAI,CAAC,WAAW,0CAAE,MAAM,0CAAE,MAAM,IAAG,CAAC,EAAE;YACxC,MAAM,IAAI,KAAK,CAAC,6DAA6D,CAAC,CAAC;SAChF;QAED,MAAM,UAAU,GAAG,iBAAiB,CAAC,KAAK,CAAC,qCAAqC,CAAC,CAAC;QAClF,IAAI,UAAU,EAAE;YACd,IAAI,CAAC,KAAK,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;SAC5B;QAED,MAAM,oBAAoB,GAAG,iBAAiB,CAAC,KAAK,CAAC,cAAc,CAAC,CAAC;QACrE,IAAI,oBAAoB,EAAE;YACxB,IAAI,CAAC,eAAe,GAAG,oBAAoB,CAAC,CAAC,CAAC,CAAC;SAChD;QAED,MAAM,sBAAsB,GAAG,iBAAiB,CAAC,KAAK,CAAC,WAAW,CAAC,CAAC;QACpE,IAAI,sBAAsB,aAAtB,sBAAsB,uBAAtB,sBAAsB,CAAE,KAAK,EAAE;YACjC,IAAI,CAAC,MAAM,GAAG,iBAAiB,CAAC,KAAK,CAAC,CAAC,EAAE,sBAAsB,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC;SAC5E;QAED,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,WAAW,CAAC,IAAI;aACpC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;aACrC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE;YACpB,MAAM,KAAK,GAAG,QAAQ,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;YAC/B,MAAM,QAAQ,GAAG,QAAQ,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;YAClC,MAAM,QAAQ,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC;YAC5B,MAAM,KAAK,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,QAAQ,CAAC;YAC9C,OAAO,EAAE,KAAK,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC;QACpC,CAAC,CAAC;aACD,IAAI,CAAC,+BAAmB,CAAC,CAAC;IAC/B,CAAC;IAED,IAAI,UAAU;QACZ,OAAO,IAAI,CAAC,KAAK,CAAC;IACpB,CAAC;IAED,IAAI,eAAe;QACjB,KAAK,MAAM,SAAS,IAAI,IAAI,CAAC,UAAU,EAAE;YACvC,IAAI,IAAA,+BAAmB,EAAC,SAAS,CAAC,KAAK,CAAC,EAAE;gBACxC,OAAO,IAAI,CAAC;aACb;SACF;QACD,OAAO,KAAK,CAAC;IACf,CAAC;IAED,IAAI,cAAc;;QAChB,OAAO,CAAC,MAAA,MAAA,IAAI,CAAC,WAAW,0CAAE,MAAM,CAAC,MAAM,mCAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IACpD,CAAC;IAED,IAAI,kBAAkB;;QACpB,OAAO,MAAA,MAAA,IAAI,CAAC,UAAU,0CAAE,MAAM,mCAAI,CAAC,CAAC;IACtC,CAAC;IAED,QAAQ;QACN,IAAI,GAAG,GAAG,IAAI,CAAC,UAAU;aACtB,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,eAAC,OAAA,KAAK,MAAA,CAAC,CAAC,KAAK,0CAAE,QAAQ,CAAC,EAAE,CAAC,KAAK,MAAA,CAAC,CAAC,QAAQ,0CAAE,QAAQ,CAAC,EAAE,CAAC,KAAK,CAAC,CAAC,KAAK,EAAE,CAAA,EAAA,CAAC;aACjF,IAAI,CAAC,IAAI,CAAC,CAAC;QACd,IAAI,IAAI,CAAC,MAAM,EAAE;YACf,GAAG,GAAG,IAAI,CAAC,MAAM,GAAG,IAAI,GAAG,GAAG,CAAC;SAChC;QACD,OAAO,GAAG,GAAG,IAAI,CAAC;IACpB,CAAC;CACF;AAhFD,gCAgFC"}

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

@@ -902,10 +902,19 @@ export declare class MotionMasterReqResClient {
      */
     getFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<Uint8Array | number[] | null | undefined>;
     /**
-     * Get decoded file content.
+     * Retrieves a file from the specified device and attempts to decode its content as a UTF-8 string.
      *
-     * Content of a device file is returned as a binary data buffer.
-     * This functions tries to decode the content as a text in utf-8 character encoding.
+     * This method uses a strict decoder (`fatal: true`). If the file contains binary data
+     * or invalid UTF-8 sequences, the operation will fail, allowing the caller to handle
+     * the error (e.g., by falling back to a raw binary download).
+     *
+     * @param deviceRef - The reference object identifying the target device.
+     * @param name - The name of the file to retrieve.
+     * @param requestTimeout - The timeout for the request in milliseconds (default: 10000).
+     * @param messageId - Optional ID for tracing the request.
+     * @returns An Observable that emits the decoded string content of the file.
+     * @throws {Error} If the file content is returned as undefined (file missing).
+     * @throws {TypeError} If the file content is not valid UTF-8 text.
      */
     getDecodedFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<string>;
     /**
@@ -1302,15 +1311,24 @@ export declare class MotionMasterReqResClient {
     saveConfig(deviceRef: DeviceRef): Observable<void>;
     /**
      * 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.
+     *
+     * The new configuration is loaded using the `0x1011:01 Restore All Default Parameters` command.
+     *
+     * This function performs several key operations to ensure consistency:
+     * 1. **Resolve:** Determines the final content based on the strategy (Replace vs Merge).
+     * 2. **Upload:** Writes the content to `config.csv` on the device.
+     * 3. **Load:** Triggers the device to load the new settings from the file.
+     * 4. **PDO Guard:** Identifies parameters mapped to RxPDOs and re-applies their values via SDO. This prevents the master's cyclic data (which may be zero) from immediately overwriting the new configuration.
+     * 5. **Refresh:** Optionally reads the final values back from the device to update the local Motion Master cache.
      *
      * @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 data The new configuration data to be written to the config.csv file (string or Uint8Array).
+     * @param strategy The strategy to use when loading the configuration.
+     * - `'replace'` (default): Overwrites the existing configuration file completely.
+     * - `'merge'`: Reads the existing file, appends/updates it with the new data (input takes precedence), and writes the result back.
      * @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.
+     * @param refresh A flag to refresh device parameter values after loading the new configuration. Defaults to `true`.
+     * @returns An observable that emits `void` once the configuration has been successfully loaded and (optionally) refreshed.
      */
     loadConfig(deviceRef: DeviceRef, data: Uint8Array | string, strategy?: LoadConfigStrategy, retryConfig?: RetryConfig, refresh?: boolean): Observable<void>;
     /**

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

@@ -28,6 +28,7 @@ const firmware_1 = require("./firmware");
 const fetch_1 = require("./fetch");
 const circulo_1 = require("./circulo");
 const encoder_1 = require("./encoder");
+const pdo_1 = require("./pdo");
 const { xmlToEsi } = require('ecatmod');
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
@@ -1732,16 +1733,27 @@ class MotionMasterReqResClient {
         return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => content));
     }
     /**
-     * Get decoded file content.
+     * Retrieves a file from the specified device and attempts to decode its content as a UTF-8 string.
      *
-     * Content of a device file is returned as a binary data buffer.
-     * This functions tries to decode the content as a text in utf-8 character encoding.
+     * This method uses a strict decoder (`fatal: true`). If the file contains binary data
+     * or invalid UTF-8 sequences, the operation will fail, allowing the caller to handle
+     * the error (e.g., by falling back to a raw binary download).
+     *
+     * @param deviceRef - The reference object identifying the target device.
+     * @param name - The name of the file to retrieve.
+     * @param requestTimeout - The timeout for the request in milliseconds (default: 10000).
+     * @param messageId - Optional ID for tracing the request.
+     * @returns An Observable that emits the decoded string content of the file.
+     * @throws {Error} If the file content is returned as undefined (file missing).
+     * @throws {TypeError} If the file content is not valid UTF-8 text.
      */
     getDecodedFile(deviceRef, name, requestTimeout = 10000, messageId) {
         const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
         return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => {
             if (content) {
-                return (0, util_1.decodeTextContent)(content);
+                const decoder = new TextDecoder('utf-8', { fatal: true });
+                const buffer = Uint8Array.from(content);
+                return decoder.decode(buffer);
             }
             throw new Error(`The content for the device file '${name}' for device ${deviceRef} is undefined. The file is most likely missing.`);
         }));
@@ -2591,48 +2603,89 @@ class MotionMasterReqResClient {
     }
     /**
      * 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.
+     *
+     * The new configuration is loaded using the `0x1011:01 Restore All Default Parameters` command.
+     *
+     * This function performs several key operations to ensure consistency:
+     * 1. **Resolve:** Determines the final content based on the strategy (Replace vs Merge).
+     * 2. **Upload:** Writes the content to `config.csv` on the device.
+     * 3. **Load:** Triggers the device to load the new settings from the file.
+     * 4. **PDO Guard:** Identifies parameters mapped to RxPDOs and re-applies their values via SDO. This prevents the master's cyclic data (which may be zero) from immediately overwriting the new configuration.
+     * 5. **Refresh:** Optionally reads the final values back from the device to update the local Motion Master cache.
      *
      * @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 data The new configuration data to be written to the config.csv file (string or Uint8Array).
+     * @param strategy The strategy to use when loading the configuration.
+     * - `'replace'` (default): Overwrites the existing configuration file completely.
+     * - `'merge'`: Reads the existing file, appends/updates it with the new data (input takes precedence), and writes the result back.
      * @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.
+     * @param refresh A flag to refresh device parameter values after loading the new configuration. Defaults to `true`.
+     * @returns An observable that emits `void` once the configuration has been successfully loaded and (optionally) refreshed.
      */
     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 encoder = new TextEncoder();
+        const decoder = new TextDecoder();
         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)(() => {
+        // Prepare the content and the list of parameters to be used in later steps.
+        // This resolves the "Merge" vs "Replace" logic upfront.
+        const prepareConfig$ = (0, rxjs_1.defer)(() => {
+            const inputCsv = decoder.decode(content);
+            const inputConfigFile = new config_file_1.ConfigFile(inputCsv);
+            if (strategy === 'replace') {
+                return (0, rxjs_1.of)({
+                    contentToWrite: content,
+                    finalParameters: inputConfigFile.parameters,
+                });
+            }
+            else {
+                // Merge strategy
+                return this.getDecodedFile(deviceRef, 'config.csv').pipe((0, operators_1.map)((deviceCsv) => {
+                    const deviceConfigFile = new config_file_1.ConfigFile(deviceCsv);
+                    // Merge: Input overwrites Device.
+                    const mergedParams = [...inputConfigFile.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);
+                    deviceConfigFile.parameters = mergedParams;
+                    return {
+                        contentToWrite: encoder.encode(deviceConfigFile.toString()),
+                        finalParameters: mergedParams,
+                    };
+                }));
+            }
+        });
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return prepareConfig$.pipe(
+        // Write the file (using the resolved content)
+        (0, operators_1.mergeMap)(({ contentToWrite, finalParameters }) => this.setFile(deviceRef, 'config.csv', contentToWrite, true).pipe((0, operators_1.map)(() => finalParameters) // Pass parameters to next step
+        )),
+        // Restore Default Parameters (Load the file on device)
+        (0, operators_1.mergeMap)((finalParameters) => this.restoreDefaultParameters(deviceRef, types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig).pipe((0, operators_1.map)(() => finalParameters) // Pass parameters to next step
+        )),
+        // Apply config values mapped to RxPDOs (Using finalParameters).
+        // This ensures that the master doesn't override the values we just set from the config file.
+        (0, operators_1.mergeMap)((finalParameters) => this.getUiConfigOrDefaultPdoMapping(deviceRef).pipe((0, operators_1.mergeMap)((pdoMapping) => {
+            const entries = Object.values(pdoMapping.rx) // 1. Get all RxPDO arrays
+                .flat() // 2. Flatten into one list of ID strings
+                .map((id) => (0, pdo_1.parsePdoMappingEntry)(id)); // 3. Parse strings into objects
+            const mappedKeys = new Set(entries.map((entry) => `${entry.index}:${entry.subindex}`)); // 4. Create a set of "index:subindex" keys for quick lookup
+            // 5. Filter finalParameters to only those that are mapped to RxPDOs
+            const pdoMappedParams = finalParameters.filter((p) => mappedKeys.has(`${p.index}:${p.subindex}`));
+            // If no parameters are mapped to RxPDOs, skip the write step
+            if (!pdoMappedParams.length) {
+                return (0, rxjs_1.of)(finalParameters);
+            }
+            // Batch write all RxPDO-mapped parameters in one request
+            const ids = pdoMappedParams.map((p) => [deviceRef, p.index, p.subindex, p.value]);
+            return this.setParameterValues(ids, 10000).pipe((0, operators_1.map)(() => finalParameters));
+        }))),
+        // Refresh parameters (Using finalParameters).
+        (0, operators_1.mergeMap)((finalParameters) => {
             if (!refresh) {
-                return rxjs_1.EMPTY;
+                return (0, rxjs_1.of)(undefined); // Emit undefined instead of completing empty
             }
-            const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
             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) => ({
+                // Now safely using the complete list of parameters
+                parameters: finalParameters.map((p) => ({
                     index: p.index,
                     subindex: p.subindex,
                     loadFromCache: false,