motion-master-client 0.0.362 → 0.0.366

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.362",
+  "version": "0.0.366",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {
@@ -9,7 +9,7 @@
     "commander": "^11.1.0",
     "cors": "^2.8.5",
     "debug": "^4.3.5",
-    "ecatmod": "^2.2.10",
+    "ecatmod": "^2.2.11",
     "express": "^4.19.2",
     "fast-deep-equal": "^3.1.3",
     "js-untar": "^2.0.0",

package/src/api.js

@@ -337,7 +337,8 @@ app.get('/api/devices/:deviceRef/quick-stop', asyncHandler((req, res) => tslib_1
 })));
 app.get('/api/devices/:deviceRef/reset-fault', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    yield client.request.resetFault(deviceRef);
+    const force = asBoolean(req.query['force']);
+    yield client.request.resetFault(deviceRef, force);
     res.send();
 })));
 app.post('/api/devices/:deviceRef/start-firmware-installation', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
@@ -783,58 +784,53 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration'
     const measurementOnly = asBoolean(req.query['measurement-only']);
     const externalEncoderType = parseInt(((_57 = req.query['external-encoder-type']) !== null && _57 !== void 0 ? _57 : '0'));
     const requestTimeout = parseInt(((_58 = req.query['request-timeout']) !== null && _58 !== void 0 ? _58 : '120000'));
-    const statuses = [];
-    client.request
+    const statuses = yield (0, rxjs_1.lastValueFrom)(client.request
         .startCirculoEncoderNarrowAngleCalibrationProcedure(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, activateHealthMonitoring, measurementOnly, externalEncoderType }), requestTimeout)
-        .subscribe({
-        next: (status) => statuses.push(status),
-        complete: () => {
-            let result = [];
-            statuses.forEach((status) => {
-                var _a, _b, _c;
-                if (((_a = status === null || status === void 0 ? void 0 : status.progress) === null || _a === void 0 ? void 0 : _a.position) && ((_b = status === null || status === void 0 ? void 0 : status.progress) === null || _b === void 0 ? void 0 : _b.phaseError)) {
-                    const data = status.progress.position
-                        .map((p, i) => {
-                        var _a;
-                        const phaseError = (_a = status.progress) === null || _a === void 0 ? void 0 : _a.phaseError[i];
-                        if (typeof p === 'number' && typeof phaseError === 'number') {
-                            return [p, phaseError];
-                        }
-                        return undefined;
-                    })
-                        .filter((pt) => Array.isArray(pt));
-                    let maxIndex = 0;
-                    data.forEach((point, i) => {
-                        if (Math.abs(point[1]) > Math.abs(data[maxIndex][1])) {
-                            maxIndex = i;
-                        }
-                    });
-                    const maxValue = (_c = data[maxIndex]) === null || _c === void 0 ? void 0 : _c[1];
-                    const yDomainLimit = 256;
-                    let maxValuePercentage = 0;
-                    if (maxValue !== undefined) {
-                        maxValuePercentage = 100 - Math.floor((Math.abs(maxValue) / yDomainLimit) * 100);
-                        maxValuePercentage = Math.max(maxValuePercentage, 0);
-                    }
-                    const meaning = (0, circulo_1.getCirculoEncoderCalibrationMaxValuePercentageLabel)(maxValuePercentage);
-                    result.push({
-                        data,
-                        result: {
-                            value: maxValuePercentage,
-                            meaning,
-                        },
-                    });
+        .pipe((0, rxjs_1.toArray)()));
+    let result = [];
+    statuses.forEach((status) => {
+        var _a, _b, _c;
+        if (((_a = status === null || status === void 0 ? void 0 : status.progress) === null || _a === void 0 ? void 0 : _a.position) && ((_b = status === null || status === void 0 ? void 0 : status.progress) === null || _b === void 0 ? void 0 : _b.phaseError)) {
+            const data = status.progress.position
+                .map((p, i) => {
+                var _a;
+                const phaseError = (_a = status.progress) === null || _a === void 0 ? void 0 : _a.phaseError[i];
+                if (typeof p === 'number' && typeof phaseError === 'number') {
+                    return [p, phaseError];
+                }
+                return undefined;
+            })
+                .filter((pt) => Array.isArray(pt));
+            let maxIndex = 0;
+            data.forEach((point, i) => {
+                if (Math.abs(point[1]) > Math.abs(data[maxIndex][1])) {
+                    maxIndex = i;
                 }
             });
-            const finalStatus = statuses.at(-1);
-            if ((finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.request) === 'succeeded') {
-                res.json(result);
-            }
-            else {
-                res.status(500).send(finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.error);
+            const maxValue = (_c = data[maxIndex]) === null || _c === void 0 ? void 0 : _c[1];
+            const yDomainLimit = 256;
+            let maxValuePercentage = 0;
+            if (maxValue !== undefined) {
+                maxValuePercentage = 100 - Math.floor((Math.abs(maxValue) / yDomainLimit) * 100);
+                maxValuePercentage = Math.max(maxValuePercentage, 0);
             }
-        },
+            const meaning = (0, circulo_1.getCirculoEncoderCalibrationMaxValuePercentageLabel)(maxValuePercentage);
+            result.push({
+                data,
+                result: {
+                    value: maxValuePercentage,
+                    meaning,
+                },
+            });
+        }
     });
+    const finalStatus = statuses.at(-1);
+    if ((finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.request) === 'succeeded') {
+        res.json(result);
+    }
+    else {
+        res.status(500).send(finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.error);
+    }
 })));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-configuration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     var _59, _60, _61, _62;
@@ -952,12 +948,7 @@ app.get('/api/devices/:deviceRef/write-circulo-integrated-encoder-config-bin-fil
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const encoderOrdinal = parseInt(req.params['encoderOrdinal']);
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.writeCirculoIntegratedEncoderConfigBinFile(deviceRef, encoderOrdinal));
-    if (status.request === 'succeeded') {
-        res.send();
-    }
-    else {
-        res.status(500).send(status.error);
-    }
+    res.send(status);
 })));
 app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     var _80, _81, _82, _83, _84, _85, _86, _87;
@@ -1017,6 +1008,15 @@ app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asy
     yield new limited_range_system_identification_1.LimitedRangeSystemIdentification(client, deviceRef, options).start();
     res.send();
 })));
+app.get('/api/devices/:deviceRef/run-offset-detection', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const stepNames = req.query['stepNames']
+        ? req.query['stepNames'].split(',')
+        : [];
+    const offsetDetection$ = client.request.runOffsetDetection(deviceRef, stepNames);
+    const response = yield (0, rxjs_1.lastValueFrom)(offsetDetection$);
+    res.send(response);
+})));
 let motionComposerRunner = null;
 app.post('/api/motion-composer/run', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     motionComposerRunner = new motion_composer_1.MotionComposerRunner(client);
@@ -1029,6 +1029,49 @@ app.get('/api/motion-composer/stop', asyncHandler((_req, res) => tslib_1.__await
     motionComposerRunner === null || motionComposerRunner === void 0 ? void 0 : motionComposerRunner.stop();
     res.send();
 })));
+app.get('/api/devices/:deviceRef/run-kubler-encoder-register-communication-os-command', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _95, _96, _97, _98, _99, _100, _101;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const rw = parseInt(((_95 = req.query['rw']) !== null && _95 !== void 0 ? _95 : '0'));
+    const registerAddress = parseInt(((_96 = req.query['register-address']) !== null && _96 !== void 0 ? _96 : '0'));
+    const registerLength = parseInt(((_97 = req.query['register-length']) !== null && _97 !== void 0 ? _97 : '0'));
+    const registerWriteValue = parseInt(((_98 = req.query['register-write-value']) !== null && _98 !== void 0 ? _98 : '0'));
+    const commandTimeout = parseInt(((_99 = req.query['command-timeout']) !== null && _99 !== void 0 ? _99 : '10000'));
+    const responsePollingInterval = parseInt(((_100 = req.query['response-polling-interval']) !== null && _100 !== void 0 ? _100 : '1000'));
+    const osCommandMode = asBoolean(((_101 = req.query['os-command-mode']) !== null && _101 !== void 0 ? _101 : 'false'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.runKublerEncoderRegisterCommunicationOsCommand(deviceRef, rw, registerAddress, registerLength, registerWriteValue, commandTimeout, responsePollingInterval, osCommandMode));
+    if (status.request === 'succeeded') {
+        res.send(status);
+    }
+    else {
+        res.status(500).send(status);
+    }
+})));
+app.get('/api/devices/:deviceRef/reset-kubler-encoder-multiturn-position', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.resetKublerEncoderMultiturnPosition(deviceRef));
+    if (status.request === 'succeeded') {
+        res.send(status);
+    }
+    else {
+        res.status(500).send(status);
+    }
+})));
+app.get('/api/devices/:deviceRef/get-integro-encoder-firmware-version', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getIntegroEncoderFirmwareVersion(deviceRef));
+    if (status.request === 'succeeded') {
+        res.send(status);
+    }
+    else {
+        res.status(500).send(status);
+    }
+})));
+app.get('/api/devices/:deviceRef/readout-integro-integrated-encoder-error', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const result = yield (0, rxjs_1.lastValueFrom)(client.request.readoutIntegroIntegratedEncoderError(deviceRef));
+    res.send(result);
+})));
 app.listen(port, () => {
     log(`API server is now running on port ${port}.`);
 });

package/src/api.js.map

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

@@ -33,6 +33,7 @@ export * from './lib/motion-master-req-res-socket';
 export * from './lib/motion-master-req-res-web-socket';
 export * from './lib/motion-master-req-res-worker-socket';
 export * from './lib/oblac-drives-release';
+export * from './lib/offset-detection';
 export * from './lib/online';
 export * from './lib/operators';
 export * from './lib/options';

package/src/index.js

@@ -36,6 +36,7 @@ tslib_1.__exportStar(require("./lib/motion-master-req-res-socket"), exports);
 tslib_1.__exportStar(require("./lib/motion-master-req-res-web-socket"), exports);
 tslib_1.__exportStar(require("./lib/motion-master-req-res-worker-socket"), exports);
 tslib_1.__exportStar(require("./lib/oblac-drives-release"), exports);
+tslib_1.__exportStar(require("./lib/offset-detection"), exports);
 tslib_1.__exportStar(require("./lib/online"), exports);
 tslib_1.__exportStar(require("./lib/operators"), exports);
 tslib_1.__exportStar(require("./lib/options"), exports);

package/src/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,qDAA2B;AAC3B,uDAA6B;AAC7B,wDAA8B;AAC9B,4DAAkC;AAClC,gEAAsC;AACtC,uDAA6B;AAC7B,iEAAuC;AACvC,gEAAsC;AACtC,wDAA8B;AAC9B,8DAAoC;AACpC,yDAA+B;AAC/B,yDAA+B;AAC/B,sDAA4B;AAC5B,yDAA+B;AAC/B,qEAA2C;AAC3C,uDAA6B;AAC7B,4EAAkD;AAClD,wDAA8B;AAC9B,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,iEAAuC;AACvC,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/encoder.d.ts

@@ -82,7 +82,7 @@ export interface CirculoEncoderBatteryMode {
  * Battery modes specify constraints such as maximum acceleration and current,
  * along with a raw encoded `value` representing the mode setting.
  */
-export declare const circuloEncoderBatteryModeMap: Map<"Node 400" | "Node 1000" | "Node 2000" | "Circulo 7" | "Circulo 9" | "Integro 60" | "Integro 80" | "Actilink 60" | "Actilink 80", CirculoEncoderBatteryMode[]>;
+export declare const circuloEncoderBatteryModeMap: Map<"ACTILINK-JD" | "ACTILINK-JD Duo" | "Node 400" | "Node 1000" | "Node 2000" | "Circulo 7" | "Circulo 9" | "Integro 60" | "Integro 80" | "ACTILINK-S Integro 60" | "ACTILINK-S Integro 80", CirculoEncoderBatteryMode[]>;
 /**
  * Represents the possible types of encoder shafts.
  */

package/src/lib/integro-encoder-calibration.js

@@ -248,8 +248,8 @@ class IntegroEncoderCalibration {
             }
             // The device must be Integro.
             if (!(0, product_1.isSomanetProductIdInRange)(device.hardwareDescription, 'Integro') &&
-                !(0, product_1.isSomanetProductIdInRange)(device.hardwareDescription, 'Actilink S')) {
-                throw new Error('The device must be an Integro or Actilink S device for the encoder calibration.');
+                !(0, product_1.isSomanetProductIdInRange)(device.hardwareDescription, 'ACTILINK-S')) {
+                throw new Error('The device must be an Integro or ACTILINK-S device for the encoder calibration.');
             }
             // The encoder configuration, which is assigned to port 1, must be of type Internal encoder (5).
             const encoder1ConfigurationSensorPort = yield this.client.request.upload(this.deviceRef, 0x2110, 1);