motion-master-client 0.0.363 → 0.0.367

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.363",
+  "version": "0.0.367",
   "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* () {
@@ -1007,6 +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);
@@ -1019,6 +1029,63 @@ 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.get('/api/devices/:deviceRef/factory-reset', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const filesToKeepQuery = req.query['files-to-keep'];
+    const filesToKeep = filesToKeepQuery ? filesToKeepQuery.split(',') : undefined;
+    const installEmptyFirmware = asBoolean(req.query['install-empty-firmware']);
+    const reloadFirmware = asBoolean(req.query['reload-firmware']);
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.factoryReset(deviceRef, filesToKeep, installEmptyFirmware, reloadFirmware));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status);
+    }
+})));
 app.listen(port, () => {
     log(`API server is now running on port ${port}.`);
 });

package/src/api.js.map

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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);

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

@@ -6,7 +6,7 @@ import { HardwareDescription, StackInfo } from './hardware-description';
 import { MotionMasterReqResSocket } from './motion-master-req-res-socket';
 import { UIFeaturesConfig } from './parameter';
 import { SystemLogLine } from './system-log-line';
-import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo, RequestStatusMessage, UiPdoMapping, UiConfig, ExecuteForwardCallRequest, ForwardCallStatus, PlantModel, NotchFilter, LoadConfigStrategy, SystemInformationStatus, SetPdoModeRequest, PdoModeStatus } from './types';
+import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo, RequestStatusMessage, UiPdoMapping, UiConfig, ExecuteForwardCallRequest, ForwardCallStatus, PlantModel, NotchFilter, LoadConfigStrategy, SystemInformationStatus, SetPdoModeRequest, PdoModeStatus, GetDeviceSiiRequest, DeviceSiiStatus } from './types';
 import { Cia402State, ModesOfOperation } from './cia402';
 import { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse, IcMuCalibrationModeOsCommandResponse, OpenLoopFieldModeOsCommandResponse, HrdStreamingOsCommandResponse, TorqueConstantMeasurementOsCommandResponse, SkippedCyclesCounterOsCommandResponse, IgnoreBissStatusBitsOsCommandResponse, SystemIdentificationOsCommandResponse, KublerEncoderCommandOsCommandResponse, UseInternalEncoderVelocityOsCommandResponse, KublerEncoderRegisterCommunicationOsCommandResponse, SmmAcyclicHandlerOsCommandResponse, HrdStreamingOsCommandAction, HrdStreamingOsCommandDataIndex, SmmAcyclicHandlerLoadParametersForVerificationOsCommandResponse, ChirpSignalOptions } from './os-command';
 import { IntegroVariant } from './integro-variant';
@@ -17,6 +17,7 @@ import { DataType } from 'python-struct';
 import { CirculoIntegratedEncoderI2CDeviceId } from './circulo';
 import { EncoderRegisterError } from './encoder';
 import { IntegroIntegratedEncoderError } from './integro';
+import { OffsetDetectionStepId, OffsetDetectionSteps } from './offset-detection';
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
  *
@@ -806,6 +807,10 @@ export declare class MotionMasterReqResClient {
      * @returns the message ID
      */
     sendRequest(request: MotionMasterMessage.IRequest, messageId?: string): string;
+    /**
+     * Get device SII.
+     */
+    getDeviceSii(props: GetDeviceSiiRequest, requestTimeout: number, messageId?: string): Observable<DeviceSiiStatus>;
     /**
      * Get the device serial number by device address.
      *
@@ -1370,6 +1375,21 @@ export declare class MotionMasterReqResClient {
      * @todo Document this method and consider removing the void return type.
      */
     runPhaseResistanceMeasurement(deviceRef: DeviceRef): Observable<void | PhaseInductanceMeasurementOsCommandResponse>;
+    /**
+     * Sets the device mode of operation and then transitions the device
+     * to the specified CiA 402 state.
+     *
+     * The operations are executed sequentially:
+     * 1. The mode of operation is written to the device.
+     * 2. The device is transitioned to the requested CiA 402 state.
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param modesOfOperation - Desired CiA 402 mode of operation.
+     * @param cia402State - Target CiA 402 state to transition to.
+     *
+     * @returns Observable that completes when both operations finish.
+     */
+    setModesOfOperationAndTransitionToCia402State(deviceRef: DeviceRef, modesOfOperation: ModesOfOperation, cia402State: Cia402State): Observable<void>;
     /**
      * Installs the Integro Encoder Firmware by performing the following steps:
      * 1. Switches to the Kubler encoder bootloader firmware.
@@ -1386,7 +1406,7 @@ export declare class MotionMasterReqResClient {
     /**
      * @link https://www.wrike.com/open.htm?id=1375749957
      *
-     * @todo: Verify if the device is an Actilink S device and check the corresponding variant file.
+     * @todo: Verify if the device is an ACTILINK-S device and check the corresponding variant file.
      */
     isIntegroWithMultiturnEncoder(deviceRef: DeviceRef): Promise<boolean>;
     /**
@@ -2215,4 +2235,40 @@ export declare class MotionMasterReqResClient {
      * @returns An `Observable` that emits the RX and TX PDO mapping for the device.
      */
     getUiConfigOrDefaultPdoMapping(deviceRef: DeviceRef): Observable<UiPdoMapping>;
+    /**
+     * Runs the offset detection procedure for the given device and emits step-wise progress updates.
+     *
+     * The procedure executes a sequence of diagnostic steps sequentially and reports their state
+     * (`idle`, `running`, `succeeded`, `failed`) via an observable stream.
+     *
+     * Behavior
+     * - If `stepIds` is provided, only those steps are executed (in order).
+     * - If `stepIds` is empty, all available offset detection steps are executed.
+     * - Automatically inserts `motorPhaseOrderDetection` if required by
+     *   `commutationOffsetMeasurement`.
+     * - Transitions the device into diagnostics mode and ensures it is in
+     *   `OPERATION ENABLED` state before executing steps.
+     * - Restores the brake state and transitions the device to
+     *   `SWITCH_ON_DISABLED` after completion, error, or cancellation.
+     *
+     * Cancellation
+     * - Unsubscribing from the returned observable cancels further step execution.
+     * - Cancellation stops the sequence cooperatively (in-progress async operations may still complete).
+     * - Cancellation is treated as an error internally.
+     *
+     * Error Handling
+     * - Emits an error if the device is not in the required CIA402 state.
+     * - Emits an error if any step fails.
+     * - Emits an error if step dependencies are violated.
+     * - Cleanup operations (brake restore and state transition) are always attempted in `finally`.
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param stepIds - Optional list of step IDs to execute. If omitted or empty, all steps are executed.
+     * @returns An observable that emits the progress and final state of each offset detection step.
+     *
+     * @remarks
+     * Each emission contains a cloned snapshot of all steps to allow safe external consumption
+     * without mutation side effects.
+     */
+    runOffsetDetection(deviceRef: DeviceRef, stepIds?: OffsetDetectionStepId[]): Observable<OffsetDetectionSteps>;
 }