motion-master-client 0.0.409 → 0.0.410

package/src/api.js

@@ -49,6 +49,7 @@ function clearClient(reason) {
     log(`Clearing client (${reason}).`);
     dataMonitoringMap.forEach((monitoring) => monitoring.stop());
     dataMonitoringMap.clear();
+    signalGeneratorRepeatMap.clear();
     client.closeSockets();
     client = undefined;
 }
@@ -111,6 +112,13 @@ function createDefaultDataMonitoringParameterIds(deviceRef) {
 // the device's UI PDO mapping (or the default if unavailable). Collects data continuously — can consume
 // significant memory if left running. Stopped and cleared on disconnect.
 const dataMonitoringMap = new Map();
+// The signals of the SetSignalGeneratorParameters oneof, derived from the generated message class so that
+// the list stays in sync with motion-master.proto.
+const signalGeneratorSignalKeys = Object.keys(types_1.MotionMasterMessage.Request.SetSignalGeneratorParameters.prototype).filter((key) => key !== 'deviceAddress' && key !== 'toJSON');
+// Whether the signal last configured through set-signal-generator-parameters repeats, keyed by device id.
+// A repeating signal runs until it is stopped and never reports completion, so start-signal-generator must
+// not wait for it. Cleared on disconnect.
+const signalGeneratorRepeatMap = new Map();
 // Enable CORS for all routes and all origins
 app.use((0, cors_1.default)());
 // Middleware to parse JSON body
@@ -541,11 +549,117 @@ app.get('/api/devices/:deviceRef/disable-motion-controller', asyncHandler((req,
         res.status(500).send(status.error);
     }
 })));
-app.get('/api/devices/:deviceRef/get-ethercat-network-state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _16;
+/**
+ * Configures the signal generator; run it afterwards with `start-signal-generator`.
+ *
+ * The request body mirrors the `SetSignalGeneratorParameters` message: exactly one of the signal properties,
+ * holding that signal's configuration.
+ *
+ * @example curl -X POST "http://localhost:63526/api/devices/0/set-signal-generator-parameters" -H "Content-Type: application/json" -d '{"torqueRamp":{"target":200,"torqueSlope":50,"sustainTime":5000,"masterGenerated":false}}'
+ */
+app.post('/api/devices/:deviceRef/set-signal-generator-parameters', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _16, _17, _18;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const requestTimeout = parseInt(((_16 = req.query['request-timeout']) !== null && _16 !== void 0 ? _16 : '3000'));
+    const signalConfigs = ((_17 = req.body) !== null && _17 !== void 0 ? _17 : {});
+    const signals = signalGeneratorSignalKeys.filter((key) => signalConfigs[key] != null);
+    // Motion Master would keep only the last of several signals - a protobuf oneof holds one field - and
+    // report NOT_DEFINED for none at all, so reject both here where the message still names the culprit.
+    if (signals.length !== 1) {
+        res.status(400).send({
+            message: `Provide exactly one signal in the request body, received ${signals.length}. Accepted signals: ${signalGeneratorSignalKeys.join(', ')}.`,
+        });
+        return;
+    }
+    const signal = signals[0];
+    const props = Object.assign(Object.assign({}, deviceRefObj), { [signal]: signalConfigs[signal] });
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.setSignalGeneratorParameters(props, requestTimeout));
+    if (status.request !== 'succeeded') {
+        res.status(500).send(status.error);
+        return;
+    }
+    // Remember whether this signal repeats, so start-signal-generator knows not to wait for a completion
+    // that never comes.
+    const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
+    signalGeneratorRepeatMap.set(device.id, ((_18 = signalConfigs[signal]) === null || _18 === void 0 ? void 0 : _18.repeat) === true);
+    res.send();
+})));
+/**
+ * Starts the signal generator configured by `set-signal-generator-parameters`. This turns the motor.
+ *
+ * A non-repeating signal completes on its own, so the request waits for it and responds with the data
+ * collected while it ran as CSV. A repeating signal runs until `stop-signal-generator`, so the request
+ * responds as soon as the signal generator has started, with an empty body and no data.
+ *
+ * @example curl "http://localhost:63526/api/devices/0/start-signal-generator?request-timeout=60000"
+ */
+app.get('/api/devices/:deviceRef/start-signal-generator', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _19, _20;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const requestTimeout = parseInt(((_19 = req.query['request-timeout']) !== null && _19 !== void 0 ? _19 : '60000'));
+    const wait = req.query['wait'] !== undefined ? asBoolean(req.query['wait']) : true;
+    const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
+    const repeat = req.query['repeat'] !== undefined
+        ? asBoolean(req.query['repeat'])
+        : (_20 = signalGeneratorRepeatMap.get(device.id)) !== null && _20 !== void 0 ? _20 : false;
+    // A repeating signal never reports DONE, so waiting for completion would only ever time out.
+    if (repeat || !wait) {
+        const status = yield (0, rxjs_1.firstValueFrom)(client.request.startSignalGenerator(Object.assign({}, deviceRefObj), requestTimeout));
+        if (status.request === 'failed') {
+            res.status(500).send(status.error);
+        }
+        else {
+            res.send();
+        }
+        return;
+    }
+    const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
+    const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
+    dataMonitoring.start();
+    try {
+        const statuses = yield (0, rxjs_1.lastValueFrom)(client.request.startSignalGenerator(Object.assign({}, deviceRefObj), requestTimeout).pipe((0, rxjs_1.toArray)()));
+        // Warnings are intermediate statuses - the signal generator keeps running with, for example, a reduced
+        // velocity - and the response body is the collected data, so surface them in the log instead.
+        statuses
+            .filter((status) => status.warning)
+            .forEach((status) => { var _a; return log(`Signal generator warning on device ${deviceRef}: ${(_a = status.warning) === null || _a === void 0 ? void 0 : _a.message}`); });
+        const finalStatus = statuses.at(-1);
+        if ((finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.request) === 'succeeded') {
+            res.type('text/csv').send(dataMonitoring.csv);
+        }
+        else {
+            res.status(500).send(finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.error);
+        }
+    }
+    finally {
+        dataMonitoring.stop();
+    }
+})));
+/**
+ * Stops the running signal generator by sending a Quick Stop command to the device.
+ *
+ * @example curl "http://localhost:63526/api/devices/0/stop-signal-generator"
+ */
+app.get('/api/devices/:deviceRef/stop-signal-generator', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _21;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const requestTimeout = parseInt(((_21 = req.query['request-timeout']) !== null && _21 !== void 0 ? _21 : '3000'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.stopSignalGenerator(Object.assign({}, deviceRefObj), requestTimeout));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/get-ethercat-network-state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _22;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const requestTimeout = parseInt(((_22 = req.query['request-timeout']) !== null && _22 !== void 0 ? _22 : '3000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.getEthercatNetworkState(Object.assign({}, deviceRefObj), requestTimeout));
     if (status.request === 'succeeded') {
         res.send({ state: status.state });
@@ -555,11 +669,11 @@ app.get('/api/devices/:deviceRef/get-ethercat-network-state', asyncHandler((req,
     }
 })));
 app.get('/api/devices/:deviceRef/set-ethercat-network-state/:state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _17, _18;
+    var _23, _24;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const state = (_17 = types_1.MotionMasterMessage.Request.SetEthercatNetworkState.State[req.params['state'].toUpperCase()]) !== null && _17 !== void 0 ? _17 : types_1.MotionMasterMessage.Request.SetEthercatNetworkState.State.UNSPECIFIED;
-    const requestTimeout = parseInt(((_18 = req.query['request-timeout']) !== null && _18 !== void 0 ? _18 : '3000'));
+    const state = (_23 = types_1.MotionMasterMessage.Request.SetEthercatNetworkState.State[req.params['state'].toUpperCase()]) !== null && _23 !== void 0 ? _23 : types_1.MotionMasterMessage.Request.SetEthercatNetworkState.State.UNSPECIFIED;
+    const requestTimeout = parseInt(((_24 = req.query['request-timeout']) !== null && _24 !== void 0 ? _24 : '3000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.setEthercatNetworkState(Object.assign(Object.assign({}, deviceRefObj), { state }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send();
@@ -569,15 +683,15 @@ app.get('/api/devices/:deviceRef/set-ethercat-network-state/:state', asyncHandle
     }
 })));
 app.get('/api/devices/:deviceRef/start-system-identification', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _19, _20, _21, _22, _23;
+    var _25, _26, _27, _28, _29;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const durationSeconds = parseFloat(((_19 = req.query['duration-seconds']) !== null && _19 !== void 0 ? _19 : '3.0'));
-    const torqueAmplitude = parseInt(((_20 = req.query['torque-amplitude']) !== null && _20 !== void 0 ? _20 : '300'));
-    const startFrequency = parseInt(((_21 = req.query['start-frequency']) !== null && _21 !== void 0 ? _21 : '2'));
-    const endFrequency = parseInt(((_22 = req.query['end-frequency']) !== null && _22 !== void 0 ? _22 : '60'));
+    const durationSeconds = parseFloat(((_25 = req.query['duration-seconds']) !== null && _25 !== void 0 ? _25 : '3.0'));
+    const torqueAmplitude = parseInt(((_26 = req.query['torque-amplitude']) !== null && _26 !== void 0 ? _26 : '300'));
+    const startFrequency = parseInt(((_27 = req.query['start-frequency']) !== null && _27 !== void 0 ? _27 : '2'));
+    const endFrequency = parseInt(((_28 = req.query['end-frequency']) !== null && _28 !== void 0 ? _28 : '60'));
     const nextGenSysId = asBoolean(req.query['next-gen-sys-id']);
-    const requestTimeout = parseInt(((_23 = req.query['request-timeout']) !== null && _23 !== void 0 ? _23 : '30000'));
+    const requestTimeout = parseInt(((_29 = req.query['request-timeout']) !== null && _29 !== void 0 ? _29 : '30000'));
     const props = Object.assign(Object.assign({}, deviceRefObj), { durationSeconds,
         torqueAmplitude,
         startFrequency,
@@ -593,9 +707,9 @@ app.get('/api/devices/:deviceRef/start-system-identification', asyncHandler((req
     }
 })));
 app.get('/api/devices/:deviceRef/set-modes-of-operation/:modesOfOperation', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _24;
+    var _30;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const modesOfOperation = parseInt((_24 = req.params['modesOfOperation']) !== null && _24 !== void 0 ? _24 : '0');
+    const modesOfOperation = parseInt((_30 = req.params['modesOfOperation']) !== null && _30 !== void 0 ? _30 : '0');
     yield (0, rxjs_1.lastValueFrom)(client.request.setModesOfOperation(deviceRef, modesOfOperation));
     res.send();
 })));
@@ -606,9 +720,9 @@ app.get('/api/devices/:deviceRef/transition-to-cia402-state/:state', asyncHandle
     res.send();
 })));
 app.get('/api/devices/:deviceRef/cia402-state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _25;
+    var _31;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const requestTimeout = parseInt(((_25 = req.query['request-timeout']) !== null && _25 !== void 0 ? _25 : '5000'));
+    const requestTimeout = parseInt(((_31 = req.query['request-timeout']) !== null && _31 !== void 0 ? _31 : '5000'));
     const state = yield (0, rxjs_1.lastValueFrom)(client.request.getCia402State(deviceRef, requestTimeout));
     res.send({ state });
 })));
@@ -619,10 +733,10 @@ app.get('/api/devices/:deviceRef/cia402-state', asyncHandler((req, res) => tslib
  * @example curl "http://localhost:63526/api/devices/0/when-target-reached?monitoring-interval=1000&request-timeout=5000"
  */
 app.get('/api/devices/:deviceRef/when-target-reached', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _26, _27;
+    var _32, _33;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const monitoringInterval = parseInt(((_26 = req.query['monitoring-interval']) !== null && _26 !== void 0 ? _26 : '10000'));
-    const requestTimeout = parseInt(((_27 = req.query['request-timeout']) !== null && _27 !== void 0 ? _27 : '5000'));
+    const monitoringInterval = parseInt(((_32 = req.query['monitoring-interval']) !== null && _32 !== void 0 ? _32 : '10000'));
+    const requestTimeout = parseInt(((_33 = req.query['request-timeout']) !== null && _33 !== void 0 ? _33 : '5000'));
     yield client.whenTargetReached(deviceRef, monitoringInterval, requestTimeout);
     res.send({ targetReached: true });
 })));
@@ -633,11 +747,11 @@ app.get('/api/devices/:deviceRef/when-target-reached', asyncHandler((req, res) =
  * @example curl "http://localhost:63526/api/devices/0/when-cia402-state-reached/OPERATION_ENABLED?monitoring-interval=10000&request-timeout=60000"
  */
 app.get('/api/devices/:deviceRef/when-cia402-state-reached/:state', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _28, _29;
+    var _34, _35;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const state = req.params['state'];
-    const monitoringInterval = parseInt(((_28 = req.query['monitoring-interval']) !== null && _28 !== void 0 ? _28 : '10000'));
-    const requestTimeout = parseInt(((_29 = req.query['request-timeout']) !== null && _29 !== void 0 ? _29 : '60000'));
+    const monitoringInterval = parseInt(((_34 = req.query['monitoring-interval']) !== null && _34 !== void 0 ? _34 : '10000'));
+    const requestTimeout = parseInt(((_35 = req.query['request-timeout']) !== null && _35 !== void 0 ? _35 : '60000'));
     yield client.whenCia402StateReached(deviceRef, state, monitoringInterval, requestTimeout);
     res.send();
 })));
@@ -647,7 +761,7 @@ app.get('/api/devices/:deviceRef/save-config', asyncHandler((req, res) => tslib_
     res.send();
 })));
 app.put('/api/devices/:deviceRef/load-config', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _30, _31;
+    var _36, _37;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     let content;
     if (Buffer.isBuffer(req.body)) {
@@ -657,21 +771,21 @@ app.put('/api/devices/:deviceRef/load-config', asyncHandler((req, res) => tslib_
         content = new Uint8Array(Buffer.from(req.body, 'utf-8'));
     }
     else {
-        const contentType = (_30 = req.headers['content-type']) !== null && _30 !== void 0 ? _30 : '';
+        const contentType = (_36 = req.headers['content-type']) !== null && _36 !== void 0 ? _36 : '';
         throw new Error(`Unsupported body type for load-config: ${typeof req.body} (Content-Type: ${contentType})`);
     }
     const refresh = asBoolean(req.query['refresh']);
-    const strategy = (_31 = req.query['strategy']) !== null && _31 !== void 0 ? _31 : 'replace';
+    const strategy = (_37 = req.query['strategy']) !== null && _37 !== void 0 ? _37 : 'replace';
     yield (0, rxjs_1.lastValueFrom)(client.request.loadConfig(deviceRef, content, strategy, { count: 20, delay: 500 }, refresh));
     res.send();
 })));
 app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/velocity', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _32, _33, _34;
+    var _38, _39, _40;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const velocityLoopBandwidth = parseFloat(((_32 = req.query['velocity-loop-bandwidth']) !== null && _32 !== void 0 ? _32 : '5'));
-    const velocityDamping = parseFloat(((_33 = req.query['velocity-damping']) !== null && _33 !== void 0 ? _33 : '0.7'));
-    const requestTimeout = parseInt(((_34 = req.query['request-timeout']) !== null && _34 !== void 0 ? _34 : '120000'));
+    const velocityLoopBandwidth = parseFloat(((_38 = req.query['velocity-loop-bandwidth']) !== null && _38 !== void 0 ? _38 : '5'));
+    const velocityDamping = parseFloat(((_39 = req.query['velocity-damping']) !== null && _39 !== void 0 ? _39 : '0.7'));
+    const requestTimeout = parseInt(((_40 = req.query['request-timeout']) !== null && _40 !== void 0 ? _40 : '120000'));
     const velocityParameters = { velocityLoopBandwidth, velocityDamping };
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.computeAutoTuningGains(Object.assign(Object.assign({}, deviceRefObj), { velocityParameters }), requestTimeout));
     if (status.request === 'succeeded') {
@@ -682,17 +796,17 @@ app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/velocity', asyncHandl
     }
 })));
 app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/position', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _35, _36, _37, _38, _39, _40, _41, _42, _43;
+    var _41, _42, _43, _44, _45, _46, _47, _48, _49;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const controllerType = (_36 = types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType[((_35 = req.query['controller-type']) !== null && _35 !== void 0 ? _35 : 'UNSPECIFIED')]) !== null && _36 !== void 0 ? _36 : types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType.UNSPECIFIED;
-    const settlingTime = parseFloat(((_37 = req.query['settling-time']) !== null && _37 !== void 0 ? _37 : '0.2'));
-    const positionDamping = parseFloat(((_38 = req.query['position-damping']) !== null && _38 !== void 0 ? _38 : '1'));
-    const alphaMult = parseInt(((_39 = req.query['alpha-mult']) !== null && _39 !== void 0 ? _39 : '1'));
-    const order = parseInt(((_40 = req.query['order']) !== null && _40 !== void 0 ? _40 : '0'));
-    const lb = parseInt(((_41 = req.query['lb']) !== null && _41 !== void 0 ? _41 : '1'));
-    const ub = parseInt(((_42 = req.query['ub']) !== null && _42 !== void 0 ? _42 : '1001'));
-    const requestTimeout = parseInt(((_43 = req.query['request-timeout']) !== null && _43 !== void 0 ? _43 : '120000'));
+    const controllerType = (_42 = types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType[((_41 = req.query['controller-type']) !== null && _41 !== void 0 ? _41 : 'UNSPECIFIED')]) !== null && _42 !== void 0 ? _42 : types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType.UNSPECIFIED;
+    const settlingTime = parseFloat(((_43 = req.query['settling-time']) !== null && _43 !== void 0 ? _43 : '0.2'));
+    const positionDamping = parseFloat(((_44 = req.query['position-damping']) !== null && _44 !== void 0 ? _44 : '1'));
+    const alphaMult = parseInt(((_45 = req.query['alpha-mult']) !== null && _45 !== void 0 ? _45 : '1'));
+    const order = parseInt(((_46 = req.query['order']) !== null && _46 !== void 0 ? _46 : '0'));
+    const lb = parseInt(((_47 = req.query['lb']) !== null && _47 !== void 0 ? _47 : '1'));
+    const ub = parseInt(((_48 = req.query['ub']) !== null && _48 !== void 0 ? _48 : '1001'));
+    const requestTimeout = parseInt(((_49 = req.query['request-timeout']) !== null && _49 !== void 0 ? _49 : '120000'));
     const positionParameters = { controllerType, settlingTime, positionDamping, alphaMult, order, lb, ub };
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.computeAutoTuningGains(Object.assign(Object.assign({}, deviceRefObj), { positionParameters }), requestTimeout));
     if (status.request === 'succeeded') {
@@ -703,15 +817,15 @@ app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/position', asyncHandl
     }
 })));
 app.get('/api/devices/:deviceRef/start-open-loop-field-control', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _44, _45, _46, _47, _48, _49;
+    var _50, _51, _52, _53, _54, _55;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const angle = parseInt(((_44 = req.query['angle']) !== null && _44 !== void 0 ? _44 : '360'));
-    const velocity = parseInt(((_45 = req.query['velocity']) !== null && _45 !== void 0 ? _45 : '5'));
-    const acceleration = parseInt(((_46 = req.query['acceleration']) !== null && _46 !== void 0 ? _46 : '1000'));
-    const torque = parseInt(((_47 = req.query['torque']) !== null && _47 !== void 0 ? _47 : '1000'));
-    const torqueSpeed = parseInt(((_48 = req.query['torqueSpeed']) !== null && _48 !== void 0 ? _48 : '10000'));
-    const requestTimeout = parseInt(((_49 = req.query['request-timeout']) !== null && _49 !== void 0 ? _49 : '120000'));
+    const angle = parseInt(((_50 = req.query['angle']) !== null && _50 !== void 0 ? _50 : '360'));
+    const velocity = parseInt(((_51 = req.query['velocity']) !== null && _51 !== void 0 ? _51 : '5'));
+    const acceleration = parseInt(((_52 = req.query['acceleration']) !== null && _52 !== void 0 ? _52 : '1000'));
+    const torque = parseInt(((_53 = req.query['torque']) !== null && _53 !== void 0 ? _53 : '1000'));
+    const torqueSpeed = parseInt(((_54 = req.query['torqueSpeed']) !== null && _54 !== void 0 ? _54 : '10000'));
+    const requestTimeout = parseInt(((_55 = req.query['request-timeout']) !== null && _55 !== void 0 ? _55 : '120000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startOpenLoopFieldControl(Object.assign(Object.assign({}, deviceRefObj), { angle, velocity, acceleration, torque, torqueSpeed }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send();
@@ -721,17 +835,17 @@ app.get('/api/devices/:deviceRef/start-open-loop-field-control', asyncHandler((r
     }
 })));
 app.get('/api/devices/:deviceRef/start-full-auto-tuning/velocity', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _50, _51, _52, _53;
+    var _56, _57, _58, _59;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.VELOCITY;
-    const requestTimeout = parseInt(((_50 = req.query['request-timeout']) !== null && _50 !== void 0 ? _50 : '60000'));
+    const requestTimeout = parseInt(((_56 = req.query['request-timeout']) !== null && _56 !== void 0 ? _56 : '60000'));
     const props = Object.assign(Object.assign({}, deviceRefObj), { type });
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, requestTimeout));
     if (status.request === 'succeeded') {
-        const dampingRatio = (_51 = status.dampingRatio) !== null && _51 !== void 0 ? _51 : 0;
-        const settlingTime = (_52 = status.settlingTime) !== null && _52 !== void 0 ? _52 : 0;
-        const bandwidth = (_53 = status.bandwidth) !== null && _53 !== void 0 ? _53 : 0;
+        const dampingRatio = (_57 = status.dampingRatio) !== null && _57 !== void 0 ? _57 : 0;
+        const settlingTime = (_58 = status.settlingTime) !== null && _58 !== void 0 ? _58 : 0;
+        const bandwidth = (_59 = status.bandwidth) !== null && _59 !== void 0 ? _59 : 0;
         const pidObj = {};
         for (let subidx = 1; subidx < 5; subidx++) {
             pidObj[(0, parameter_1.makeParameterId)(0x2011, subidx)] = yield client.request.upload(deviceRef, 0x2011, subidx);
@@ -746,17 +860,17 @@ app.get('/api/devices/:deviceRef/start-full-auto-tuning/velocity', asyncHandler(
     }
 })));
 app.get('/api/devices/:deviceRef/start-full-auto-tuning/position/:controllerType', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _54, _55, _56, _57;
+    var _60, _61, _62, _63;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.POSITION;
     let controllerType = types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType[req.params['controllerType'].toUpperCase()] || types_1.MotionMasterMessage.Request.StartFullAutoTuning.ControllerType.UNSPECIFIED;
-    const requestTimeout = parseInt(((_54 = req.query['request-timeout']) !== null && _54 !== void 0 ? _54 : '60000'));
+    const requestTimeout = parseInt(((_60 = req.query['request-timeout']) !== null && _60 !== void 0 ? _60 : '60000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(Object.assign(Object.assign({}, deviceRefObj), { type, controllerType }), requestTimeout));
     if (status.request === 'succeeded') {
-        const dampingRatio = (_55 = status.dampingRatio) !== null && _55 !== void 0 ? _55 : 0;
-        const settlingTime = (_56 = status.settlingTime) !== null && _56 !== void 0 ? _56 : 0;
-        const bandwidth = (_57 = status.bandwidth) !== null && _57 !== void 0 ? _57 : 0;
+        const dampingRatio = (_61 = status.dampingRatio) !== null && _61 !== void 0 ? _61 : 0;
+        const settlingTime = (_62 = status.settlingTime) !== null && _62 !== void 0 ? _62 : 0;
+        const bandwidth = (_63 = status.bandwidth) !== null && _63 !== void 0 ? _63 : 0;
         const pidObj = {};
         for (let subidx = 1; subidx < 9; subidx++) {
             pidObj[(0, parameter_1.makeParameterId)(0x2012, subidx)] = yield client.request.upload(deviceRef, 0x2012, subidx);
@@ -771,10 +885,10 @@ app.get('/api/devices/:deviceRef/start-full-auto-tuning/position/:controllerType
     }
 })));
 app.get('/api/devices/:deviceRef/stop-full-auto-tuning', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _58;
+    var _64;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const requestTimeout = parseInt(((_58 = req.query['request-timeout']) !== null && _58 !== void 0 ? _58 : '10000'));
+    const requestTimeout = parseInt(((_64 = req.query['request-timeout']) !== null && _64 !== void 0 ? _64 : '10000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.stopFullAutoTuning(deviceRefObj, requestTimeout));
     if (status.request == 'succeeded') {
         res.send();
@@ -793,9 +907,9 @@ app.get('/api/devices/:deviceRef/set-halt-bit/:value', asyncHandler((req, res) =
  * @example curl "http://localhost:63500/api/devices/0/run-torque-profile?target=100&holding-duration=3000&skip-quick-stop=false&target-reach-timeout=5000&slope=50&window=30&window-time=1"
  */
 app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _59, _60;
+    var _65, _66;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const target = parseInt(((_59 = req.query['target']) !== null && _59 !== void 0 ? _59 : '100'));
+    const target = parseInt(((_65 = req.query['target']) !== null && _65 !== void 0 ? _65 : '100'));
     const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const skipQuickStop = req.query['skip-quick-stop'] !== undefined ? asBoolean(req.query['skip-quick-stop']) : true;
     const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
@@ -803,7 +917,7 @@ app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) =>
         res.status(400).send('target-reach-timeout is required when skip-quick-stop is false');
         return;
     }
-    const slope = parseInt(((_60 = req.query['slope']) !== null && _60 !== void 0 ? _60 : '50'));
+    const slope = parseInt(((_66 = req.query['slope']) !== null && _66 !== void 0 ? _66 : '50'));
     const windowStr = req.query['window'];
     const window = windowStr ? parseInt(windowStr) : undefined;
     const windowTimeStr = req.query['window-time'];
@@ -835,11 +949,11 @@ app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) =>
  * @example curl "http://localhost:63500/api/devices/0/run-velocity-profile?acceleration=5000&target=1000&deceleration=5000&holding-duration=2000&skip-quick-stop=false&target-reach-timeout=5000&window=10&window-time=1"
  */
 app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _61, _62, _63;
+    var _67, _68, _69;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const acceleration = parseInt(((_61 = req.query['acceleration']) !== null && _61 !== void 0 ? _61 : '1000'));
-    const target = parseInt(((_62 = req.query['target']) !== null && _62 !== void 0 ? _62 : '1000'));
-    const deceleration = parseInt(((_63 = req.query['deceleration']) !== null && _63 !== void 0 ? _63 : '1000'));
+    const acceleration = parseInt(((_67 = req.query['acceleration']) !== null && _67 !== void 0 ? _67 : '1000'));
+    const target = parseInt(((_68 = req.query['target']) !== null && _68 !== void 0 ? _68 : '1000'));
+    const deceleration = parseInt(((_69 = req.query['deceleration']) !== null && _69 !== void 0 ? _69 : '1000'));
     const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const skipQuickStop = req.query['skip-quick-stop'] !== undefined ? asBoolean(req.query['skip-quick-stop']) : true;
     const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
@@ -879,11 +993,11 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
  * @example curl "http://localhost:63500/api/devices/0/run-position-profile?acceleration=5000&target=10000&deceleration=5000&holding-duration=2000&relative=true&skip-quick-stop=false&target-reach-timeout=5000&velocity=2000&window=10&window-time=1"
  */
 app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _64, _65, _66, _67;
+    var _70, _71, _72, _73;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const acceleration = parseInt(((_64 = req.query['acceleration']) !== null && _64 !== void 0 ? _64 : '1000'));
-    const target = parseInt(((_65 = req.query['target']) !== null && _65 !== void 0 ? _65 : '1000'));
-    const deceleration = parseInt(((_66 = req.query['deceleration']) !== null && _66 !== void 0 ? _66 : '1000'));
+    const acceleration = parseInt(((_70 = req.query['acceleration']) !== null && _70 !== void 0 ? _70 : '1000'));
+    const target = parseInt(((_71 = req.query['target']) !== null && _71 !== void 0 ? _71 : '1000'));
+    const deceleration = parseInt(((_72 = req.query['deceleration']) !== null && _72 !== void 0 ? _72 : '1000'));
     const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const relative = asBoolean(req.query['relative']);
     const skipQuickStop = req.query['skip-quick-stop'] !== undefined ? asBoolean(req.query['skip-quick-stop']) : true;
@@ -892,7 +1006,7 @@ app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res)
         res.status(400).send('target-reach-timeout is required when skip-quick-stop is false');
         return;
     }
-    const velocity = parseInt(((_67 = req.query['velocity']) !== null && _67 !== void 0 ? _67 : '100'));
+    const velocity = parseInt(((_73 = req.query['velocity']) !== null && _73 !== void 0 ? _73 : '100'));
     const windowStr = req.query['window'];
     const window = windowStr ? parseInt(windowStr) : undefined;
     const windowTimeStr = req.query['window-time'];
@@ -934,14 +1048,14 @@ app.get('/api/devices/:deviceRef/force-on-demand-parameters-update', asyncHandle
     res.send();
 })));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _68, _69, _70;
+    var _74, _75, _76;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const encoderOrdinal = parseInt(((_68 = req.query['encoder-ordinal']) !== null && _68 !== void 0 ? _68 : '1'));
+    const encoderOrdinal = parseInt(((_74 = req.query['encoder-ordinal']) !== null && _74 !== void 0 ? _74 : '1'));
     const activateHealthMonitoring = asBoolean(req.query['activate-health-monitoring']);
     const measurementOnly = asBoolean(req.query['measurement-only']);
-    const externalEncoderType = parseInt(((_69 = req.query['external-encoder-type']) !== null && _69 !== void 0 ? _69 : '0'));
-    const requestTimeout = parseInt(((_70 = req.query['request-timeout']) !== null && _70 !== void 0 ? _70 : '120000'));
+    const externalEncoderType = parseInt(((_75 = req.query['external-encoder-type']) !== null && _75 !== void 0 ? _75 : '0'));
+    const requestTimeout = parseInt(((_76 = req.query['request-timeout']) !== null && _76 !== void 0 ? _76 : '120000'));
     const statuses = yield (0, rxjs_1.lastValueFrom)(client.request
         .startCirculoEncoderNarrowAngleCalibrationProcedure(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, activateHealthMonitoring, measurementOnly, externalEncoderType }), requestTimeout)
         .pipe((0, rxjs_1.toArray)()));
@@ -991,13 +1105,13 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration'
     }
 })));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-configuration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _71, _72, _73, _74;
+    var _77, _78, _79, _80;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const encoderOrdinal = parseInt(((_71 = req.query['encoder-ordinal']) !== null && _71 !== void 0 ? _71 : '1'));
-    const batteryModeMaxAcceleration = parseInt(((_72 = req.query['battery-mode-max-acceleration']) !== null && _72 !== void 0 ? _72 : '0'));
-    const externalCirculoType = parseInt(((_73 = req.query['external-circulo-type']) !== null && _73 !== void 0 ? _73 : '0'));
-    const requestTimeout = parseInt(((_74 = req.query['request-timeout']) !== null && _74 !== void 0 ? _74 : '30000'));
+    const encoderOrdinal = parseInt(((_77 = req.query['encoder-ordinal']) !== null && _77 !== void 0 ? _77 : '1'));
+    const batteryModeMaxAcceleration = parseInt(((_78 = req.query['battery-mode-max-acceleration']) !== null && _78 !== void 0 ? _78 : '0'));
+    const externalCirculoType = parseInt(((_79 = req.query['external-circulo-type']) !== null && _79 !== void 0 ? _79 : '0'));
+    const requestTimeout = parseInt(((_80 = req.query['request-timeout']) !== null && _80 !== void 0 ? _80 : '30000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderConfiguration(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, batteryModeMaxAcceleration, externalCirculoType }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send();
@@ -1007,9 +1121,9 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-configuration', asyncHand
     }
 })));
 app.get('/api/devices/:deviceRef/check-circulo-encoder-errors', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _75;
+    var _81;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const encoderOrdinal = parseInt(((_75 = req.query['encoder-ordinal']) !== null && _75 !== void 0 ? _75 : '1'));
+    const encoderOrdinal = parseInt(((_81 = req.query['encoder-ordinal']) !== null && _81 !== void 0 ? _81 : '1'));
     const result = yield (0, rxjs_1.lastValueFrom)(client.request.checkCirculoEncoderErrors(deviceRef, encoderOrdinal));
     res.send(result);
 })));
@@ -1019,12 +1133,12 @@ app.get('/api/devices/:deviceRef/start-integro-encoder-calibration', asyncHandle
     res.send();
 })));
 app.get('/api/devices/:deviceRef/circulo-encoder-magnet-distance', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _76, _77, _78;
+    var _82, _83, _84;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const encoderOrdinal = parseInt(((_76 = req.query['encoder-ordinal']) !== null && _76 !== void 0 ? _76 : '1'));
-    const ringRevision = parseInt(((_77 = req.query['ring-revision']) !== null && _77 !== void 0 ? _77 : '0'));
-    const requestTimeout = parseInt(((_78 = req.query['request-timeout']) !== null && _78 !== void 0 ? _78 : '5000'));
+    const encoderOrdinal = parseInt(((_82 = req.query['encoder-ordinal']) !== null && _82 !== void 0 ? _82 : '1'));
+    const ringRevision = parseInt(((_83 = req.query['ring-revision']) !== null && _83 !== void 0 ? _83 : '0'));
+    const requestTimeout = parseInt(((_84 = req.query['request-timeout']) !== null && _84 !== void 0 ? _84 : '5000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.getCirculoEncoderMagnetDistance(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, ringRevision }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send({ distance: status.distance, position: status.position });
@@ -1034,7 +1148,7 @@ app.get('/api/devices/:deviceRef/circulo-encoder-magnet-distance', asyncHandler(
     }
 })));
 app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _79, _80, _81, _82;
+    var _85, _86, _87, _88;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const commandQuery = req.query['command'];
     if (!commandQuery) {
@@ -1049,12 +1163,12 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
         return;
     }
     const commandArray = new Uint8Array(command);
-    const commandTimeout = parseInt(((_79 = req.query['command-timeout']) !== null && _79 !== void 0 ? _79 : '10000'));
-    const responsePollingInterval = parseInt(((_80 = req.query['response-polling-interval']) !== null && _80 !== void 0 ? _80 : '1000'));
+    const commandTimeout = parseInt(((_85 = req.query['command-timeout']) !== null && _85 !== void 0 ? _85 : '10000'));
+    const responsePollingInterval = parseInt(((_86 = req.query['response-polling-interval']) !== null && _86 !== void 0 ? _86 : '1000'));
     const osCommandModeQuery = req.query['os-command-mode'];
     const osCommandMode = osCommandModeQuery !== undefined && asBoolean(osCommandModeQuery)
         ? true
-        : (_81 = os_command_1.OsCommandMode[osCommandModeQuery === null || osCommandModeQuery === void 0 ? void 0 : osCommandModeQuery.toUpperCase()]) !== null && _81 !== void 0 ? _81 : false;
+        : (_87 = os_command_1.OsCommandMode[osCommandModeQuery === null || osCommandModeQuery === void 0 ? void 0 : osCommandModeQuery.toUpperCase()]) !== null && _87 !== void 0 ? _87 : false;
     const readFsBuffer = asBoolean(req.query['read-fs-buffer']);
     const fsBufferContent = req.body;
     let fsBufferContentArray = undefined;
@@ -1062,7 +1176,7 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
         fsBufferContentArray = new Uint8Array(fsBufferContent);
     }
     const fsBuffer = fsBufferContentArray !== null && fsBufferContentArray !== void 0 ? fsBufferContentArray : readFsBuffer;
-    const fsBufferReadWriteTimeout = parseInt(((_82 = req.query['fs-buffer-read-write-timeout']) !== null && _82 !== void 0 ? _82 : '30000'));
+    const fsBufferReadWriteTimeout = parseInt(((_88 = req.query['fs-buffer-read-write-timeout']) !== null && _88 !== void 0 ? _88 : '30000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.runOsCommand(deviceRef, commandArray, commandTimeout, responsePollingInterval, osCommandMode, fsBuffer, fsBufferReadWriteTimeout));
     if (status.request === 'succeeded') {
         res.send(status);
@@ -1071,11 +1185,29 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
         res.status(500).send(status);
     }
 })));
+/**
+ * Aborts the OS command in progress and resets the sticky OS command mode, so the next command can run.
+ *
+ * @example curl -X POST "http://localhost:63526/api/devices/0/os-command/abort?command-timeout=10000&response-polling-interval=250"
+ */
+app.post('/api/devices/:deviceRef/os-command/abort', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _89, _90;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const commandTimeout = parseInt(((_89 = req.query['command-timeout']) !== null && _89 !== void 0 ? _89 : '10000'));
+    const responsePollingInterval = parseInt(((_90 = req.query['response-polling-interval']) !== null && _90 !== void 0 ? _90 : '250'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.abortOsCommand(deviceRef, commandTimeout, responsePollingInterval));
+    if (status.request === 'succeeded') {
+        res.send(status);
+    }
+    else {
+        res.status(500).send(status);
+    }
+})));
 app.post('/api/devices/:deviceRef/configure-smm', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _83, _84, _85;
+    var _91, _92, _93;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const username = (_83 = req.query['username']) !== null && _83 !== void 0 ? _83 : 'Test';
-    const password = (_84 = req.query['password']) !== null && _84 !== void 0 ? _84 : 'SomanetSMM';
+    const username = (_91 = req.query['username']) !== null && _91 !== void 0 ? _91 : 'Test';
+    const password = (_92 = req.query['password']) !== null && _92 !== void 0 ? _92 : 'SomanetSMM';
     let configString;
     if (Buffer.isBuffer(req.body)) {
         // application/octet-stream (or express.raw)
@@ -1086,49 +1218,49 @@ app.post('/api/devices/:deviceRef/configure-smm', asyncHandler((req, res) => tsl
         configString = req.body;
     }
     else {
-        const contentType = (_85 = req.headers['content-type']) !== null && _85 !== void 0 ? _85 : '';
+        const contentType = (_93 = req.headers['content-type']) !== null && _93 !== void 0 ? _93 : '';
         throw new Error(`Unsupported body type for configure-smm: ${typeof req.body} (Content-Type: ${contentType})`);
     }
     const safetyParametersReport = yield (0, rxjs_1.lastValueFrom)(client.request.configureSmmFromFile(deviceRef, username, password, configString));
     res.send(safetyParametersReport);
 })));
 app.post('/api/devices/:deviceRef/update-smm-software', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _86, _87, _88, _89, _90, _91, _92;
+    var _94, _95, _96, _97, _98, _99, _100;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const username = (_86 = req.query['username']) !== null && _86 !== void 0 ? _86 : 'Test';
-    const password = (_87 = req.query['password']) !== null && _87 !== void 0 ? _87 : 'SomanetSMM';
-    const crc = parseInt(((_88 = req.query['crc']) !== null && _88 !== void 0 ? _88 : ''), 16);
+    const username = (_94 = req.query['username']) !== null && _94 !== void 0 ? _94 : 'Test';
+    const password = (_95 = req.query['password']) !== null && _95 !== void 0 ? _95 : 'SomanetSMM';
+    const crc = parseInt(((_96 = req.query['crc']) !== null && _96 !== void 0 ? _96 : ''), 16);
     // Validate CRC
     if (Number.isNaN(crc)) {
         res.status(400).send('Invalid CRC format. Expected hexadecimal string.');
         return;
     }
     // Get optional parameters from query string
-    const chunkSize = parseInt(((_89 = req.query['chunkSize']) !== null && _89 !== void 0 ? _89 : '1000'));
-    const commandTimeout = parseInt(((_90 = req.query['commandTimeout']) !== null && _90 !== void 0 ? _90 : '30000'));
-    const responsePollingInterval = parseInt(((_91 = req.query['responsePollingInterval']) !== null && _91 !== void 0 ? _91 : '1000'));
-    const fsBufferReadWriteTimeout = parseInt(((_92 = req.query['fsBufferReadWriteTimeout']) !== null && _92 !== void 0 ? _92 : '120000'));
+    const chunkSize = parseInt(((_97 = req.query['chunkSize']) !== null && _97 !== void 0 ? _97 : '1000'));
+    const commandTimeout = parseInt(((_98 = req.query['commandTimeout']) !== null && _98 !== void 0 ? _98 : '30000'));
+    const responsePollingInterval = parseInt(((_99 = req.query['responsePollingInterval']) !== null && _99 !== void 0 ? _99 : '1000'));
+    const fsBufferReadWriteTimeout = parseInt(((_100 = req.query['fsBufferReadWriteTimeout']) !== null && _100 !== void 0 ? _100 : '120000'));
     // Create buffer from request body
     const buffer = new Uint8Array(req.body);
     yield (0, rxjs_1.lastValueFrom)(client.request.updateSmmSoftware(deviceRef, username, password, buffer, crc, chunkSize, commandTimeout, responsePollingInterval, fsBufferReadWriteTimeout));
     res.send();
 })));
 app.post('/api/devices/:deviceRef/update-smm-software-to-encrypted', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _93, _94, _95, _96, _97, _98, _99;
+    var _101, _102, _103, _104, _105, _106, _107;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const username = (_93 = req.query['username']) !== null && _93 !== void 0 ? _93 : 'Test';
-    const password = (_94 = req.query['password']) !== null && _94 !== void 0 ? _94 : 'SomanetSMM';
-    const crc = parseInt(((_95 = req.query['crc']) !== null && _95 !== void 0 ? _95 : ''), 16);
+    const username = (_101 = req.query['username']) !== null && _101 !== void 0 ? _101 : 'Test';
+    const password = (_102 = req.query['password']) !== null && _102 !== void 0 ? _102 : 'SomanetSMM';
+    const crc = parseInt(((_103 = req.query['crc']) !== null && _103 !== void 0 ? _103 : ''), 16);
     // Validate CRC
     if (Number.isNaN(crc)) {
         res.status(400).send('Invalid CRC format. Expected hexadecimal string.');
         return;
     }
     // Get optional parameters from query string
-    const chunkSize = parseInt(((_96 = req.query['chunkSize']) !== null && _96 !== void 0 ? _96 : '1000'));
-    const commandTimeout = parseInt(((_97 = req.query['commandTimeout']) !== null && _97 !== void 0 ? _97 : '30000'));
-    const responsePollingInterval = parseInt(((_98 = req.query['responsePollingInterval']) !== null && _98 !== void 0 ? _98 : '1000'));
-    const fsBufferReadWriteTimeout = parseInt(((_99 = req.query['fsBufferReadWriteTimeout']) !== null && _99 !== void 0 ? _99 : '120000'));
+    const chunkSize = parseInt(((_104 = req.query['chunkSize']) !== null && _104 !== void 0 ? _104 : '1000'));
+    const commandTimeout = parseInt(((_105 = req.query['commandTimeout']) !== null && _105 !== void 0 ? _105 : '30000'));
+    const responsePollingInterval = parseInt(((_106 = req.query['responsePollingInterval']) !== null && _106 !== void 0 ? _106 : '1000'));
+    const fsBufferReadWriteTimeout = parseInt(((_107 = req.query['fsBufferReadWriteTimeout']) !== null && _107 !== void 0 ? _107 : '120000'));
     // Create buffer from request body
     const buffer = new Uint8Array(req.body);
     yield (0, rxjs_1.lastValueFrom)(client.request.updateSmmSoftwareToEncrypted(deviceRef, username, password, buffer, crc, chunkSize, commandTimeout, responsePollingInterval, fsBufferReadWriteTimeout));
@@ -1141,16 +1273,16 @@ app.get('/api/devices/:deviceRef/write-circulo-integrated-encoder-config-bin-fil
     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 _100, _101, _102, _103, _104, _105, _106, _107;
-    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const hrdStreamingDuration = parseInt(((_100 = req.query['hrd-streaming-duration']) !== null && _100 !== void 0 ? _100 : '4000'));
-    const modesOfOperation = parseInt(((_101 = req.query['modes-of-operation']) !== null && _101 !== void 0 ? _101 : '10'));
-    const signalType = parseInt(((_102 = req.query['signal-type']) !== null && _102 !== void 0 ? _102 : '0'));
-    const startFrequency = parseInt(((_103 = req.query['start-frequency']) !== null && _103 !== void 0 ? _103 : '2000'));
-    const startProcedure = parseInt(((_104 = req.query['start-procedure']) !== null && _104 !== void 0 ? _104 : '2'));
-    const targetAmplitude = parseInt(((_105 = req.query['target-amplitude']) !== null && _105 !== void 0 ? _105 : '300'));
-    const targetFrequency = parseInt(((_106 = req.query['target-frequency']) !== null && _106 !== void 0 ? _106 : '100000'));
-    const transitionTime = parseInt(((_107 = req.query['transition-time']) !== null && _107 !== void 0 ? _107 : '3000'));
+    var _108, _109, _110, _111, _112, _113, _114, _115;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const hrdStreamingDuration = parseInt(((_108 = req.query['hrd-streaming-duration']) !== null && _108 !== void 0 ? _108 : '4000'));
+    const modesOfOperation = parseInt(((_109 = req.query['modes-of-operation']) !== null && _109 !== void 0 ? _109 : '10'));
+    const signalType = parseInt(((_110 = req.query['signal-type']) !== null && _110 !== void 0 ? _110 : '0'));
+    const startFrequency = parseInt(((_111 = req.query['start-frequency']) !== null && _111 !== void 0 ? _111 : '2000'));
+    const startProcedure = parseInt(((_112 = req.query['start-procedure']) !== null && _112 !== void 0 ? _112 : '2'));
+    const targetAmplitude = parseInt(((_113 = req.query['target-amplitude']) !== null && _113 !== void 0 ? _113 : '300'));
+    const targetFrequency = parseInt(((_114 = req.query['target-frequency']) !== null && _114 !== void 0 ? _114 : '100000'));
+    const transitionTime = parseInt(((_115 = req.query['transition-time']) !== null && _115 !== void 0 ? _115 : '3000'));
     const options = {
         hrdStreamingDuration,
         modesOfOperation,
@@ -1171,18 +1303,18 @@ app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => t
     }
 })));
 app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _108, _109, _110, _111, _112, _113, _114;
+    var _116, _117, _118, _119, _120, _121, _122;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const hrdStreamingDuration = parseInt(((_108 = req.query['hrd-streaming-duration']) !== null && _108 !== void 0 ? _108 : '3200'));
+    const hrdStreamingDuration = parseInt(((_116 = req.query['hrd-streaming-duration']) !== null && _116 !== void 0 ? _116 : '3200'));
     const modesOfOperation = cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE;
-    const rangeLimit = parseInt(((_109 = req.query['range-limit']) !== null && _109 !== void 0 ? _109 : '10000'));
-    const rangeLimitMin = parseInt(((_110 = req.query['range-limit-min']) !== null && _110 !== void 0 ? _110 : '1000'));
+    const rangeLimit = parseInt(((_117 = req.query['range-limit']) !== null && _117 !== void 0 ? _117 : '10000'));
+    const rangeLimitMin = parseInt(((_118 = req.query['range-limit-min']) !== null && _118 !== void 0 ? _118 : '1000'));
     const signalType = os_command_1.SystemIdentificationOsCommandSignalType.LINEAR_WITH_CONSTANT_AMPLITUDE;
-    const startFrequency = parseInt(((_111 = req.query['start-frequency']) !== null && _111 !== void 0 ? _111 : '1000'));
+    const startFrequency = parseInt(((_119 = req.query['start-frequency']) !== null && _119 !== void 0 ? _119 : '1000'));
     const startProcedure = os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START;
-    const targetAmplitude = parseInt(((_112 = req.query['target-amplitude']) !== null && _112 !== void 0 ? _112 : '300'));
-    const targetFrequency = parseInt(((_113 = req.query['target-frequency']) !== null && _113 !== void 0 ? _113 : '10000'));
-    const transitionTime = parseInt(((_114 = req.query['transition-time']) !== null && _114 !== void 0 ? _114 : '3000'));
+    const targetAmplitude = parseInt(((_120 = req.query['target-amplitude']) !== null && _120 !== void 0 ? _120 : '300'));
+    const targetFrequency = parseInt(((_121 = req.query['target-frequency']) !== null && _121 !== void 0 ? _121 : '10000'));
+    const transitionTime = parseInt(((_122 = req.query['transition-time']) !== null && _122 !== void 0 ? _122 : '3000'));
     const options = {
         hrdStreamingDuration,
         modesOfOperation,
@@ -1225,15 +1357,15 @@ app.get('/api/motion-composer/stop', asyncHandler((_req, res) => tslib_1.__await
     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 _115, _116, _117, _118, _119, _120, _121;
-    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const rw = parseInt(((_115 = req.query['rw']) !== null && _115 !== void 0 ? _115 : '0'));
-    const registerAddress = parseInt(((_116 = req.query['register-address']) !== null && _116 !== void 0 ? _116 : '0'));
-    const registerLength = parseInt(((_117 = req.query['register-length']) !== null && _117 !== void 0 ? _117 : '0'));
-    const registerWriteValue = parseInt(((_118 = req.query['register-write-value']) !== null && _118 !== void 0 ? _118 : '0'));
-    const commandTimeout = parseInt(((_119 = req.query['command-timeout']) !== null && _119 !== void 0 ? _119 : '10000'));
-    const responsePollingInterval = parseInt(((_120 = req.query['response-polling-interval']) !== null && _120 !== void 0 ? _120 : '1000'));
-    const osCommandMode = asBoolean(((_121 = req.query['os-command-mode']) !== null && _121 !== void 0 ? _121 : 'false'));
+    var _123, _124, _125, _126, _127, _128, _129;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const rw = parseInt(((_123 = req.query['rw']) !== null && _123 !== void 0 ? _123 : '0'));
+    const registerAddress = parseInt(((_124 = req.query['register-address']) !== null && _124 !== void 0 ? _124 : '0'));
+    const registerLength = parseInt(((_125 = req.query['register-length']) !== null && _125 !== void 0 ? _125 : '0'));
+    const registerWriteValue = parseInt(((_126 = req.query['register-write-value']) !== null && _126 !== void 0 ? _126 : '0'));
+    const commandTimeout = parseInt(((_127 = req.query['command-timeout']) !== null && _127 !== void 0 ? _127 : '10000'));
+    const responsePollingInterval = parseInt(((_128 = req.query['response-polling-interval']) !== null && _128 !== void 0 ? _128 : '1000'));
+    const osCommandMode = asBoolean(((_129 = req.query['os-command-mode']) !== null && _129 !== void 0 ? _129 : '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);
@@ -1282,28 +1414,28 @@ app.get('/api/devices/:deviceRef/factory-reset', asyncHandler((req, res) => tsli
     }
 })));
 app.get('/api/devices/:deviceRef/monitoring/start', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _122;
+    var _130;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
     const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
-    (_122 = dataMonitoringMap.get(device.id)) === null || _122 === void 0 ? void 0 : _122.stop();
+    (_130 = dataMonitoringMap.get(device.id)) === null || _130 === void 0 ? void 0 : _130.stop();
     const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
     dataMonitoring.start();
     dataMonitoringMap.set(device.id, dataMonitoring);
     res.send();
 })));
 app.get('/api/devices/:deviceRef/monitoring/data', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _123;
+    var _131;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
     const dataMonitoring = dataMonitoringMap.get(device.id);
-    res.type('text/csv').send((_123 = dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.csv) !== null && _123 !== void 0 ? _123 : '');
+    res.type('text/csv').send((_131 = dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.csv) !== null && _131 !== void 0 ? _131 : '');
 })));
 app.get('/api/devices/:deviceRef/monitoring/stop', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _124;
+    var _132;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
-    (_124 = dataMonitoringMap.get(device.id)) === null || _124 === void 0 ? void 0 : _124.stop();
+    (_132 = dataMonitoringMap.get(device.id)) === null || _132 === void 0 ? void 0 : _132.stop();
     res.send();
 })));
 app.listen(port, () => {