motion-master-client 0.0.421 → 0.0.422

package/src/lib/os-command.d.ts

@@ -462,6 +462,26 @@ export interface TorqueConstantMeasurementOsCommandResponse extends OsCommandRes
 export declare function createSmmAcyclicHandlerOsCommand(subcommandId: SmmAcyclicHandlerSubcommandId): Uint8Array;
 export declare function createSmmAcyclicHandlerReadSmmParameterOsCommand(index: number, subindex?: number): Uint8Array;
 export declare function createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand(fileSize: number): Uint8Array;
+/**
+ * Error codes of OS command 11 (SMM acyclic handler), reported in byte 2 of the response when the status is 3.
+ *
+ * The SoC side of the handler (`sc_drive/module_os_command/src/oscmd_smm_acyclic_handler.xc`) currently emits only
+ * 15 (timeout) and 16 (action not supported) with a code. When the SMM itself rejects a request (wrong password, no
+ * open session, ...) the status is 2 and no code is sent, so the reason cannot be told apart from the response alone.
+ * Codes 0-9 are the ones defined by the firmware test helpers (`somanet_oscmd_helpers.py`, `OsCmd11ErrorCodes`) and
+ * are decoded in case a firmware reports them.
+ */
+export declare const smmAcyclicHandlerOsCommandErrors: OsCommandErrors;
+/**
+ * Describes why an OS command failed, in a form that can be appended to an error message.
+ *
+ * Status 2 (completed with error, no reply) carries no error code. For the SMM acyclic handler this is how the SMM
+ * reports a rejected request. Status 3 carries an error code, which is named when it is known.
+ *
+ * @param response - The final response of the OS command.
+ * @returns A short description such as `the SMM rejected the request (status 2)` or `Timeout (error code 15): ...`.
+ */
+export declare function describeOsCommandFailure(response: OsCommandResponse): string;
 export interface SmmAcyclicHandlerOsCommandResponse extends OsCommandResponse {
     parameterValueUpdated?: boolean;
 }

package/src/lib/os-command.js

@@ -1,6 +1,7 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.mapOsCommandResponse = exports.kublerEncoderSubcommands = exports.smmAcyclicHandlerSubcommands = exports.osCommands = exports.kublerEncoderRegisterValueMeaning = exports.kublerEncoderRegisterCommunicationWriteOsCommandErrors = exports.kublerEncoderRegisterCommunicationReadOsCommandErrors = exports.createKublerEncoderRegisterCommunicationOsCommand = exports.createUseInternalEncoderVelocityOsCommand = exports.kublerEncoderCommandOsCommandErrors = exports.createKublerEncoderCommandWriteFirmwareOsCommand = exports.createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand = exports.createKublerEncoderOsCommand = exports.KublerEncoderSubcommandId = exports.triggerErrorTypes = exports.createTriggerErrorOsCommand = exports.systemIdentificationParameters = exports.SystemIdentificationOsCommandStartProcedure = exports.SystemIdentificationOsCommandSignalType = exports.createSystemIdentificationOsCommand = exports.createIgnoreBissStatusBitsOsCommand = exports.createSkippedCyclesCounterOsCommand = exports.createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand = exports.createSmmAcyclicHandlerReadSmmParameterOsCommand = exports.createSmmAcyclicHandlerOsCommand = exports.createTorqueConstantMeasurementOsCommand = exports.createPhaseInductanceMeasurementOsCommand = exports.createPhaseResistanceMeasurementOsCommand = exports.createPolePairDetectionOsCommand = exports.openPhaseDetectionErrors = exports.createOpenPhaseDetectionOsCommand = exports.createCommutationOffsetMeasurementOsCommand = exports.createMotorPhaseOrderDetectionOsCommand = exports.convertHrdSamplesToCsv = exports.parseHrdBuffer = exports.hrdStreamingOsCommandErrors = exports.createHrdStreamingOsCommand = exports.HrdStreamingOsCommandDataIndex = exports.HrdStreamingOsCommandAction = exports.openLoopFieldModeParameters = exports.createOpenLoopFieldModeOsCommand = exports.createIcMuCalibrationModeOsCommand = exports.createEncoderRegisterCommunicationOsCommand = exports.createOsCommandTypedArray = exports.osCommandErrorCode = exports.SmmAcyclicHandlerSubcommandId = exports.OsCommandId = exports.OsCommandMode = exports.parseOsCommandResponse = exports.isOsCommandResponse = void 0;
+exports.smmAcyclicHandlerSubcommands = exports.osCommands = exports.kublerEncoderRegisterValueMeaning = exports.kublerEncoderRegisterCommunicationWriteOsCommandErrors = exports.kublerEncoderRegisterCommunicationReadOsCommandErrors = exports.createKublerEncoderRegisterCommunicationOsCommand = exports.createUseInternalEncoderVelocityOsCommand = exports.kublerEncoderCommandOsCommandErrors = exports.createKublerEncoderCommandWriteFirmwareOsCommand = exports.createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand = exports.createKublerEncoderOsCommand = exports.KublerEncoderSubcommandId = exports.triggerErrorTypes = exports.createTriggerErrorOsCommand = exports.systemIdentificationParameters = exports.SystemIdentificationOsCommandStartProcedure = exports.SystemIdentificationOsCommandSignalType = exports.createSystemIdentificationOsCommand = exports.createIgnoreBissStatusBitsOsCommand = exports.createSkippedCyclesCounterOsCommand = exports.describeOsCommandFailure = exports.smmAcyclicHandlerOsCommandErrors = exports.createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand = exports.createSmmAcyclicHandlerReadSmmParameterOsCommand = exports.createSmmAcyclicHandlerOsCommand = exports.createTorqueConstantMeasurementOsCommand = exports.createPhaseInductanceMeasurementOsCommand = exports.createPhaseResistanceMeasurementOsCommand = exports.createPolePairDetectionOsCommand = exports.openPhaseDetectionErrors = exports.createOpenPhaseDetectionOsCommand = exports.createCommutationOffsetMeasurementOsCommand = exports.createMotorPhaseOrderDetectionOsCommand = exports.convertHrdSamplesToCsv = exports.parseHrdBuffer = exports.hrdStreamingOsCommandErrors = exports.createHrdStreamingOsCommand = exports.HrdStreamingOsCommandDataIndex = exports.HrdStreamingOsCommandAction = exports.openLoopFieldModeParameters = exports.createOpenLoopFieldModeOsCommand = exports.createIcMuCalibrationModeOsCommand = exports.createEncoderRegisterCommunicationOsCommand = exports.createOsCommandTypedArray = exports.osCommandErrorCode = exports.SmmAcyclicHandlerSubcommandId = exports.OsCommandId = exports.OsCommandMode = exports.parseOsCommandResponse = exports.isOsCommandResponse = void 0;
+exports.mapOsCommandResponse = exports.kublerEncoderSubcommands = void 0;
 const rxjs_1 = require("rxjs");
 const util_1 = require("./util");
 /**
@@ -571,6 +572,58 @@ function createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand(fileSize) {
     return createOsCommandTypedArray(elements);
 }
 exports.createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand = createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand;
+/**
+ * Error codes of OS command 11 (SMM acyclic handler), reported in byte 2 of the response when the status is 3.
+ *
+ * The SoC side of the handler (`sc_drive/module_os_command/src/oscmd_smm_acyclic_handler.xc`) currently emits only
+ * 15 (timeout) and 16 (action not supported) with a code. When the SMM itself rejects a request (wrong password, no
+ * open session, ...) the status is 2 and no code is sent, so the reason cannot be told apart from the response alone.
+ * Codes 0-9 are the ones defined by the firmware test helpers (`somanet_oscmd_helpers.py`, `OsCmd11ErrorCodes`) and
+ * are decoded in case a firmware reports them.
+ */
+exports.smmAcyclicHandlerOsCommandErrors = {
+    0: { errorName: 'File not found', errorDescription: 'The fs-buffer file required by the command was not found.' },
+    1: { errorName: 'Login failed', errorDescription: 'The SMM rejected the login.' },
+    2: { errorName: 'Transmission failed', errorDescription: 'Transmitting the data to the SMM failed.' },
+    3: { errorName: 'Requesting parameters failed', errorDescription: 'Requesting the parameters from the SMM failed.' },
+    4: { errorName: 'Verification failed', errorDescription: 'The SMM rejected the parameter verification.' },
+    5: {
+        errorName: 'Requesting report failed',
+        errorDescription: 'Requesting the validation report from the SMM failed.',
+    },
+    6: { errorName: 'Validation failed', errorDescription: 'The SMM rejected the configuration validation.' },
+    7: { errorName: 'Change password failed', errorDescription: 'The SMM rejected the password change.' },
+    8: { errorName: 'Logout failed', errorDescription: 'The SMM rejected the logout.' },
+    9: { errorName: 'Parameter read failed', errorDescription: 'Reading the parameter from the SMM failed.' },
+    15: {
+        errorName: 'Timeout',
+        errorDescription: 'The SMM did not answer within the time the drive allows for this command.',
+    },
+    16: { errorName: 'Action not supported', errorDescription: 'The drive firmware does not support this SMM command.' },
+};
+/**
+ * Describes why an OS command failed, in a form that can be appended to an error message.
+ *
+ * Status 2 (completed with error, no reply) carries no error code. For the SMM acyclic handler this is how the SMM
+ * reports a rejected request. Status 3 carries an error code, which is named when it is known.
+ *
+ * @param response - The final response of the OS command.
+ * @returns A short description such as `the SMM rejected the request (status 2)` or `Timeout (error code 15): ...`.
+ */
+function describeOsCommandFailure(response) {
+    var _a, _b, _c;
+    const status = (_a = response.response) === null || _a === void 0 ? void 0 : _a.at(0);
+    if (typeof response.errorCode === 'number') {
+        const name = (_b = response.errorName) !== null && _b !== void 0 ? _b : 'Unknown error';
+        const description = response.errorDescription ? `: ${response.errorDescription.replace(/\.$/, '')}` : '';
+        return `${name} (error code ${response.errorCode})${description}`;
+    }
+    if (((_c = response.command) === null || _c === void 0 ? void 0 : _c[0]) === OsCommandId.SMM_ACYCLIC_HANDLER) {
+        return `the SMM rejected the request (status ${status})`;
+    }
+    return `the command completed with an error (status ${status})`;
+}
+exports.describeOsCommandFailure = describeOsCommandFailure;
 function createSkippedCyclesCounterOsCommand(firmwareService = 0) {
     const elements = [OsCommandId.SKIPPED_CYCLED_COUNTER, firmwareService];
     return createOsCommandTypedArray(elements);
@@ -840,6 +893,14 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { hrdStreamingComplete: false });
                 }
             }
+            if (osCommandId === OsCommandId.SMM_ACYCLIC_HANDLER) {
+                if (response.request === 'failed' && typeof response.errorCode === 'number' && response.errorCode <= 250) {
+                    const error = exports.smmAcyclicHandlerOsCommandErrors[response.errorCode];
+                    if (error) {
+                        return Object.assign(Object.assign({}, response), { errorName: error.errorName, errorDescription: error.errorDescription });
+                    }
+                }
+            }
             if (osCommandId === OsCommandId.MOTOR_PHASE_ORDER_DETECTION) {
                 if (response.request === 'succeeded' && response.data) {
                     return Object.assign(Object.assign({}, response), { motorPhaseOrder: response.data[0] });

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package/src/lib/smm.d.ts

@@ -131,6 +131,28 @@ export declare function packSmmCredentials(username: string, password: string):
  * @throws Error if either password contains invalid characters or types.
  */
 export declare function packSmmChangePassword(newPassword: string, oldPassword: string): Buffer;
+/**
+ * The maximum length of an SMM username or password, in bytes. Credentials are packed as `24s`.
+ */
+export declare const SMM_PASSWORD_MAX_LENGTH = 24;
+/**
+ * The minimum length of a new SMM password.
+ */
+export declare const SMM_PASSWORD_MIN_LENGTH = 4;
+/**
+ * Checks that a value can be sent to the SMM as a password without being altered by packing.
+ *
+ * Credentials are packed into fixed 24-byte fields, so a longer value would be silently truncated and the SMM would
+ * store something other than what the caller asked for. Only printable ASCII is accepted, because any other character
+ * takes more than one byte and a NUL byte would end the field early.
+ *
+ * @param password - The password to check.
+ * @param label - How the password is named in the error message, e.g. `New password`.
+ * @param minLength - The minimum length in characters. Defaults to 1.
+ *
+ * @throws {Error} If the password is shorter than `minLength`, longer than 24 characters, or not printable ASCII.
+ */
+export declare function assertValidSmmPassword(password: string, label: string, minLength?: number): void;
 /**
  * Packs SMM (Safety Motion Module) parameter values into a binary buffer,
  * following the specified SMM parameter structure version.

package/src/lib/smm.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.getInformationFromSmmFirmwareVersion = exports.smmFirmwareUnencryptedVersions = exports.smmFirmwareSpecialVersions = exports.checkSmmFirmwareInstallationAllowed = exports.bitwiseDecodeNumberVersion = exports.bitwiseEncodeSemverString = exports.parseSmmBinaryHeaders = exports.convertGroupedSmmParametersToTransmitData = exports.getSafetyStatuswordBitNames = exports.getSafetyStatuswordBits = exports.safetyStatuswordBits = exports.safetyStatuswordBitsV2 = exports.safetyStatuswordBitsV1 = exports.smmOdV1DefaultValues = exports.getSmmParametersGroupNames = exports.packSmmSoftwareUpdateCrc = exports.packSmmValidationReport = exports.packSmmDate = exports.packSmmParameterValuesForVerification = exports.unpackSmmParameterValues = exports.packSmmParameterValues = exports.packSmmChangePassword = exports.packSmmCredentials = exports.calcSmmCRC32 = exports.buildSmmParametersPackFormat = exports.buildSmmParametersGroupPackFormats = exports.buildSmmParametersGroupBitmask = exports.resolveSmmOd = exports.supportsSafetyModule = exports.declaresModularDeviceProfile = exports.OD_INDEX_DETECTED_MODULE_IDENT_LIST = void 0;
+exports.getInformationFromSmmFirmwareVersion = exports.smmFirmwareUnencryptedVersions = exports.smmFirmwareSpecialVersions = exports.checkSmmFirmwareInstallationAllowed = exports.bitwiseDecodeNumberVersion = exports.bitwiseEncodeSemverString = exports.parseSmmBinaryHeaders = exports.convertGroupedSmmParametersToTransmitData = exports.getSafetyStatuswordBitNames = exports.getSafetyStatuswordBits = exports.safetyStatuswordBits = exports.safetyStatuswordBitsV2 = exports.safetyStatuswordBitsV1 = exports.smmOdV1DefaultValues = exports.getSmmParametersGroupNames = exports.packSmmSoftwareUpdateCrc = exports.packSmmValidationReport = exports.packSmmDate = exports.packSmmParameterValuesForVerification = exports.unpackSmmParameterValues = exports.packSmmParameterValues = exports.assertValidSmmPassword = exports.SMM_PASSWORD_MIN_LENGTH = exports.SMM_PASSWORD_MAX_LENGTH = exports.packSmmChangePassword = exports.packSmmCredentials = exports.calcSmmCRC32 = exports.buildSmmParametersPackFormat = exports.buildSmmParametersGroupPackFormats = exports.buildSmmParametersGroupBitmask = exports.resolveSmmOd = exports.supportsSafetyModule = exports.declaresModularDeviceProfile = exports.OD_INDEX_DETECTED_MODULE_IDENT_LIST = void 0;
 const tslib_1 = require("tslib");
 const buffer_1 = require("buffer");
 const python_struct_1 = tslib_1.__importDefault(require("python-struct"));
@@ -237,6 +237,39 @@ function packSmmChangePassword(newPassword, oldPassword) {
     return python_struct_1.default.pack('<24s24s', newPassword, oldPassword);
 }
 exports.packSmmChangePassword = packSmmChangePassword;
+/**
+ * The maximum length of an SMM username or password, in bytes. Credentials are packed as `24s`.
+ */
+exports.SMM_PASSWORD_MAX_LENGTH = 24;
+/**
+ * The minimum length of a new SMM password.
+ */
+exports.SMM_PASSWORD_MIN_LENGTH = 4;
+/**
+ * Checks that a value can be sent to the SMM as a password without being altered by packing.
+ *
+ * Credentials are packed into fixed 24-byte fields, so a longer value would be silently truncated and the SMM would
+ * store something other than what the caller asked for. Only printable ASCII is accepted, because any other character
+ * takes more than one byte and a NUL byte would end the field early.
+ *
+ * @param password - The password to check.
+ * @param label - How the password is named in the error message, e.g. `New password`.
+ * @param minLength - The minimum length in characters. Defaults to 1.
+ *
+ * @throws {Error} If the password is shorter than `minLength`, longer than 24 characters, or not printable ASCII.
+ */
+function assertValidSmmPassword(password, label, minLength = 1) {
+    if (typeof password !== 'string' || password.length < minLength) {
+        throw new Error(`${label} must be at least ${minLength} characters long.`);
+    }
+    if (password.length > exports.SMM_PASSWORD_MAX_LENGTH) {
+        throw new Error(`${label} must be at most ${exports.SMM_PASSWORD_MAX_LENGTH} characters long.`);
+    }
+    if (!/^[\x20-\x7e]*$/.test(password)) {
+        throw new Error(`${label} may only contain printable ASCII characters.`);
+    }
+}
+exports.assertValidSmmPassword = assertValidSmmPassword;
 /**
  * Packs SMM (Safety Motion Module) parameter values into a binary buffer,
  * following the specified SMM parameter structure version.

package/src/lib/smm.js.map

@@ -1 +1 @@
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