motion-master-client 0.0.43 → 0.0.45

package/src/lib/motion-master-req-res-socket.ts

@@ -1,62 +0,0 @@
-import { BehaviorSubject, Observable } from "rxjs";
-import { IMotionMasterMessage } from "./types";
-
-export interface MotionMasterReqResSocket {
-  /**
-   * Emits a boolean value when socket gets opened or closed.
-   */
-  readonly opened$: BehaviorSubject<boolean>;
-
-  /**
-   * Motion Master is considered alive when it sends messages in regular time interval.
-   */
-  readonly alive$: BehaviorSubject<boolean>;
-
-  /**
-   * Decoded message instances coming from Motion Master.
-   */
-  readonly message$: Observable<IMotionMasterMessage>;
-
-  /**
-   * URL set in call to open.
-   */
-  get url(): string | undefined;
-
-  /**
-   * Send ping system messages to Motion Master with a fixed time delay between each call.
-   */
-  get pingSystemInterval(): number | undefined;
-
-  /**
-   * How long in milliseconds to consider Motion Master alive.
-   */
-  get systemAliveTimeout(): number | undefined;
-
-  /**
-   * Open socket.
-   *
-   * The connected$ and eventually alive$ observables will emit true values.
-   */
-  open(url: string, pingSystemInterval?: number, systemAliveTimeout?: number): void;
-
-  /**
-   * Close socket.
-   *
-   * The opened$ and alive$ observables will emit false values.
-   */
-  close(): void;
-
-  /**
-   * Reopen socket.
-   *
-   * Reopen if closed using the same url, pingSystemInterval, and systemAliveTimeout previously set in open.
-   */
-  reopen(): void;
-
-  /**
-   * Send an instance of a message.
-   *
-   * Subscribe to the message$ observable in order to receive the response messages.
-   */
-  send(message: IMotionMasterMessage): void;
-}

package/src/lib/motion-master-req-res-web-socket.ts

@@ -1,124 +0,0 @@
-import { BehaviorSubject, filter, interval, map, Subject, Subscription, tap } from "rxjs";
-import { webSocket, WebSocketSubject, WebSocketSubjectConfig } from "rxjs/webSocket";
-import { logger } from "./logger";
-import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
-import { IMotionMasterMessage, MotionMasterMessage } from "./types";
-import { convertMotionMasterMessageToLoggerContext, createPlainObjectFromMotionMasterMessage } from "./util";
-
-export class MotionMasterReqResWebSocket implements MotionMasterReqResSocket {
-
-  readonly opened$ = new BehaviorSubject<boolean>(false);
-
-  readonly alive$ = new BehaviorSubject<boolean>(false);
-
-  readonly message$ = new Subject<IMotionMasterMessage>();
-
-  private aliveTimeoutId = 0;
-
-  private pingSystemObserver = { next: () => this.send({ request: { pingSystem: {} } }) };
-
-  private pingSystemSubscription = new Subscription();
-
-  private webSocket$?: WebSocketSubject<Uint8Array>;
-
-  private _url?: string;
-  private _pingSystemInterval?: number;
-  private _systemAliveTimeout?: number;
-
-  get url(): string | undefined {
-    return this._url;
-  }
-
-  get pingSystemInterval(): number | undefined {
-    return this._pingSystemInterval;
-  }
-
-  get systemAliveTimeout(): number | undefined {
-    return this._systemAliveTimeout;
-  }
-
-  open(url: string, pingSystemInterval = 250, systemAliveTimeout = 1000): void {
-    if (this.opened$.getValue() === true) {
-      throw new Error('MotionMasterReqResWebSocket is already opened!');
-    }
-
-    this._url = url;
-    this._pingSystemInterval = pingSystemInterval;
-    this._systemAliveTimeout = systemAliveTimeout;
-
-    this.webSocket$ = this.createWebSocket(url, pingSystemInterval);
-
-    this.webSocket$?.pipe(
-      map((data: Uint8Array) => MotionMasterMessage.decode(data)),
-      tap(() => this.keepalive(systemAliveTimeout)),
-      filter((message) => !(message.status?.systemPong)),
-      map(message => createPlainObjectFromMotionMasterMessage(message)),
-      tap((message) => {
-        const context = convertMotionMasterMessageToLoggerContext(message);
-        // eslint-disable-next-line @typescript-eslint/no-explicit-any
-        logger.info(context as any, `Received ${context.name}`);
-      }),
-    ).subscribe({
-      next: (message) => this.message$.next(message),
-      error: (err) => {
-        console.error(err);
-      },
-    });
-  }
-
-  close(): void {
-    clearTimeout(this.aliveTimeoutId);
-    this.pingSystemSubscription.unsubscribe();
-    this.webSocket$?.unsubscribe();
-  }
-
-  reopen() {
-    if (this.url && this.opened$.value === false) {
-      this.open(this.url, this.pingSystemInterval, this.systemAliveTimeout);
-    }
-  }
-
-  send(message: IMotionMasterMessage): void {
-    if (!message.request?.pingSystem) {
-      const context = convertMotionMasterMessageToLoggerContext(message);
-      // eslint-disable-next-line @typescript-eslint/no-explicit-any
-      logger.info(context as any, `Send ${context.name}`);
-    }
-
-    this.webSocket$?.next(MotionMasterMessage.encode(message).finish());
-  }
-
-  private createWebSocket(url: string, pingSystemInterval = 250) {
-    const webSocketConfig: WebSocketSubjectConfig<Uint8Array> = {
-      binaryType: 'arraybuffer',
-      closeObserver: {
-        next: () => {
-          this.opened$.next(false);
-          logger.info(`Connection closed ${url}`);
-        },
-      },
-      deserializer: (e: MessageEvent) => new Uint8Array(e.data as unknown as Iterable<number>),
-      openObserver: {
-        next: () => {
-          this.pingSystemSubscription = interval(pingSystemInterval)
-            .subscribe(this.pingSystemObserver);
-          this.opened$.next(true);
-          logger.info(`Connection opened ${url}`);
-        },
-      },
-      serializer: (value: Uint8Array) => value,
-      url,
-    };
-
-    return webSocket(webSocketConfig);
-  }
-
-  private keepalive(systemAliveTimeout = 1000) {
-    if (this.alive$.getValue() === false) {
-      this.alive$.next(true);
-    }
-    clearTimeout(this.aliveTimeoutId);
-    this.aliveTimeoutId = setTimeout(() => this.alive$.next(false), systemAliveTimeout) as unknown as number;
-  }
-
-}

package/src/lib/motion-master-req-res-worker-socket.ts

@@ -1,87 +0,0 @@
-import { BehaviorSubject, Subject } from "rxjs";
-import { logger } from "./logger";
-import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
-import { IMotionMasterMessage } from "./types";
-import { convertMotionMasterMessageToLoggerContext } from "./util";
-
-export class MotionMasterReqResWorkerSocket implements MotionMasterReqResSocket {
-
-  readonly opened$ = new BehaviorSubject<boolean>(false);
-
-  readonly alive$ = new BehaviorSubject<boolean>(false);
-
-  readonly message$ = new Subject<IMotionMasterMessage>();
-
-  private _url?: string;
-  private _pingSystemInterval?: number;
-  private _systemAliveTimeout?: number;
-
-  constructor(
-    public readonly worker: Worker,
-  ) { }
-
-  get url(): string | undefined {
-    return this._url;
-  }
-
-  get pingSystemInterval(): number | undefined {
-    return this._pingSystemInterval;
-  }
-
-  get systemAliveTimeout(): number | undefined {
-    return this._systemAliveTimeout;
-  }
-
-  open(url: string, pingSystemInterval = 250, systemAliveTimeout = 1000): void {
-    if (this.opened$.getValue() === true) {
-      throw new Error('MotionMasterReqResWorkerSocket is already opened!');
-    }
-
-    this._url = url;
-    this._pingSystemInterval = pingSystemInterval;
-    this._systemAliveTimeout = systemAliveTimeout;
-
-    this.worker.onmessage = ({ data }) => {
-      if ('opened' in data) {
-        const { opened } = data;
-        this.opened$.next(opened);
-        logger.info(opened ? `Opened req/res 🔌 ${url}` : `Closed req/res 🔌 ${url}`);
-      } else if ('alive' in data) {
-        const { alive } = data;
-        this.alive$.next(alive);
-        logger.info(alive ? `System is alive 💓` : 'System is as dead as 🦤');
-      } else if ('message' in data) {
-        const { message } = data;
-
-        const context = convertMotionMasterMessageToLoggerContext(message);
-        // eslint-disable-next-line @typescript-eslint/no-explicit-any
-        logger.info(context as any, `Received ${context.name}`);
-
-        this.message$.next(message);
-      }
-    }
-
-    this.worker.postMessage({
-      open: { url, pingSystemInterval, systemAliveTimeout },
-    });
-  }
-
-  reopen() {
-    if (this.url && this.opened$.value === false) {
-      this.open(this.url, this.pingSystemInterval, this.systemAliveTimeout);
-    }
-  }
-
-  close(): void {
-    this.worker.postMessage({ close: true });
-  }
-
-  send(message: IMotionMasterMessage): void {
-    const context = convertMotionMasterMessageToLoggerContext(message);
-    // eslint-disable-next-line @typescript-eslint/no-explicit-any
-    logger.info(context as any, `Send ${context.name}`);
-
-    this.worker.postMessage({ message });
-  }
-
-}

package/src/lib/operators.ts

@@ -1,110 +0,0 @@
-import { pipe, filter, map, timeout, takeWhile, Observable, UnaryFunction, mergeMap, of } from 'rxjs';
-import { getParameterValue } from './util';
-import { requestStatusResolver } from './request-status-resolver';
-import { IMotionMasterMessage, MotionMasterMessage, ParameterValueType, StatusKey } from './types';
-import { DeviceParameter } from './device-parameter';
-import { MotionMasterReqResClient } from './motion-master-req-res-client';
-import { makeParameterId } from './parameter';
-
-export function selectMotionMasterMessageStatusByMessageId<T>(key: StatusKey, id?: string) {
-  return pipe(
-    filter((message: IMotionMasterMessage) => message.id === id),
-    map((message) => {
-      // Handling the special case when Motion Master sends SystemEvent instead of e.g. DeviceParameterInfo status for
-      // GetDeviceParameterInfo request message. This typically happens when request contains an invalid device address.
-      if (message.status?.systemEvent && key !== 'systemEvent') {
-        if (message.status.systemEvent.error) {
-          throw new Error(`Error selecting message: ${message.status.systemEvent.error.message ?? ''}`);
-        } else {
-          throw new Error(`Error selecting message. Received System Event instead of "${key.toString()}": ${JSON.stringify(message)}`);
-        }
-      }
-      return message.status?.[key] as T;
-    }),
-  );
-}
-
-export function extendStatus<T>(data: { statusKey: StatusKey, messageId: string }) {
-  return pipe(
-    map((status: T) => {
-      const { statusKey, messageId } = data;
-      const request = requestStatusResolver[statusKey]?.<T>(status);
-      return { ...status, messageId, request };
-    }),
-  );
-}
-
-export function transformMotionMasterMessageToStatus<T>(statusKey: StatusKey, requestTimeout: number, messageId: string) {
-  if (typeof requestTimeout !== 'number') {
-    throw new Error(`Invalid requestTimeout=${requestTimeout} provided for ${statusKey}`);
-  }
-
-  return pipe(
-    selectMotionMasterMessageStatusByMessageId<T>(statusKey, messageId),
-    timeout(requestTimeout),
-    extendStatus({ statusKey, messageId }),
-    takeWhile((status) => status.request !== 'succeeded' && status.request !== 'failed', true),
-  );
-}
-
-export function selectMotionMasterMessageByTopic<T>(topic: string) {
-  return pipe(
-    filter(([t]: [string, T]) => t === topic),
-    map(([, data]) => data),
-  );
-}
-
-export function selectMotionMasterMessageStatusByKey<T>(key: keyof MotionMasterMessage.IStatus) {
-  return pipe(
-    filter((message: IMotionMasterMessage) => !!(message.status && message.status[key])),
-    map((message) => message.status?.[key] as T),
-  );
-}
-
-export function mapMonitoringParameterValuesStatusMessageToParameterValues()
-  : UnaryFunction<Observable<IMotionMasterMessage>, Observable<ParameterValueType[]>> {
-  return pipe(
-    map((message: IMotionMasterMessage) => {
-      if (message.status?.monitoringParameterValues) {
-        const { deviceParameterValues } = message.status.monitoringParameterValues;
-        if (deviceParameterValues?.parameterValues) {
-          return deviceParameterValues.parameterValues.map((parameterValue) => getParameterValue(parameterValue));
-        }
-      }
-      return [];
-    }),
-  );
-}
-
-export function mapMonitoringParameterValuesStatusMessageToDeviceParameters(request: MotionMasterReqResClient)
-  : UnaryFunction<Observable<IMotionMasterMessage>, Observable<DeviceParameter[]>> {
-  return pipe(
-    mergeMap((message: IMotionMasterMessage) => {
-      const parameterValues = message.status?.monitoringParameterValues?.deviceParameterValues?.parameterValues;
-
-      if (!parameterValues) {
-        return of([]);
-      }
-
-      const deviceAddress = message?.status?.monitoringParameterValues?.deviceParameterValues?.deviceAddress!;
-
-      return request.resolveDeviceParameterInfoMap(deviceAddress).pipe(
-        map((infoMap) => {
-          return parameterValues.map((parameter) => {
-            const id = makeParameterId(parameter.index!, parameter.subindex ?? 0);
-
-            const infoParameter = infoMap.get(id);
-
-            if (!infoParameter) {
-              throw new Error(`No info parameter for ${deviceAddress} ${id}`);
-            }
-
-            const value = getParameterValue(parameter);
-
-            return { ...infoParameter, value };
-          })
-        }),
-      );
-    }),
-  );
-}

package/src/lib/options.ts

@@ -1,12 +0,0 @@
-import { MotionMasterMessage } from './types';
-
-export const parameterValueTypeOptions = {
-  'intValue': 'intValue',
-  'uintValue': 'uintValue',
-  'floatValue': 'floatValue',
-  'stringValue': 'stringValue',
-  'rawValue': 'rawValue',
-};
-
-export const ethercatNetworkStateOptions = MotionMasterMessage.Status.EthercatNetworkState.State;
-export const positionControllerTypeOptions = MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType;

package/src/lib/parameter.spec.ts

@@ -1,160 +0,0 @@
-import { differenceParameters, intersectionParameters, makeParameterId, splitParameterId } from "./parameter";
-
-describe('parameter', () => {
-
-  describe('makeParameterId', () => {
-
-    test.each<[[(number | null | undefined), (number | null | undefined)], string]>([
-      [[0x1234, 123], '0x1234:7B'],
-      [[23, 23], '0x0017:17'],
-      [[0, 0], '0x0000:00'],
-      [[0x2000, undefined], '0x2000:00'],
-      [[0x2003, null], '0x2003:00'],
-      [[0x10000, 3], '0x00010000:03'],
-      [[0x100F0, undefined], '0x000100F0:00'],
-    ])('should for tuple %j return "%s"', (tuple, expected) => {
-      const result = makeParameterId(tuple);
-
-      expect(result).toBe(expected);
-    });
-
-    test.each([
-      [{}, '0x0000:00'],
-      [{ index: 0x2004, subindex: 4 }, '0x2004:04'],
-      [{ index: 0x1024 }, '0x1024:00'],
-    ])('should for parameter %j return "%s"', (parameter, expected) => {
-      const result = makeParameterId(parameter);
-
-      expect(result).toBe(expected);
-    });
-
-    test.each([
-      [0x1234, 123, '0x1234:7B'],
-      [23, 23, '0x0017:17'],
-      [0, 0, '0x0000:00'],
-      [0x2000, undefined, '0x2000:00'],
-      [0x2003, null, '0x2003:00'],
-      [0x10000, 3, '0x00010000:03'],
-      [0x100F0, undefined, '0x000100F0:00'],
-    ])('should for index %d and subindex %d return "%s"', (index, subindex, expected) => {
-      const result = makeParameterId(index, subindex);
-
-      expect(result).toBe(expected);
-    });
-
-    it('should throw if index is less than 0', () => {
-      expect(() => {
-        makeParameterId(-123, 0);
-      }).toThrow();
-    });
-
-    it('should throw if subindex is less than 0', () => {
-      expect(() => {
-        makeParameterId(0x1024, -3);
-      }).toThrow();
-    });
-
-  });
-
-  describe('splitParameterId', () => {
-
-    test.each([
-      ['0x1234:7B', [4660, 123]],
-      ['0x000100F0:00', [65776, 0]],
-    ])('should for id "%s" return tuple %j', (id, expected) => {
-      const result = splitParameterId(id);
-
-      expect(result).toEqual(expected);
-    });
-
-    test.each([
-      ['0x12:7B'],
-      ['0x1234:F'],
-      ['0x1234:FG'],
-      ['0x1H34:FF'],
-    ])('should throw error for id "%s"', (id) => {
-      expect(() => splitParameterId(id)).toThrow();
-    });
-
-  });
-
-  describe('differenceParameters', () => {
-    it('should return an empty array if there are no differences', () => {
-      const parameters = differenceParameters(
-        [
-          { index: 0x2030, subindex: 1 },
-          { index: 0x2031, subindex: 1 },
-        ],
-        [
-          { index: 0x2030, subindex: 1 },
-          { index: 0x2031, subindex: 1 },
-        ],
-      );
-
-      expect(parameters).toEqual([]);
-    });
-
-    it('should return an array of differences', () => {
-      const parameters = differenceParameters(
-        [
-          { index: 0x2030, subindex: 1 },
-          { index: 0x2031, subindex: 1 },
-          { index: 0x6040, subindex: 0 },
-          { index: 0x6091, subindex: 0 },
-        ],
-        [
-          { index: 0x2031, subindex: 1 },
-          { index: 0x6040, subindex: 0 },
-          { index: 0x6041, subindex: 0 },
-        ],
-      );
-
-      expect(parameters).toEqual([
-        { index: 0x2030, subindex: 1 },
-        { index: 0x6091, subindex: 0 },
-      ]);
-    });
-  });
-
-  fdescribe('intersectionParameters', () => {
-    it('should return full array if there are no differences', () => {
-      const parameters = intersectionParameters(
-        [
-          { index: 0x2030, subindex: 1 },
-          { index: 0x2031, subindex: 1 },
-        ],
-        [
-          { index: 0x2030, subindex: 1 },
-          { index: 0x2031, subindex: 1 },
-        ],
-      );
-
-      expect(parameters).toEqual([
-        { index: 0x2030, subindex: 1 },
-        { index: 0x2031, subindex: 1 },
-      ]);
-    });
-
-    it('should return an array excluding differences', () => {
-      const parameters = intersectionParameters(
-        [
-          { index: 0x2031, subindex: 1 },
-          { index: 0x6040, subindex: 0 },
-          { index: 0x6041, subindex: 0 },
-        ],
-        [
-          { index: 0x2030, subindex: 1 },
-          { index: 0x2031, subindex: 1 },
-          { index: 0x6040, subindex: 0 },
-          { index: 0x6091, subindex: 0 },
-        ],
-      );
-
-      expect(parameters).toEqual([
-        { index: 0x2031, subindex: 1 },
-        { index: 0x6040, subindex: 0 },
-      ]);
-    });
-  });
-
-});