motion-master-client 0.0.55 → 0.0.56

package/src/lib/config-file.spec.ts

@@ -0,0 +1,114 @@
+import { ConfigFile } from './config-file';
+
+const content = `META,FORMAT,2
+# 8502-03
+# v5.1.0-rc.4
+0x2001,  0, 2969
+0x2002,  0, 2
+0x2003,  1, 4
+0x2003,  2, 100000
+0x2003,  3, 250000
+0x2003,  4, 300
+0x2213,  1, 0
+0x2213,  2, 0
+0x2213,  3, 0
+0x2214,  1, 1
+0x2003,  5, 1
+0x6080,  0, 3750000
+0x6081,  0, 20000
+0x6083,  0, 30000
+0x2004,  1, 0
+0x2004,  2, 0
+0x2004,  3, 0
+0x2004,  4, 0
+0x20f2,  0, YOCTO
+0x2004,  5, 100
+0x2004,  6, 20
+0x6092,  1, 4294967295
+0x6092,  2, 1
+0x6098,  0, 0
+0x6099,  1, 0
+`;
+
+const contentNoHeader = `0x2001,  0, 2969
+0x2002,  0, 2
+0x2003,  1, 4
+`;
+
+describe('ConfigFile', () => {
+
+  describe('constructor', () => {
+
+    it('should parse the config file with header', () => {
+      const configFile = new ConfigFile(content);
+
+      expect(configFile.apiId).toBe('8502-03');
+      expect(configFile.firmwareVersion).toBe('v5.1.0-rc.4');
+      expect(configFile.toString()).toBe(`META,FORMAT,2
+# 8502-03
+# v5.1.0-rc.4
+0x2001, 0, 2969
+0x2002, 0, 2
+0x2003, 1, 4
+0x2003, 2, 100000
+0x2003, 3, 250000
+0x2003, 4, 300
+0x2003, 5, 1
+0x2004, 1, 0
+0x2004, 2, 0
+0x2004, 3, 0
+0x2004, 4, 0
+0x2004, 5, 100
+0x2004, 6, 20
+0x20f2, 0, YOCTO
+0x2213, 1, 0
+0x2213, 2, 0
+0x2213, 3, 0
+0x2214, 1, 1
+0x6080, 0, 3750000
+0x6081, 0, 20000
+0x6083, 0, 30000
+0x6092, 1, 4294967295
+0x6092, 2, 1
+0x6098, 0, 0
+0x6099, 1, 0
+`);
+    });
+
+    it('should throw an exception if parse fails', () => {
+      const t = () => {
+        new ConfigFile(`
+asdfasdf
+`);
+      };
+      expect(t).toThrow('Failed to parse the config csv file');
+    });
+
+    it('should parse a config file without header', () => {
+      const configFile = new ConfigFile(contentNoHeader);
+
+      expect(configFile.toString()).toBe(`0x2001, 0, 2969
+0x2002, 0, 2
+0x2003, 1, 4
+`)
+    });
+
+  });
+
+  describe('toString', () => {
+    it('should assemble the config file from changed parameters', () => {
+      const configFile = new ConfigFile(content);
+      configFile.parameters = configFile.parameters.slice(0, 3);
+      configFile.parameters[1].value = 123;
+
+      expect(configFile.toString()).toBe(`META,FORMAT,2
+# 8502-03
+# v5.1.0-rc.4
+0x2001, 0, 2969
+0x2002, 0, 123
+0x2003, 1, 4
+`);
+    });
+  })
+
+});

package/src/lib/config-file.ts

@@ -0,0 +1,63 @@
+import * as Papa from 'papaparse';
+import { Parameter, parametersCompareFn } from './parameter';
+import { Optional } from './types';
+
+export type ConfigParameter = Optional<Parameter, 'name' | 'typeValueKey'>;
+
+export class ConfigFile {
+
+  readonly apiId?: string;
+  readonly firmwareVersion?: string;
+  readonly header?: string;
+
+  parameters: ConfigParameter[];
+
+  constructor(
+    public readonly content: string,
+    public readonly file?: Pick<File, 'name' | 'type' | 'size' | 'lastModified'>,
+  ) {
+    const parseResult = Papa.parse<string[]>(content, {
+      skipEmptyLines: true,
+      transform: (value: string) => value.trim(),
+    });
+
+    if (parseResult?.errors?.length > 0) {
+      throw new Error('Failed to parse the config csv file');
+    }
+
+    const matchApiId = content.match(/^#\s+(\d{4}-\d{2})$/m);
+    if (matchApiId) {
+      this.apiId = matchApiId[1];
+    }
+
+    const matchFirmwareVersion = content.match(/^#\s+(v\d.*)$/m);
+    if (matchFirmwareVersion) {
+      this.firmwareVersion = matchFirmwareVersion[1];
+    }
+
+    const matchFirstParameterRow = content.match(/^0x\d{4}/m);
+    if (matchFirstParameterRow?.index) {
+      this.header = content.slice(0, matchFirstParameterRow.index - 1);
+    }
+
+    this.parameters = parseResult.data
+      .filter(([c0]) => c0.startsWith('0x'))
+      .map(([c0, c1, c2]) => {
+        const index = parseInt(c0, 16);
+        const subindex = parseInt(c1, 10);
+        const numValue = Number(c2);
+        const value = isNaN(numValue) ? c2 : numValue;
+        return { index, subindex, value };
+      })
+      .sort(parametersCompareFn);
+  }
+
+  toString(): string {
+    let out = this.parameters.map((p) => `0x${p.index?.toString(16)}, ${p.subindex?.toString(10)}, ${p.value}`).join('\n');
+    if (this.header) {
+      out = this.header + '\n' + out;
+    }
+    return out + '\n';
+  }
+
+}

package/src/lib/device-log-line.ts

@@ -0,0 +1,5 @@
+export interface DeviceLogLine {
+  time: string;
+  level: string;
+  message: string;
+}

package/src/lib/device-parameter.spec.ts

@@ -0,0 +1,85 @@
+import { makeDeviceParameterId, splitDeviceParameterId } from "./device-parameter";
+
+describe('deviceParameter', () => {
+
+  describe('makeDeviceParameterId', () => {
+
+    const serialNumber = '8502-03-0001353-2115';
+
+    test.each<[string, [(number | null | undefined), (number | null | undefined)], string]>([
+      [serialNumber, [0x1234, 123], '0x1234:7B.8502-03-0001353-2115'],
+      [serialNumber, [23, 23], '0x0017:17.8502-03-0001353-2115'],
+      [serialNumber, [0, 0], '0x0000:00.8502-03-0001353-2115'],
+      [serialNumber, [0x2000, undefined], '0x2000:00.8502-03-0001353-2115'],
+      [serialNumber, [0x2003, null], '0x2003:00.8502-03-0001353-2115'],
+      [serialNumber, [0x10000, 3], '0x00010000:03.8502-03-0001353-2115'],
+      [serialNumber, [0x100F0, undefined], '0x000100F0:00.8502-03-0001353-2115'],
+    ])('should for device serial number "%s" and tuple %j return "%s"', (serialNumber, tuple, expected) => {
+      const result = makeDeviceParameterId(serialNumber, tuple);
+
+      expect(result).toBe(expected);
+    });
+
+    test.each([
+      [serialNumber, {}, '0x0000:00.8502-03-0001353-2115'],
+      [serialNumber, { index: 0x2004, subindex: 4 }, '0x2004:04.8502-03-0001353-2115'],
+      [serialNumber, { index: 0x1024 }, '0x1024:00.8502-03-0001353-2115'],
+    ])('should for device serial number "%s" and parameter %j return "%s"', (serialNumber, parameter, expected) => {
+      const result = makeDeviceParameterId(serialNumber, parameter);
+
+      expect(result).toBe(expected);
+    });
+
+    test.each([
+      [serialNumber, 0x1234, 123, '0x1234:7B.8502-03-0001353-2115'],
+      [serialNumber, 23, 23, '0x0017:17.8502-03-0001353-2115'],
+      [serialNumber, 0, 0, '0x0000:00.8502-03-0001353-2115'],
+      [serialNumber, 0x2000, undefined, '0x2000:00.8502-03-0001353-2115'],
+      [serialNumber, 0x2003, null, '0x2003:00.8502-03-0001353-2115'],
+      [serialNumber, 0x10000, 3, '0x00010000:03.8502-03-0001353-2115'],
+      [serialNumber, 0x100F0, undefined, '0x000100F0:00.8502-03-0001353-2115'],
+    ])('should for device serial number "%s" and index %d and subindex %d return "%s"', (serialNumber, index, subindex, expected) => {
+      const result = makeDeviceParameterId(serialNumber, index, subindex);
+
+      expect(result).toBe(expected);
+    });
+
+    it('should throw if index is less than 0', () => {
+      expect(() => {
+        makeDeviceParameterId(serialNumber, -123, 0);
+      }).toThrow();
+    });
+
+    it('should throw if subindex is less than 0', () => {
+      expect(() => {
+        makeDeviceParameterId(serialNumber, 0x1024, -3);
+      }).toThrow();
+    });
+
+  });
+
+  describe('splitDeviceParameterId', () => {
+
+    test.each([
+      ['0x1234:7B.8502-03-0001353-2115', ['8502-03-0001353-2115', 4660, 123]],
+      ['0x000100F0:00.8502-03-0001353-2115', ['8502-03-0001353-2115', 65776, 0]],
+    ])('should for id "%s" return tuple %j', (id, expected) => {
+      const result = splitDeviceParameterId(id);
+
+      expect(result).toEqual(expected);
+    });
+
+    test.each([
+      ['0x12:7B.8502-03-0001353-2115'],
+      ['0x1234:F.8502-03-0001353-2115'],
+      ['0x1234:FG.8502-03-0001353-2115'],
+      ['0x1234:7B.8502-03-ABC1353-2115'],
+      ['0x1234:7B.8502_03_0001353_2115'],
+      ['0x1H34:7B.8502-03-0001353-2115'],
+    ])('should throw error for id "%s"', (id) => {
+      expect(() => splitDeviceParameterId(id)).toThrow();
+    });
+
+  });
+
+});

package/src/lib/device-parameter.ts

@@ -0,0 +1,79 @@
+import { makeParameterId, Parameter } from "./parameter";
+
+export interface DeviceParameter extends Parameter {
+  id: string;
+  flags?: {
+    access?: 'ro' | 'rw' | 'wo'; // readonly (default), readwrite, writeonly
+    category?: 'm' | 'o' | 'c'; // mandatory, optional (default), conditional
+    pdoMapping?: 't' | 'r' | 'tr'; // Transmit PDO (Inputs), Receive PDO (Outputs), Transmit or Receive PDO
+    safetyMapping?: 'si' | 'so' | 'sio' | 'sp'; // Safe Inputs, Safe Outputs, Safe Input or Output, Safety Parameter Set
+  };
+}
+
+/**
+ * Make device parameter id by providing a device serial number and tuple of index and subindex.
+ *
+ * @param serialNumber - device serial number from the hardware description file
+ * @param tuple - an array of index and subindex
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeDeviceParameterId(serialNumber: string, tuple: [(number | null | undefined), (number | null | undefined)]): string;
+
+/**
+ * Make device parameter id by providing a device serial number and object which has index and subindex properties.
+ *
+ * @param serialNumber - device serial number from the hardware description file
+ * @param parameter - an object with optional index and subindex properties
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeDeviceParameterId(serialNumber: string, parameter: { index?: (number | null), subindex?: (number | null) }): string;
+
+/**
+ * Make parameter id by providing a device serial number and index and subindex.
+ *
+ * @param serialNumber - device serial number from the hardware description file
+ * @param index - from 0x0000 to 0xFFFF for objects defined in ESI and >0xFFFF for custom object
+ * @param subindex - defaults to 0 if not provided
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeDeviceParameterId(serialNumber: string, index?: (number | null), subindex?: (number | null)): string;
+
+export function makeDeviceParameterId(serialNumber: string, a?: (number | null) | { index?: (number | null), subindex?: (number | null) } | [(number | null | undefined), (number | null | undefined)], b?: (number | null)): string {
+  const parameterId = makeParameterId(a, b);
+  return `${parameterId}.${serialNumber}`;
+}
+
+/**
+ * Example of device parameter id is "0x2110:1A.8502-03-0001353-2115" where:
+ * - 0x2110 is object index in hexadecimal format
+ * - 1A is subindex in hexadecimal format
+ * - 8502-03-0001353-2115 is device serial number from hardware description file
+ */
+export const deviceParameterIdRegExp = /^0x([0-9a-fA-F]{4,}):([0-9a-fA-F]{2})\.([\d-]+)$/;
+
+/**
+ * Split device parameter id into parts.
+ *
+ * @param id - device parameter id like "0x2110:1A.8502-03-0001353-2115"
+ * @returns tuple of device serial number, index, and subindex
+ */
+export function splitDeviceParameterId(id: string): [string, number, number] {
+  const match = id.match(deviceParameterIdRegExp);
+
+  if (!match) {
+    throw new Error(`Device parameter id "${id}" doesn't match the regular expression: ${deviceParameterIdRegExp}`);
+  }
+
+  return [
+    match[3], // device serial number
+    parseInt(match[1], 16), // index
+    parseInt(match[2], 16), // subindex
+  ];
+}
+
+export function isDeviceParameterId(id: string): boolean {
+  return deviceParameterIdRegExp.test(id);
+}

package/src/lib/device.ts

@@ -0,0 +1,10 @@
+import { HardwareDescription } from "./hardware-description";
+
+export interface Device {
+  id: string;
+  deviceAddress: number;
+  type?: number,
+  position?: number;
+  alias?: number;
+  hardwareDescription?: HardwareDescription;
+}

package/src/lib/hardware-description.spec.ts

@@ -0,0 +1,253 @@
+import {
+  getAllComponentsFromHardwareDescription,
+  getApiIdentifierFromHardwareDescription,
+  getNameFromHardwareDescription,
+  getSerialNumberFromHardwareDescription,
+  hardwareComponentsMatch,
+  HardwareDescription,
+} from './hardware-description';
+
+describe('getApiIdentifierFromHardwareDescription', () => {
+  it('should return api identifier from assembly', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      assembly: { id: 'foo', version: '01', serialNumber: 'foo-sn' }, // prefer assembly over device
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('foo-01');
+  });
+
+  it('should return api identifier from device', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('bar-02');
+  });
+
+  it('should return api identifier from device having keyId', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', keyId: '1234' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('bar-02-1234');
+  });
+
+  it('should return api identifier from device when having both assembly and keyId', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      assembly: { id: 'asm', version: '09', serialNumber: 'asm-sn', name: 'Assembly' },
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', keyId: '3388' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('asm-09-3388');
+  });
+
+  it('should skip keyId in cases when product image needs to be fetched by api identifier without keyId', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', keyId: '1234' },
+      fileVersion: '',
+    } as HardwareDescription, true);
+
+    expect(result).toBe('bar-02');
+  });
+});
+
+describe('getNameFromHardwareDescription', () => {
+  it('should return name from assembly', () => {
+    const result = getNameFromHardwareDescription({
+      assembly: { id: 'foo', version: '01', serialNumber: 'foo-sn', name: 'Assembly' }, // prefer assembly over device
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', name: 'Device' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('Assembly');
+  });
+
+  it('should return name from device', () => {
+    const result = getNameFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', name: 'Device' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('Device');
+  });
+});
+
+describe('getSerialNumberFromHardwareDescription', () => {
+  it('should return serial number from assembly', () => {
+    const result = getSerialNumberFromHardwareDescription({
+      assembly: { id: 'foo', version: '01', serialNumber: 'foo-sn' }, // prefer assembly over device
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('foo-sn');
+  });
+
+  it('should return serial number from device', () => {
+    const result = getSerialNumberFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('bar-sn');
+  });
+});
+
+describe('getAllComponentsFromHardwareDescription', () => {
+  it('should return components only from device when assembly is undefined', () => {
+    const deviceComponents = [
+      {
+        name: 'Com EtherCAT',
+        serialNumber: '3333-33-3333333-3333',
+        version: 'B.2',
+      },
+      {
+        name: 'Core C2X',
+        serialNumber: '1111-11-1111111-1111',
+        version: 'A.5',
+      },
+      {
+        name: 'Drive 400',
+        serialNumber: '2222-22-2222222-2222',
+        version: 'E.1',
+      },
+    ];
+
+    const hardwareDescription: HardwareDescription = {
+      device: {
+        components: deviceComponents,
+        id: '8503',
+        macAddress: '01-23-45-67-89-AB',
+        name: 'Circulo 9 1800 Encoder Pos 1 & 2',
+        serialNumber: '8506-01-040595-4023',
+        version: '02',
+        keyId: '1234',
+      },
+      fileVersion: '1.0.0',
+    };
+
+    const result = getAllComponentsFromHardwareDescription(hardwareDescription);
+
+    expect(result).toEqual(deviceComponents);
+  });
+
+  it('should return combined components from assembly and device', () => {
+    const assemblyComponents = [
+      {
+        name: 'Heidrive HMP04',
+        serialNumber: '79137447',
+        version: 'REV-2',
+      },
+      {
+        name: 'KEB gearbox',
+        serialNumber: '12344234',
+        version: 'REV-3',
+      },
+    ];
+
+    const deviceComponents = [
+      {
+        name: 'Com EtherCAT',
+        serialNumber: '3333-33-3333333-3333',
+        version: 'B.2',
+      },
+      {
+        name: 'Core C2X',
+        serialNumber: '1111-11-1111111-1111',
+        version: 'A.5',
+      },
+      {
+        name: 'Drive 400',
+        serialNumber: '2222-22-2222222-2222',
+        version: 'E.1',
+      },
+    ];
+
+    const hardwareDescription: HardwareDescription = {
+      assembly: {
+        components: assemblyComponents,
+        id: 'ASM',
+        name: 'Assembly',
+        serialNumber: '12345',
+        version: '01',
+      },
+      device: {
+        components: deviceComponents,
+        id: '8503',
+        macAddress: '01-23-45-67-89-AB',
+        name: 'Circulo 9 1800 Encoder Pos 1 & 2',
+        serialNumber: '8506-01-040595-4023',
+        version: '02',
+        keyId: '1234',
+      },
+      fileVersion: '1.0.0',
+    };
+
+    const result = getAllComponentsFromHardwareDescription(hardwareDescription);
+
+    expect(result).toEqual([...assemblyComponents, ...deviceComponents]);
+  });
+});
+
+describe('hardwareComponentsMatch', () => {
+  it('should return false when both arrays are empty', () => {
+    expect(hardwareComponentsMatch([], [])).toBe(false);
+  });
+
+  it('should return false when components don\'t match', () => {
+    const components1 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'A.2' },
+      { name: 'Core C22', serialNumber: '1111-11-1111111-1111', version: 'A.1' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(false);
+  });
+
+  it('should return true when components match', () => {
+    const components1 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(true);
+  });
+
+  it('should return true when components match but are not ordered the same', () => {
+    const components1 = [
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(true);
+  });
+
+  it('should return true when revision numbers don\'t match', () => {
+    const components1 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.7' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.2' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(true);
+  });
+});