motion-master-client 0.0.57 → 0.0.58

package/README.md

@@ -1,123 +1,138 @@
-# Motion Master Client
-
-Motion Master Client is a library and CLI program written in [TypeScript](https://www.typescriptlang.org). It is used for communicating with Motion Master process over [WebSocket](https://developer.mozilla.org/en-US/docs/Web/API/WebSocket) connections by exchanging [Protocol Buffers](https://developers.google.com/protocol-buffers) serialized messages.
-
-## Installation
-
-```sh
-npm install motion-master-client
-```
-
-## Usage
-
-```ts
-const reqResSocket = new MotionMasterReqResWebSocket();
-const pubSubSocket = new MotionMasterPubSubWebSocket();
-
-const client = new MotionMasterClient(reqResSocket, pubSubSocket);
-
-const clientId = v4();
-reqResSocket.open(`ws://oblac-drives-7dc95497.local:63524?clientId=${clientId}`);
-pubSubSocket.open(`ws://oblac-drives-7dc95497.local:63525?clientId=${clientId}`);
-
-client.request.getDeviceInfo().subscribe(console.log);
-```
-
-### Class Diagrams
-
-```mermaid
----
-title: Client & socket classes
----
-classDiagram
-  class MotionMasterClient {
-    +MotionMasterReqResClient request
-    +MotionMasterPubSubClient monitor
-    +startMonitoring()
-    +stopMonitoring()
-  }
-  
-  class MotionMasterReqResClient {
-    +MotionMasterReqResSocket socket
-    note "Has all the request methods\ncorresponding to the proto file."
-  }
-
-  class MotionMasterReqResSocket
-  <<interface>> MotionMasterReqResSocket
-  MotionMasterReqResSocket: +BehaviorSubject~boolean~ opened\$
-  MotionMasterReqResSocket: +BehaviorSubject~boolean~ alive\$
-  MotionMasterReqResSocket: +Observable~MotionMasterMessage~ message\$
-  MotionMasterReqResSocket: +open(string url, number pingSystemInterval?, number systemAliveTimeout?)
-  MotionMasterReqResSocket: +close()
-  MotionMasterReqResSocket: +send(MotionMasterMessage message)
-  
-  class MotionMasterReqResWebSocket {
-    note "Keeps the connection alive by\nsending the ping system messages\nin regular intervals."
-  }
-  
-  class MotionMasterReqResWorkerSocket {
-    +Worker worker
-    note "Passes messages between\nthe UI and worker thread."
-  }
-
-  class MotionMasterPubSubClient {
-    +MotionMasterPubSubSocket socket
-    +Subject<[string, MotionMasterMessage[]]> data\$
-    +Observable~MotionMasterMessage~ notification\$
-    +Observable~MotionMasterMessage~ systemEvent\$
-    +Observable~MotionMasterMessage~ deviceEvent\$
-    +subscribe(MonitoringConfig config)
-    +unsubscribe(string messageId)
-    +unsubscribeAll()
-  }
-
-  class MotionMasterPubSubSocket
-  <<interface>> MotionMasterPubSubSocket
-  MotionMasterPubSubSocket: +BehaviorSubject~boolean~ opened\$
-  MotionMasterPubSubSocket: +Observable<[string, MotionMasterMessage]> data\$
-  MotionMasterPubSubSocket: +open(string url)
-  MotionMasterPubSubSocket: +close()
-
-  class MotionMasterPubSubWebSocket {
-    note "Deserializes incoming data into\na tuple of topic and message."
-  }
-  
-  class MotionMasterPubSubWorkerSocket {
-    +Worker worker
-    note "Passes messages between\nthe UI and worker thread."
-  }
-
-  MotionMasterClient *-- MotionMasterReqResClient
-  MotionMasterClient *-- MotionMasterPubSubClient
-
-  MotionMasterReqResClient *-- MotionMasterReqResSocket
-  MotionMasterReqResWebSocket <|-- MotionMasterReqResSocket
-  MotionMasterReqResWorkerSocket <|-- MotionMasterReqResSocket
-  
-  MotionMasterPubSubClient *-- MotionMasterPubSubSocket
-  MotionMasterPubSubWebSocket <|-- MotionMasterPubSubSocket
-  MotionMasterPubSubWorkerSocket <|-- MotionMasterPubSubSocket
-```
-
-## Communication
-
-### Protocols
-
-### Message Exchange
-
-## Running unit tests
-
-## Features
-
-## Goals
-
-Run `nx test motion-master-client` to execute the unit tests via [Jest](https://jestjs.io).
-
-https://github.com/protocolbuffers/protobuf/issues/2497#issuecomment-267422550
-
-explain status progress completed error
-request timeout
-ping mechanism
-reactive and async api
-two sockets
-matching request id (message id with response)
+# Motion Master Client
+
+Motion Master Client is a library and CLI program written in [TypeScript](https://www.typescriptlang.org). It is used for communicating with Motion Master process over [WebSocket](https://developer.mozilla.org/en-US/docs/Web/API/WebSocket) connections by exchanging [Protocol Buffers](https://developers.google.com/protocol-buffers) serialized messages.
+
+## Installation
+
+```sh
+npm install motion-master-client
+```
+
+## Usage
+
+```ts
+const reqResSocket = new MotionMasterReqResWebSocket();
+const pubSubSocket = new MotionMasterPubSubWebSocket();
+
+const client = new MotionMasterClient(reqResSocket, pubSubSocket);
+
+const clientId = v4();
+reqResSocket.open(`ws://oblac-drives-7dc95497.local:63524?clientId=${clientId}`);
+pubSubSocket.open(`ws://oblac-drives-7dc95497.local:63525?clientId=${clientId}`);
+
+client.request.getDeviceInfo().subscribe(console.log);
+```
+
+## Class Diagrams
+
+```mermaid
+---
+title: Client & socket classes
+---
+classDiagram
+  class MotionMasterClient {
+    +MotionMasterReqResClient request
+    +MotionMasterPubSubClient monitor
+    +startMonitoring()
+    +stopMonitoring()
+  }
+  
+  class MotionMasterReqResClient {
+    +MotionMasterReqResSocket socket
+    note "Has all the request methods\ncorresponding to the proto file."
+  }
+
+  class MotionMasterReqResSocket
+  <<interface>> MotionMasterReqResSocket
+  MotionMasterReqResSocket: +BehaviorSubject~boolean~ opened\$
+  MotionMasterReqResSocket: +BehaviorSubject~boolean~ alive\$
+  MotionMasterReqResSocket: +Observable~MotionMasterMessage~ message\$
+  MotionMasterReqResSocket: +open(string url, number pingSystemInterval?, number systemAliveTimeout?)
+  MotionMasterReqResSocket: +close()
+  MotionMasterReqResSocket: +send(MotionMasterMessage message)
+  
+  class MotionMasterReqResWebSocket {
+    note "Keeps the connection alive by\nsending the ping system messages\nin regular intervals."
+  }
+  
+  class MotionMasterReqResWorkerSocket {
+    +Worker worker
+    note "Passes messages between\nthe UI and worker thread."
+  }
+
+  class MotionMasterPubSubClient {
+    +MotionMasterPubSubSocket socket
+    +Subject<[string, MotionMasterMessage[]]> data\$
+    +Observable~MotionMasterMessage~ notification\$
+    +Observable~MotionMasterMessage~ systemEvent\$
+    +Observable~MotionMasterMessage~ deviceEvent\$
+    +subscribe(MonitoringConfig config)
+    +unsubscribe(string messageId)
+    +unsubscribeAll()
+  }
+
+  class MotionMasterPubSubSocket
+  <<interface>> MotionMasterPubSubSocket
+  MotionMasterPubSubSocket: +BehaviorSubject~boolean~ opened\$
+  MotionMasterPubSubSocket: +Observable<[string, MotionMasterMessage]> data\$
+  MotionMasterPubSubSocket: +open(string url)
+  MotionMasterPubSubSocket: +close()
+
+  class MotionMasterPubSubWebSocket {
+    note "Deserializes incoming data into\na tuple of topic and message."
+  }
+  
+  class MotionMasterPubSubWorkerSocket {
+    +Worker worker
+    note "Passes messages between\nthe UI and worker thread."
+  }
+
+  MotionMasterClient *-- MotionMasterReqResClient
+  MotionMasterClient *-- MotionMasterPubSubClient
+
+  MotionMasterReqResClient *-- MotionMasterReqResSocket
+  MotionMasterReqResWebSocket <|-- MotionMasterReqResSocket
+  MotionMasterReqResWorkerSocket <|-- MotionMasterReqResSocket
+  
+  MotionMasterPubSubClient *-- MotionMasterPubSubSocket
+  MotionMasterPubSubWebSocket <|-- MotionMasterPubSubSocket
+  MotionMasterPubSubWorkerSocket <|-- MotionMasterPubSubSocket
+```
+
+## Communication
+
+### Protocols
+
+### Message Exchange
+
+## Running unit tests
+
+## Features
+
+## Goals
+
+Run `nx test motion-master-client` to execute the unit tests via [Jest](https://jestjs.io).
+
+https://github.com/protocolbuffers/protobuf/issues/2497#issuecomment-267422550
+
+explain status progress completed error
+request timeout
+ping mechanism
+reactive and async api
+two sockets
+matching request id (message id with response)
+
+## Build & Publish
+
+Update the `motion-master-client` version in `libs/motion-master-client/package.json`. Then, from the repository root, build the library by running:
+
+```sh
+npm run build motion-master-client
+```
+
+and publish the built library:
+
+```sh
+cd dist/libs/motion-master-client
+npm publish
+```

package/package.json

@@ -1,6 +1,21 @@
-{
-  "name": "motion-master-client",
-  "version": "0.0.57",
-  "type": "commonjs",
-  "description": "A library and CLI program used for communicating with Motion Master."
-}
+{
+  "name": "motion-master-client",
+  "version": "0.0.58",
+  "type": "commonjs",
+  "description": "A library and CLI program used for communicating with Motion Master.",
+  "dependencies": {
+    "fast-deep-equal": "^3.1.3",
+    "lodash": "^4.17.21",
+    "papaparse": "^5.4.1",
+    "protobufjs": "^7.2.3",
+    "roarr": "^7.15.0",
+    "rxjs": "^7.8.1",
+    "semver": "^7.5.1",
+    "uuid": "^9.0.0"
+  },
+  "peerDependencies": {
+    "tslib": "2.5.3"
+  },
+  "main": "./src/index.js",
+  "types": "./src/index.d.ts"
+}

package/src/{index.ts → index.d.ts}

@@ -1,26 +1,26 @@
-export * from './lib/cia402';
-export * from './lib/config-file';
-export * from './lib/device-log-line';
-export * from './lib/device-parameter';
-export * from './lib/device';
-export * from './lib/hardware-description';
-export * from './lib/monitoring-config';
-export * from './lib/monitoring-entry';
-export * from './lib/motion-master-client';
-export * from './lib/motion-master-pub-sub-client';
-export * from './lib/motion-master-pub-sub-socket';
-export * from './lib/motion-master-pub-sub-web-socket';
-export * from './lib/motion-master-pub-sub-worker-socket';
-export * from './lib/motion-master-req-res-client';
-export * from './lib/motion-master-req-res-socket';
-export * from './lib/motion-master-req-res-web-socket';
-export * from './lib/motion-master-req-res-worker-socket';
-export * from './lib/operators';
-export * from './lib/options';
-export * from './lib/parameter';
-export * from './lib/request-status-resolver';
-export * from './lib/system-log-line';
-export * from './lib/types';
-export * from './lib/urls';
-export * from './lib/util';
-export * from './lib/web-socket-connection-close-codes';
+export * from './lib/cia402';
+export * from './lib/config-file';
+export * from './lib/device-log-line';
+export * from './lib/device-parameter';
+export * from './lib/device';
+export * from './lib/hardware-description';
+export * from './lib/monitoring-config';
+export * from './lib/monitoring-entry';
+export * from './lib/motion-master-client';
+export * from './lib/motion-master-pub-sub-client';
+export * from './lib/motion-master-pub-sub-socket';
+export * from './lib/motion-master-pub-sub-web-socket';
+export * from './lib/motion-master-pub-sub-worker-socket';
+export * from './lib/motion-master-req-res-client';
+export * from './lib/motion-master-req-res-socket';
+export * from './lib/motion-master-req-res-web-socket';
+export * from './lib/motion-master-req-res-worker-socket';
+export * from './lib/operators';
+export * from './lib/options';
+export * from './lib/parameter';
+export * from './lib/request-status-resolver';
+export * from './lib/system-log-line';
+export * from './lib/types';
+export * from './lib/urls';
+export * from './lib/util';
+export * from './lib/web-socket-connection-close-codes';

package/src/index.js

@@ -0,0 +1,30 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./lib/cia402"), exports);
+tslib_1.__exportStar(require("./lib/config-file"), exports);
+tslib_1.__exportStar(require("./lib/device-log-line"), exports);
+tslib_1.__exportStar(require("./lib/device-parameter"), exports);
+tslib_1.__exportStar(require("./lib/device"), exports);
+tslib_1.__exportStar(require("./lib/hardware-description"), exports);
+tslib_1.__exportStar(require("./lib/monitoring-config"), exports);
+tslib_1.__exportStar(require("./lib/monitoring-entry"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-client"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-client"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-web-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-worker-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-client"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-web-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-worker-socket"), exports);
+tslib_1.__exportStar(require("./lib/operators"), exports);
+tslib_1.__exportStar(require("./lib/options"), exports);
+tslib_1.__exportStar(require("./lib/parameter"), exports);
+tslib_1.__exportStar(require("./lib/request-status-resolver"), exports);
+tslib_1.__exportStar(require("./lib/system-log-line"), exports);
+tslib_1.__exportStar(require("./lib/types"), exports);
+tslib_1.__exportStar(require("./lib/urls"), exports);
+tslib_1.__exportStar(require("./lib/util"), exports);
+tslib_1.__exportStar(require("./lib/web-socket-connection-close-codes"), exports);
+//# sourceMappingURL=index.js.map

package/src/index.js.map

@@ -0,0 +1 @@
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package/src/lib/cia402.d.ts

@@ -0,0 +1,182 @@
+export declare const statuswordBits: string[];
+/**
+ * CIA402 refers to the CANopen application profile for drives and motion control.
+ * It defines various states that a CiA402-compliant device, such as a motor drive, can be in.
+ *
+ * @enum
+ */
+export declare enum Cia402State {
+    /**
+     * Not ready to switch on (NRS).
+     *
+     * This is the initial state where the drive is not ready to be switched on.
+     * In this state, the drive is not powered or initialized.
+     */
+    NOT_READY_TO_SWITCH_ON = "NOT_READY_TO_SWITCH_ON",
+    /**
+     * Switch on disabled (SOD).
+     *
+     * In this state, the drive is powered and initialized but cannot be switched on.
+     * This state is usually used for safety purposes or when certain conditions need to be met before enabling the drive.
+     */
+    SWITCH_ON_DISABLED = "SWITCH_ON_DISABLED",
+    /**
+     * Ready to switch on (RTS).
+     *
+     * In this state, the drive is ready to be switched on.
+     * It has been powered and initialized, and it is waiting for the switch-on command.
+     */
+    READY_TO_SWITCH_ON = "READY_TO_SWITCH_ON",
+    /**
+     * Switched on (SWO).
+     *
+     * When the switch-on command is received, the drive enters this state.
+     * In this state, the drive is energized and ready to start motion.
+     */
+    SWITCHED_ON = "SWITCHED_ON",
+    /**
+     * Operation enabled (OP).
+     *
+     * This state indicates that the drive is enabled and ready to perform its intended operation.
+     * It can receive motion commands and execute them.
+     */
+    OPERATION_ENABLED = "OPERATION_ENABLED",
+    /**
+     * Quick stop active (QSA).
+     *
+     * This state is used to bring the drive to an immediate stop.
+     * It is typically triggered by an emergency stop or a quick stop command.
+     */
+    QUICK_STOP_ACTIVE = "QUICK_STOP_ACTIVE",
+    /**
+     * Fault reaction active (FRA).
+     *
+     * When a fault or error condition occurs, the drive enters this state.
+     * It indicates that the drive is responding to the fault by taking appropriate actions,
+     * such as shutting down or entering a safe state.
+     */
+    FAULT_REACTION_ACTIVE = "FAULT_REACTION_ACTIVE",
+    /**
+     * Fault (FLT).
+     *
+     * This state signifies that a fault condition has been detected and the drive is no longer operational.
+     * It requires manual intervention or troubleshooting to resolve the fault
+     * and bring the drive back to a functional state.
+     */
+    FAULT = "FAULT"
+}
+export declare const cia402StateMap: Map<number, Cia402State>;
+export declare function getCia402State(value: number): Cia402State;
+export declare function isInternalLimitActive(statusword: number): boolean;
+export declare const controlwordBits: string[];
+/**
+ * In the CiA402 standard for drives and motion control, the controlword is a key component
+ * used to command and control the operation of a CiA402-compliant device, such as a motor drive.
+ * The controlword is typically a 16-bit value,
+ * and it consists of several bits that represent different control commands.
+ *
+ * @enum
+ */
+export declare enum ControlwordCommand {
+    SHUTDOWN = "SHUTDOWN",
+    SWITCH_ON = "SWITCH_ON",
+    SWITCH_ON_ENABLE_OPERATION = "SWITCH_ON_ENABLE_OPERATION",
+    DISABLE_VOLTAGE = "DISABLE_VOLTAGE",
+    /**
+     * Quick Stop.
+     *
+     * This command initiates a quick stop of the drive.
+     * When this bit is set to 1, the drive enters the "Quick stop active" state,
+     * causing the motor to decelerate and come to a stop as quickly as possible.
+     */
+    QUICK_STOP = "QUICK_STOP",
+    DISABLE_OPERATION = "DISABLE_OPERATION",
+    /**
+     * Enable Operation.
+     *
+     * This command enables the drive to perform its intended operation.
+     * When this bit is set to 1, the drive transitions from the "Ready to switch on" state to the "Operation enabled" state.
+     */
+    ENABLE_OPERATION = "ENABLE_OPERATION",
+    /**
+     * Fault Reset.
+     *
+     * This command resets a fault condition and clears any fault flags or errors that may have occurred.
+     * When this bit is set to 1, the drive attempts to recover from a fault and return to an operational state.
+     */
+    FAULT_RESET = "FAULT_RESET"
+}
+/**
+ * Return one of the controlword commands based its value.
+ *
+ * NOTE: DISABLE_OPERATION and ENABLE_OPERATION are never returned.
+ * Their values are the same as SWITCH_ON and SWITCH_ON_ENABLE_OPERATION.
+ * What controlword is commanded depends on the transition.
+ */
+export declare function getCommandFromControlword(value: number): ControlwordCommand | undefined;
+export declare const controlwordOptions: {
+    Shutdown: number;
+    'Switch on': number;
+    'Switch on + enable operation': number;
+    'Disable voltage': number;
+    'Quick stop': number;
+    'Disable operation': number;
+    'Enable operation': number;
+    'Fault reset': number;
+};
+export declare const controlwordCommandOptions: ControlwordCommand[];
+export declare const controlwordCommandBitmasks: {
+    SHUTDOWN: number[];
+    SWITCH_ON: number[];
+    SWITCH_ON_ENABLE_OPERATION: number[];
+    DISABLE_VOLTAGE: number[];
+    QUICK_STOP: number[];
+    DISABLE_OPERATION: number[];
+    ENABLE_OPERATION: number[];
+    FAULT_RESET: number[];
+};
+export declare function createControlwordCommand(value: number, command: ControlwordCommand): number;
+/**
+ * CiA402 transitions.
+ *
+ * List of allowed transitions with controlword command.
+ *
+ * The following transitions are automatic:
+ * - 0: START -> NOT_READY_TO_SWITCH_ON
+ * - 1: NOT_READY_TO_SWITCH_ON -> SWITCH_ON_DISABLED
+ * - 13: ANY -> FAULT_REACTION_ACTIVE
+ * - 14: FAULT_REACTION_ACTIVE -> FAULT
+ */
+export declare const cia402Transitions: {
+    from: Cia402State;
+    to: Cia402State;
+    transitions: number[];
+    command: ControlwordCommand;
+}[];
+export declare enum ModesOfOperation {
+    OPEN_LOOP_FIELD_MODE = -3,
+    DIAGNOSTICS_MODE = -2,
+    COGGING_COMPENSATION_RECORDING_MODE = -1,
+    NO_MODE_ASSIGNED = 0,
+    PROFILE_POSITION_MODE = 1,
+    PROFILE_VELOCITY_MODE = 3,
+    TORQUE_PROFILE_MODE = 4,
+    HOMING_MODE = 6,
+    CYCLIC_SYNC_POSITION_MODE = 8,
+    CYCLIC_SYNC_VELOCITY_MODE = 9,
+    CYCLIC_SYNC_TORQUE_MODE = 10
+}
+export declare const modesOfOperationOptions: {
+    'Open loop field mode': ModesOfOperation;
+    'Diagnostics mode': ModesOfOperation;
+    'Cogging compensation recording mode': ModesOfOperation;
+    'No mode assigned': ModesOfOperation;
+    'Profile position mode': ModesOfOperation;
+    'Profile velocity mode': ModesOfOperation;
+    'Torque profile mode': ModesOfOperation;
+    'Homing mode': ModesOfOperation;
+    'Cyclic synchronous position mode': ModesOfOperation;
+    'Cyclic synchronous velocity mode': ModesOfOperation;
+    'Cyclic synchronous torque mode': ModesOfOperation;
+};
+export declare const supportedDriveModesBits: string[];