motion-master-client 0.0.77 → 0.0.86

package/src/lib/motion-master-req-res-client.js

@@ -1,1998 +1,2138 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.MotionMasterReqResClient = void 0;
-const tslib_1 = require("tslib");
-const rxjs_1 = require("rxjs");
-const operators_1 = require("rxjs/operators");
-const uuid_1 = require("uuid");
-const device_parameter_1 = require("./device-parameter");
-const hardware_description_1 = require("./hardware-description");
-const operators_2 = require("./operators");
-const parameter_1 = require("./parameter");
-const types_1 = require("./types");
-const util_1 = require("./util");
-const cia402_1 = require("./cia402");
-const cia402_2 = require("./cia402");
-const cia402_3 = require("./cia402");
-const os_command_1 = require("./os-command");
-/**
- * This class contains methods for making requests to Motion Master using the injected request/response socket.
- *
- * Each request message defined in the proto file has a corresponding request method in this class.
- * For some requests, like firmware installation, Motion Master will send progress messages until the firmware installation is complete.
- *
- * A call to a request method will return an Observable of: (1) the corresponding status message,
- * for example a call to `getDeviceInfo` will return an instance of `MotionMasterMessage.Status.DeviceInfo`,
- * (2) request status - one of "succeeded," "failed," or "running.", and (3) request message id.
- *
- * If the request fails on Motion Master, the function will throw an error. It can also throw an error if the request times out.
- *
- * Request methods have an optional messageId input parameter.
- * If `messageId` is not provided, one will be generated before sending the request message to Motion Master.
- * Status messages (responses) received from Motion Master that correspond to the previous request will have the same `messageId` as the one in the request.
- * This is how we match requests with response messages in full-duplex asynchronous communication (WebSockets, ZeroMQ).
- * Matching request/response by message id is inspired by the [JSON-RPC 2.0 Specification](https://www.jsonrpc.org/specification).
- *
- * Almost all request methods have a mandatory `requestTimeout` input parameter.
- * This parameter specifies how long (in milliseconds) the client will wait for the status (response) messages corresponding to the previous request.
- * If the status message is not received in due time, the request method will throw a timeout error.
- * The error doesn't mean the request has failed on Motion Master, but rather that the client has given up waiting for the response(s).
- * It's possible to stop some ongoing procedures on Motion Master with the corresponding stop messages, for example, StopFullAutoTuning.
- *
- * @example
- * How to handle a request method timeout error:
- * ```typescript
- * req.getDeviceInfo(10).subscribe({
- *   next: (status) => console.log(status),
- *   error: (err: unknown) => {
- *     if (err instanceof TimeoutError) {
- *       alert('Request has timed out');
- *     }
- *   }
- * });
- * ```
- *
- * Request methods for a particular device, like `getDeviceParameterInfo`, accept the type of request message as the first input parameter as defined in the proto file.
- * For `getDeviceParameterInfo`, that's `MotionMasterMessage.Request.IGetDeviceParameterInfo`. This type is extended (via type intersection) by `DeviceRefObj`.
- * This is done in order to support multiple ways to reference a device. Motion Master only supports device addresses, which it re-generates for each device on power cycle.
- * Because device addresses can change, for scripts and applications, it's preferred to use a device reference that won't change.
- * The device serial number in the hardware description file uniquely identifies the device and doesn't change. This is what each request message is extended with.
- * Before sending the request message to Motion Master, the device address gets resolved and is set on the request message.
- * Besides the device address and device serial number, devices can be referenced by position (sequence number in the network chain).
- *
- * It is ensured that the Observable returned from a call to the request method will eventually complete, so a call to unsubscribe is not required.
- * The Observable will complete when the request status is either "succeeded" or "failed," or it will complete (error) due to a timeout.
- * Finding out if a request has completed, failed, or is still ongoing is different for each request - it depends on the status messages, see {@link requestStatusResolver}.
- * Request methods handle this and for each request, they will emit status messages with one of "succeeded," "failed," or "running" request statuses.
- *
- * Besides the request methods, this class contains many helper methods such as the ones for getting and setting device parameter values and
- * saving all parameters, which involves complex logic like multiple repeating requests to determine if saving all parameters has completed successfully.
- */
-class MotionMasterReqResClient {
-    constructor(socket) {
-        this.socket = socket;
-        /**
-         * Maps a device address to a map of parameter ID to a type value key.
-         *
-         * @example
-         * ```typescript
-         * new Map([
-         *   [2045285448, new Map([
-         *     ["0x1018:02", {
-         *       id: '0x1018:02',
-         *       index: 4120,
-         *       subindex: 2,
-         *       name: 'Product Code',
-         *       unit: '',
-         *       group: 'Identity object',
-         *       readAccess: true,
-         *       writeAccess: false,
-         *       min: undefined,
-         *       max: undefined,
-         *       valueType: 7, // UNSIGNED32
-         *       typeValueKey: "uintValue"
-         *     }]
-         *   ])]
-         * ]);
-         * ```
-         *
-         * When setting a parameter value, only one of int, uint, float, string, or raw type value fields must be set.
-         * This is defined in the proto file SetDeviceParameterValues request message.
-         *
-         * Device parameters have a richer set of base types defined in ESI, and they are provided by the DeviceParameterInfo status message.
-         * When device parameter info is fetched, this map gets updated by mapping device parameter types to "oneof" proto types, e.g., `INTEGER32 -> intValue`.
-         *
-         * This map helps in simplifying the API by allowing users to set parameter values without specifying the type value field.
-         * One can simply call `setParameterValue(2045285448, 0x2004, 0x03, 2500)`, and the correct type value field on the proto message will be set, `uintValue` in this example.
-         */
-        this.deviceParameterInfoMap = new Map();
-        /**
-         * Maps a device serial number to a device.
-         *
-         * @example
-         * ```typescript
-         * new Map([
-         *   ["8502-03-0001353-2115", { deviceAddress: 2045285448, ... }]
-         * ]);
-         * ```
-         *
-         * When making requests related to a device, the device address is used as an identifier.
-         * The device address is not permanent. The number is regenerated by Motion Master when devices are power-cycled.
-         * For scripts and applications using this library, having a permanent device identifier is a better option.
-         * The device serial number read from the hardware description file (.hardware_description) stored on a device is a permanent identifier.
-         *
-         * This map helps in making all request methods related to a device accept a device reference instead of just a device address as an identifier.
-         * The device reference {@link DeviceRefObj} can be one of the following: device address, device serial number, or device position.
-         * Before sending a request message to Motion Master, the device address is resolved from the device reference, and this map is used for that.
-         */
-        this.deviceMap = new Map();
-    }
-    /**
-     * Clears the state of an instance of this class.
-     *
-     * This method is typically called when Motion Master is deinitializing or the socket is closing.
-     * Both maps are implicitly populated when a device or parameter type value key gets resolved.
-     */
-    clearDevicesInformation() {
-        this.deviceParameterInfoMap.clear();
-        this.deviceMap.clear();
-    }
-    //
-    // Requests
-    //
-    /**
-     * Pings the system.
-     *
-     * The client must send messages to Motion Master at regular intervals for Motion Master to consider it alive.
-     * When the client is considered "not alive", Motion Master will stop the ongoing procedures and monitorings started by that client.
-     * Each client on the Motion Master side has its own default timeout, which can be changed by {@link setSystemClientTimeout}.
-     */
-    pingSystem(messageId) {
-        const pingSystem = types_1.MotionMasterMessage.Request.PingSystem.create();
-        this.sendRequest({ pingSystem }, messageId);
-        return rxjs_1.EMPTY;
-    }
-    /**
-     * Get the system version.
-     *
-     * Retrieve the version of Motion Master. The version follows [Semantic Versioning 2.0.0](https://semver.org/).
-     */
-    getSystemVersion(requestTimeout, messageId) {
-        const getSystemVersion = types_1.MotionMasterMessage.Request.GetSystemVersion.create();
-        const id = this.sendRequest({ getSystemVersion }, messageId);
-        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemVersion', requestTimeout, id));
-    }
-    /**
-     * Get device info.
-     *
-     * Device info includes a list of devices on the network. Each device has a type, position in the network, and a device address.
-     * At the time of writing, the device alias is not yet supported.
-     *
-     * Motion Master will assign a unique device address to each device in the list.
-     * The device address is what the client libraries use to make requests like `getDeviceParameter` for a particular device.
-     * The device address is only valid for the duration of the session, that is, until Motion Master re-initializes the devices, for example,
-     * when devices are power cycled or the Motion Master process is restarted.
-     */
-    getDeviceInfo(requestTimeout, messageId) {
-        const getDeviceInfo = types_1.MotionMasterMessage.Request.GetDeviceInfo.create();
-        const id = this.sendRequest({ getDeviceInfo }, messageId);
-        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceInfo', requestTimeout, id));
-    }
-    /**
-     * Get device parameter info.
-     *
-     * Device parameter info includes a list of all parameters for the requested device, but without the parameter values.
-     * Getting device parameter values can take more than 20ms per parameter using the IgH EtherCAT Master library.
-     * Not all clients require all the parameter values at once, like OBLAC Drives, so this method is useful for getting
-     * the list of available parameters and then separately obtaining the values of some required parameters.
-     *
-     * The returned list of device parameters will include some basic data for each parameter: index, subindex,
-     * name, unit, group (ARRAY or RECORD name for subitems), read and write access, min and max, and value type.
-     * Min and max values are not yet fully supported - they contain the min/max values for the used base type.
-     * The same info and more can be read from the "SOMANET_CiA_402.xml" file, but getting info from the ESI file is more complicated.
-     * It requires an XML parsing library and knowing how to read objects info from a dictionary and assigned modules.
-     */
-    getDeviceParameterInfo(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getDeviceParameterInfo = types_1.MotionMasterMessage.Request.GetDeviceParameterInfo.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getDeviceParameterInfo }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceParameterInfo', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get device parameter values.
-     *
-     * As mentioned earlier, fetching parameter values can take 20ms or more. However,
-     * it can also fail completely or timeout on the master side, registering as a "cannot refresh value" error.
-     */
-    getDeviceParameterValues(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getDeviceParameterValues = types_1.MotionMasterMessage.Request.GetDeviceParameterValues.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getDeviceParameterValues }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceParameterValues', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get multi-device parameter values.
-     *
-     * Allows requesting parameter values from multiple devices at the same time.
-     */
-    getMultiDeviceParameterValues(props, requestTimeout, messageId) {
-        const getMultiDeviceParameterValues = types_1.MotionMasterMessage.Request.GetMultiDeviceParameterValues.create(props);
-        const id = this.sendRequest({ getMultiDeviceParameterValues }, messageId);
-        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('multiDeviceParameterValues', requestTimeout, id));
-    }
-    /**
-     * Set device parameter values.
-     */
-    setDeviceParameterValues(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const setDeviceParameterValues = types_1.MotionMasterMessage.Request.SetDeviceParameterValues.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ setDeviceParameterValues }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceParameterValues', requestTimeout, id));
-        }));
-    }
-    /**
-     * Set multi-device parameter values.
-     *
-     * Allows setting parameter values on multiple devices at the same time.
-     */
-    setMultiDeviceParameterValues(props, requestTimeout, messageId) {
-        const setMultiDeviceParameterValues = types_1.MotionMasterMessage.Request.SetMultiDeviceParameterValues.create(props);
-        const id = this.sendRequest({ setMultiDeviceParameterValues }, messageId);
-        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('multiDeviceParameterValues', requestTimeout, id));
-    }
-    /**
-     * Get device file list.
-     *
-     * Motion Master will use Filetransfer over EtherCAT (FoE) to obtain the list of files from a device.
-     * There isn't an actual command for getting the list, but rather the content of a specially named file "fs-getlist" is the file list.
-     * The list can be read like any other file from a device using the IgH EtherCAT Master for Linux CLI program:
-     *
-     * ```
-     * $ ethercat foe_read fs-getlist
-     * ```
-     *
-     * At the time of writing this document, "fs-getlist" can return a maximum of 32 files (subject to change) in the list. This is a firmware limitation.
-     * However, more than 32 files can be stored on the device flash memory, but they won't appear in the list.
-     * Also, note that FoE can behave differently in the bootstrap firmware, which runs in the BOOT EtherCAT state, and
-     * SOMANET firmware, which runs in other EtherCAT states like PREOP/OP. Bootstrap tends to be buggier since it cannot be updated easily, so
-     * Motion Master has certain workarounds to overcome these FoE differences and bugs.
-     */
-    getDeviceFileList(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getDeviceFileList = types_1.MotionMasterMessage.Request.GetDeviceFileList.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getDeviceFileList }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFileList', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get device file.
-     *
-     * Motion Master uses Filetransfer over EtherCAT (FoE) to read and send back the content of a file from the device flash memory.
-     *
-     * The IgH EtherCAT Master library used by Motion Master limits the file read buffer to 9KB, so any file written to flash that is larger than 9KB
-     * needs to be split into parts of max 9KB. Motion Master does this automatically on request to {@link setDeviceFile}.
-     *
-     * Upon receiving this request, Motion Master will first read the list of files on a device, see {@link getDeviceFileList}.
-     * It does that in order to determine if the requested file, for example, "SOMANET_CiA_402.xml," has been stored in multiple parts.
-     * The parts are named like "SOMANET_CiA_402.xml.zip.part000," "SOMANET_CiA_402.xml.zip.part001," and so on.
-     * Motion Master will read all parts of the requested file, unzip it, and send the content back to a client.
-     * Since the number of items in the list of files is limited to 32 (based on the firmware version), Motion Master might not see the file,
-     * but in any case, it will try to read the content of it.
-     * If the file exists, it will return its content; otherwise, it will return the file not found error.
-     *
-     * Zipped files will be automatically unzipped, and their content returned; for example, "stack_image.svg.zip" can be stored
-     * in one or multiple files depending on the size. No matter how it's stored, it will be unzipped, and its content returned as
-     * text (SVG) instead of zipped content (binary).
-     *
-     * In BOOT EtherCAT state, it's only allowed to read the .hardware_description file. This was done because
-     * the bootloader firmware would hang when trying to read a corrupted or missing file.
-     *
-     * If the requested file content is empty, Motion Master will return a not found error. This is subject to change now that Motion Master reads the file error codes.
-     */
-    getDeviceFile(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getDeviceFile = types_1.MotionMasterMessage.Request.GetDeviceFile.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getDeviceFile }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id), (0, operators_1.map)((status) => this.fixProductionScrewUp(status)));
-        }));
-    }
-    /**
-     * Fixing a production screw-up that affects a very important customer.
-     * Added on February 29th, 2024. This code can be removed once all customer drives are fixed.
-     * We should consider supporting SOMANET drives with no .hardware_description files.
-     */
-    fixProductionScrewUp(status) {
-        if (status.name === '.hardware_description') {
-            if (status.content) {
-                const text = (0, util_1.decodeTextContent)(status.content);
-                if (text.includes('\\":')) {
-                    const replacedText = text.replace(/\\"/g, '"').replace(/"{/, '{').replace(/}"/, '}');
-                    const content = new TextEncoder().encode(replacedText);
-                    this.unlockProtectedFiles(status.deviceAddress, 10000).subscribe({
-                        next: () => {
-                            this.setDeviceFile({ content, deviceAddress: status.deviceAddress, name: '.hardware_description', overwrite: true }, 10000).subscribe({
-                                error(err) {
-                                    if (err instanceof Error) {
-                                        console.warn(`Failed to replace the invalid .hardware_description file. Error: ${err.message}`);
-                                    }
-                                },
-                            });
-                        },
-                        error: (err) => {
-                            if (err instanceof Error) {
-                                console.warn(`Failed to unlock protected files. Error: ${err.message}`);
-                            }
-                        },
-                    });
-                    status.content = content;
-                }
-            }
-            else {
-                if (status.deviceAddress) {
-                    const addr = status.deviceAddress.toString();
-                    const sn = addr.slice(0, 4) + '-' + addr.slice(4, 6) + '-' + addr.slice(6, 10) + '000-0000';
-                    const hw = JSON.parse(JSON.stringify(hardware_description_1.dummyHardwareDescriptionFileContentTemplate));
-                    hw.device.serialNumber = sn;
-                    const content = new TextEncoder().encode(JSON.stringify(hw));
-                    status.content = content;
-                    // @ts-ignore
-                    status['data'] = 'success';
-                    status.error = null;
-                    status.request = 'succeeded';
-                    status.success = {};
-                }
-            }
-        }
-        return status;
-    }
-    /**
-     * Set device file.
-     *
-     * Motion Master uses Filetransfer over EtherCAT (FoE) to write files to the device flash memory.
-     *
-     * The IgH EtherCAT Master library used by Motion Master limits the file read buffer to 9KB, so any file written to flash that is larger than 9KB
-     * needs to be split into parts of max 9KB. Motion Master does this automatically by first zipping the content and then writing the parts.
-     * The parts are named in the following manner: "SOMANET_CiA_402.xml.zip.part000," "SOMANET_CiA_402.xml.zip.part001," and so on.
-     */
-    setDeviceFile(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const setDeviceFile = types_1.MotionMasterMessage.Request.SetDeviceFile.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ setDeviceFile }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id));
-        }));
-    }
-    /**
-     * Delete device file.
-     *
-     * Motion Master uses Filetransfer over EtherCAT (FoE) to delete files from the device flash memory.
-     *
-     * If the file to delete is written in parts, Motion Master will ensure that all parts are deleted.
-     * It does this by reading the list of files on a device, see {@link getDeviceFileList}, removing all parts from that list, and then
-     * re-reading the list again to ensure that there are no leftovers if there were more than 32 files in the list. If there are still
-     * more than 32 files in the list, Motion Master will blindly try to make sure there are no file parts left in the memory (may or may not work).
-     */
-    deleteDeviceFile(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const deleteDeviceFile = types_1.MotionMasterMessage.Request.DeleteDeviceFile.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ deleteDeviceFile }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id));
-        }));
-    }
-    /**
-     * Reset device fault.
-     *
-     * When an error occurs on a device, the device will go into the Fault reaction active state (transition 13) and then automatically to the Fault state (transition 14).
-     * The CiA402 state of a device can be derived from the value of the Statusword object (0x6041:00).
-     * In order to exit the Fault state and enter the Switch on disabled state (transition 15), the master must send a Fault reset command via the Controlword object (0x6040:00).
-     *
-     * When this request is sent to Motion Master, it will attempt to reset the fault. Resetting the fault can either succeed or fail.
-     * While resetting the fault, Motion Master will use the current Controlword value and set the Reset fault bit to 1.
-     * However, upon completion, whether successful or encountering an error, Motion Master will set it back to 0.
-     *
-     * Motion Master will return a "No Fault" warning when this request is sent, and the device is not in the Fault or Fault reaction active state.
-     * If this request is sent when the device is in the Fault reaction active state, Motion Master will
-     * wait for the automatic transition (14) to the Fault state before attempting to reset the fault.
-     * When Motion Master sets the Controlword Fault bit to 1, it will also periodically check if the device is no longer in the Fault state.
-     * After a few seconds, if the device is still in the Fault state, Motion Master will give up and return a timeout error.
-     */
-    resetDeviceFault(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const resetDeviceFault = types_1.MotionMasterMessage.Request.ResetDeviceFault.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ resetDeviceFault }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFaultReset', requestTimeout, id));
-        }));
-    }
-    /**
-     * Stop device.
-     *
-     * Motion Master will use the current value of the Controlword object and set the command on it to Quick stop.
-     * It will then wait for up to 2 seconds for a device to enter one of the following CiA402 states: Switch on disabled, Operation enabled, Fault.
-     * This is achieved by periodically checking the value of the Statusword object. If the device fails to enter one of those states within the specified time,
-     * Motion Master will return a timeout or a quick stop failed error.
-     */
-    stopDevice(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const stopDevice = types_1.MotionMasterMessage.Request.StopDevice.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ stopDevice }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceStop', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start device firmware installation.
-     *
-     * When Motion Master receives this request for a device, it will perform the following steps:
-     * - Switch the device to the BOOT EtherCAT state; the device will then run the bootloader instead of the firmware.
-     * - Validate the firmware package.
-     * - Delete files found in the package from the device flash memory (SOMANET_CiA_402.xml and stack_image.svg).
-     * - Write files other than the firmware binaries and SII from the package to the device (SOMANET_CiA_402.xml and stack_image.svg).
-     * - (Optional) Install the SII file using the IgH EtherCAT Master library write SII function, or SOEM EEPROM tool.
-     * - Write the firmware binaries to the device using predefined names like app_firmware.bin and com_firmware.bin.
-     *
-     * During the firmware installation, Motion Master will send progress messages back to clients.
-     * If Motion Master encounters a failure in any step other than SII write, it will send an error. If SII write fails, only a warning will be sent.
-     */
-    startDeviceFirmwareInstallation(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startDeviceFirmwareInstallation = types_1.MotionMasterMessage.Request.StartDeviceFirmwareInstallation.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startDeviceFirmwareInstallation }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFirmwareInstallation', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get device log.
-     *
-     * The device log is stored in two files due to the IgH EtherCAT Master library 9KB file size limitation, as explained in {@link getDeviceFile}.
-     * The device automatically writes the log to logging_curr.log and copies that file to logging_prev.log once it reaches 9KB.
-     * When Motion Master receives this request, it will read both of these files and return their combined contents.
-     */
-    getDeviceLog(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getDeviceLog = types_1.MotionMasterMessage.Request.GetDeviceLog.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getDeviceLog }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceLog', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start cogging torque recording.
-     *
-     * Cogging torque compensation (CTC) recording can be initiated with or without auto-config.
-     * In the proto file, skipping the auto-config is currently named skip_auto_tuning. The field name is deprecated and will be renamed.
-     *
-     * If CTC recording is started without auto-config, users must ensure that the encoder on the motor shaft is used for all functions: commutation, position, and velocity.
-     * If this is not the case, Motion Master will return an invalid encoder configuration error.
-     * Recording can also fail if the position controller is not tuned.
-     *
-     * If CTC recording is started with auto-config, Motion Master will:
-     * - Change the encoder configuration to have all encoder functions on the motor shaft.
-     * - Disable CTC.
-     * - Change the velocity feed forward value.
-     * - Change the position and velocity filter types and cutoff frequencies.
-     * - Run iterative sharpening position controller auto-tuning to compute the optimal PID values (gains) for CTC recording.
-     *
-     * All parameter values that Motion Master changes as part of the auto-config are first stored in memory and once the CTC recording is done, they are reverted back.
-     *
-     * CTC recording is initiated by changing the Modes of operation (0x6060) parameter value to -1 (Cogging compensation recording mode).
-     * During the operation, Motion Master will monitor the Cogging torque compensation state parameter (0x2008:01) to know when the recording is in progress and when it's done.
-     *
-     * The result of CTC recording is the cogging_torque.bin file written to the device flash memory. The size of this file is 2048 bytes.
-     * Each pair of bytes represents a 16-bit signed integer value in mNm (millinewton-meter).
-     *
-     * This request will turn the motor.
-     */
-    startCoggingTorqueRecording(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startCoggingTorqueRecording = types_1.MotionMasterMessage.Request.StartCoggingTorqueRecording.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startCoggingTorqueRecording }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('coggingTorqueRecording', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get cogging torque data.
-     *
-     * The cogging_torque.bin file is the result of cogging torque compensation recording, as explained in {@link startCoggingTorqueRecording}.
-     * The size of this file is 2048 bytes, where each pair of bytes represents a 16-bit signed integer value in mNm (millinewton-meter).
-     *
-     * Motion Master will read the cogging_torque.bin file, convert the bytes to 16-bit signed integer values, and return them as an array of numbers.
-     */
-    getCoggingTorqueData(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getCoggingTorqueData = types_1.MotionMasterMessage.Request.GetCoggingTorqueData.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getCoggingTorqueData }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('coggingTorqueData', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start offset detection.
-     *
-     * Running offset detection differs for firmwares <v5 and >=v5.
-     *
-     * For devices running firmware >=v5, Motion Master will execute multiple OS commands.
-     * Before initiating any command, the device is switched to Modes of operation -2 (Diagnostics mode), and
-     * it's put into the operation-enabled CiA402 state. The OS commands are then executed in the following order:
-     * - Open phase detection
-     * - Phase resistance measurement
-     * - Phase inductance measurement
-     * - Pole pair detection
-     * - Motor phase order detection
-     * - Commutation offset measurement
-     *
-     * Motion Master will return an error if any of the following OS commands fail: open phase detection,
-     * phase order detection, commutation offset measurement.
-     * If other OS commands fail, Motion Master will continue with the procedure and only return a warning.
-     *
-     * Once the commutation offset measurement command completes, it will update the following parameter values:
-     * - 0x2001:00 Commutation angle offset to the computed offset value
-     * - 0x2009:01 Commutation offset State to 2 (OFFSET_VALID)
-     * - 0x2003:05 Motor phases inverted will be changed by the firmware
-     *
-     * For devices running firmware <5, the same Modes of operation -2 is used, but it's named Commutation offset detection mode,
-     * and it will run as a single procedure as soon as the device is switched to CiA402 operation-enabled state.
-     * The end result is the same; the procedure will update 0x2001:00 and 0x2009:01 parameter values.
-     *
-     * This request will turn the motor.
-     */
-    startOffsetDetection(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startOffsetDetection = types_1.MotionMasterMessage.Request.StartOffsetDetection.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startOffsetDetection }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('offsetDetection', requestTimeout, id));
-        }));
-    }
-    /**
-     * @deprecated use {@link startSystemIdentification} instead
-     */
-    startPlantIdentification(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startPlantIdentification = types_1.MotionMasterMessage.Request.StartPlantIdentification.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startPlantIdentification }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('plantIdentification', requestTimeout, id));
-        }));
-    }
-    /**
-     * Compute auto-tuning gains.
-     *
-     * Auto-tuning gains can be computed for the position or the velocity controller.
-     *
-     * The prerequisites for running this procedure are a configured motor and the existence of
-     * the plant_model.csv file created by previously running the system identification {@link startSystemIdentification}.
-     * Motion Master will return an error if the plant_model.csv file is not found.
-     *
-     * In OBLAC Drives, this request is called when the tuning sliders (damping ratio, bandwidth) are moved and
-     * during the CTC recording {@link startCoggingTorqueRecording} when auto-config is not skipped.
-     *
-     * Motion Master will compute the PID gains using a proprietary algorithm and update the Kp, Ki, Kd values of the 0x2011 and 0x2012 parameters.
-     */
-    computeAutoTuningGains(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const computeAutoTuningGains = types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ computeAutoTuningGains }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('autoTuning', requestTimeout, id));
-        }));
-    }
-    /**
-     * Set motion controller parameters.
-     *
-     * This request sets the target value for a device on Motion Master.
-     *
-     * A previous call to {@link enableMotionController} will set the mode of operation to CSP, CSV, or CST and optionally enable filtering.
-     */
-    setMotionControllerParameters(props, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const setMotionControllerParameters = types_1.MotionMasterMessage.Request.SetMotionControllerParameters.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            this.sendRequest({ setMotionControllerParameters }, messageId);
-            return rxjs_1.EMPTY;
-        }));
-    }
-    /**
-     * Enable motion controller.
-     *
-     * This request will set the mode of operation to CSP, CSV, or CST and optionally enable filtering.
-     *
-     * If filtering is enabled, Motion Master will compute an intermediate target value in each cycle, and depending on the active mode of operation,
-     * set the value of one of 0x607A Target position, 0x60FF Target velocity, 0x6071 Target torque to that value.
-     *
-     * The target value can be updated with {@link setMotionControllerParameters}.
-     */
-    enableMotionController(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const enableMotionController = types_1.MotionMasterMessage.Request.EnableMotionController.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ enableMotionController }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('motionController', requestTimeout, id));
-        }));
-    }
-    /**
-     * Disable motion controller.
-     *
-     * Depending on the current CiA402 state, this request will do the following:
-     * - If the device is in Quick stop active, it will transition to Switch on disabled state.
-     * - If the device is in Operation enabled, it will transition to Switched on state.
-     */
-    disableMotionController(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const disableMotionController = types_1.MotionMasterMessage.Request.DisableMotionController.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ disableMotionController }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('motionController', requestTimeout, id));
-        }));
-    }
-    /**
-     * Set signal generator parameters.
-     *
-     * This request will update the signal generator parameter values for a device on Motion Master.
-     * The selected signal generator is then started by {@link startSignalGenerator}.
-     * The signal generator must be started within the next 60 seconds before Motion Master invalidates the previously set parameters.
-     */
-    setSignalGeneratorParameters(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const setSignalGeneratorParameters = types_1.MotionMasterMessage.Request.SetSignalGeneratorParameters.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ setSignalGeneratorParameters }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('signalGenerator', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start signal generator.
-     *
-     * This request will start one of the signal generators based on the
-     * previously set parameters with {@link setSignalGeneratorParameters}.
-     *
-     * Signal generators are started by changing the mode of operation, putting the device into Operation enabled CiA402 state,
-     * and setting the target value. The mode of operation set depends on the type of signal generator and the selected controller:
-     * - For the simple & advanced step response and the sine wave, one of CSP, CSV, or CST is set.
-     * - For the ramp, trapezoidal, and bidirectional signal generators, also called profiles, one of the PP, PV, TQ is set.
-     *
-     * Currently, the only profile type that the firmware supports is the ramp profile.
-     * Motion Master uses this profile type to construct and run the following signals: ramp, trapezoidal, and bidirectional.
-     * Sine wave is also a profile, but it is currently being generated on Motion Master alone.
-     * Firmwares >=5.2 will support generating and running sine wave profiles on devices themselves. This will enable lossless profile
-     * execution on possibly higher frequencies. Future Motion Master versions will switch to this method.
-     *
-     * For the simple step response, Motion Master will only set the target value, wait for the specified holding duration,
-     * and then send a Quick Stop command.
-     *
-     * The advanced step response is similar to the simple one, but, after the holding duration, it will set the new target
-     * multiple times depending on the shape, and then send a Quick Stop if the repeat option is set to NO. If repeat is set to YES,
-     * then the signal generator will run indefinitely, and the users must stop it manually.
-     *
-     * Before running a profile, Motion Master will check if the device supports the profile modes by looking at 0x6502 Supported drive modes.
-     * If profile modes are not supported, then the profiles will be generated on Motion Master. This means the targets will be computed upfront.
-     * If profiles are supported, then the ramp, trapezoidal, and bidirectional signal generators are run in profile mode of operation.
-     * To prepare the signal generator for execution, Motion Master will set the following parameters:
-     * - 0x6081:00 Profile velocity (only for the position controller)
-     * - 0x6083:00 Profile acceleration
-     * - 0x6084:00 Profile deceleration
-     * Motion Master knows when the profile has completed by comparing the demand with the actual value, taking into account the
-     * holding duration and the shape of the profile. Once the profile is considered complete, Motion Master will send a Quick Stop, but
-     * only if repeat is set to NO.
-     *
-     * The sine wave profile is generated upfront on Motion Master. Targets are computed for each master cycle (millisecond).
-     * Once the last computed target has been set, Motion Master will send a Quick Stop if repeat is set to NO.
-     *
-     * For all signal generators, Motion Master will check the requested target against the currently set software position limits
-     * and, if necessary, alter it while returning a warning.
-     *
-     * This request will turn the motor.
-     */
-    startSignalGenerator(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startSignalGenerator = types_1.MotionMasterMessage.Request.StartSignalGenerator.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startSignalGenerator }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('signalGenerator', requestTimeout, id));
-        }));
-    }
-    /**
-     * Stop signal generator.
-     *
-     * This request will send a Quick Stop command to the device.
-     */
-    stopSignalGenerator(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const stopSignalGenerator = types_1.MotionMasterMessage.Request.StopSignalGenerator.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ stopSignalGenerator }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('signalGenerator', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start monitoring device parameter values.
-     *
-     * When monitoring is started, Motion Master will begin and continue reading values from the device
-     * and send them back to a client at the specified interval on the given topic.
-     *
-     * The request is made through the req/res socket {@link MotionMasterReqResSocket},
-     * but the status messages will arrive on the pub/sub socket {@link MotionMasterPubSubSocket}.
-     *
-     * The same monitoring can read both PDO and SDO values. PDO values will be updated on every Motion Master cycle (1ms).
-     * How fast SDO values will update depends on the number of SDOs being monitored. Motion Master reads the SDO values in a sequence,
-     * so, for example, if there are 10 SDOs and it takes 20ms to read a single SDO, it will take approximately 200ms for each SDO to get updated.
-     * IgH EtherCAT Master supports non-blocking SDO reading with a request to read and check the state of the request (one of not used, busy, failed, succeeded).
-     * A future version of Motion Master will likely leverage this and update SDO values out of order as each of the requests to update SDO succeeds.
-     * This should decrease the time it takes to read multiple SDOs.
-     * If a parameter is required to be updated more frequently, it should be mapped as a PDO.
-     *
-     * Firmware versions >=5.2 support SDO complete access, but it is currently not being supported in Motion Master.
-     * With SDO complete access, RECORD and ARRAY subitems can be read with a single request.
-     *
-     * The interval is given in microseconds.
-     *
-     * The topic should be unique. The previous monitoring will stop if the given topic is reused.
-     * Clients can easily stop one another's monitoring by using the same topic.
-     * Prefixing topics with the client id or some other unique identifier is suggested.
-     *
-     * When the monitoring request is received, Motion Master will mark all requested parameters as stale.
-     * The first time a parameter gets refreshed from a device, it'll be marked as not stale.
-     * Motion Master won't start publishing parameter values until all parameters are marked as not stale.
-     * This was done to satisfy the firmware test client applications.
-     *
-     * Stopping the ongoing monitoring is done through the req/res socket using
-     * the request message ID of the initial start monitoring message {@link stopMonitoringDeviceParameterValues}.
-     */
-    startMonitoringDeviceParameterValues(props, requestTimeout, messageId) {
-        const startMonitoringDeviceParameterValues = types_1.MotionMasterMessage.Request.StartMonitoringDeviceParameterValues.create(props);
-        const id = this.sendRequest({ startMonitoringDeviceParameterValues }, messageId);
-        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('monitoringParameterValues', requestTimeout, id));
-    }
-    /**
-     * Stop monitoring device parameter values.
-     *
-     * The Message ID used for {@link startMonitoringDeviceParameterValues} uniquely identifies a monitoring and is used for stopping it.
-     */
-    stopMonitoringDeviceParameterValues(props, messageId) {
-        const stopMonitoringDeviceParameterValues = types_1.MotionMasterMessage.Request.StopMonitoringDeviceParameterValues.create(props);
-        this.sendRequest({ stopMonitoringDeviceParameterValues }, messageId);
-        return rxjs_1.EMPTY;
-    }
-    /**
-     * Get the EtherCAT network state.
-     *
-     * Returns one of the EtherCAT network states: BOOT, INIT, PRE-OP, SAFE-OP, OP.
-     * The state is returned as an enum value: INIT: 1, PREOP: 2, BOOT: 3, SAFEOP: 4, OP: 5.
-     */
-    getEthercatNetworkState(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getEthercatNetworkState = types_1.MotionMasterMessage.Request.GetEthercatNetworkState.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getEthercatNetworkState }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('ethercatNetworkState', requestTimeout, id));
-        }));
-    }
-    /**
-     * Set the EtherCAT network state.
-     *
-     * Set the EtherCAT network state to one of: BOOT, INIT, PRE-OP, SAFE-OP, OP.
-     * The state is set by an enum value: INIT: 1, PREOP: 2, BOOT: 3, SAFEOP: 4, OP: 5.
-     *
-     * When switching from PRE-OP to OP, MM will reinitialize slaves to update the PDO mapping.
-     */
-    setEthercatNetworkState(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const setEthercatNetworkState = types_1.MotionMasterMessage.Request.SetEthercatNetworkState.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ setEthercatNetworkState }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('ethercatNetworkState', requestTimeout, id));
-        }));
-    }
-    /**
-     * @deprecated use {@link startCirculoEncoderNarrowAngleCalibrationProcedure} instead
-     */
-    startNarrowAngleCalibration(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startNarrowAngleCalibration = types_1.MotionMasterMessage.Request.StartNarrowAngleCalibration.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startNarrowAngleCalibration }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('narrowAngleCalibration', requestTimeout, id));
-        }));
-    }
-    /**
-     * Set system client timeout.
-     *
-     * This request will update the client timeout.
-     *
-     * The client timeout specifies how long Motion Master will wait for the client to send a ping or any other message before
-     * considering it gone and clearing the resources (stopping procedures and monitorings) related to that client.
-     *
-     * The default client timeout is 1000ms.
-     *
-     * Clients will typically change this once the socket connection is established.
-     */
-    setSystemClientTimeout(props, messageId) {
-        const setSystemClientTimeout = types_1.MotionMasterMessage.Request.SetSystemClientTimeout.create(props);
-        this.sendRequest({ setSystemClientTimeout }, messageId);
-        return rxjs_1.EMPTY;
-    }
-    /**
-     * Start system identification.
-     *
-     * This request will run the system identification procedure, which identifies the plant model.
-     *
-     * Pre-conditions: a configured motor and configured encoders.
-     *
-     * The chirp signal that the procedure generates only uses the torque controller.
-     * The chirp signal is generated on Motion Master, and then, on every master cycle (1ms), the target torque value is set on a device.
-     * Motion Master will send a Quick Stop to a device after the last target value is set.
-     *
-     * The request can fail for multiple reasons: the device is in the fault state, cannot set the op mode state,
-     * or the system identification fails because not enough data points have been collected.
-     * While running the chirp signal, the data points are collected, but due to potential communication lag, it can happen
-     * that the master doesn't collect enough data points. If more than 80% of data points are missing, the procedure will fail.
-     * If between 20%-80% of data points are missing, only a warning will be returned. The exact thresholds are subject to change.
-     *
-     * Before computing the plant model data based on the collected data points, Motion Master will interpolate the missing data points.
-     * Plant model data is then computed and written to the plant_model.csv file on the device flash memory.
-     * The plant model file is later used to compute the PID values using {@link computeAutoTuningGains} and {@link startFullAutoTuning}.
-     * It's also used indirectly in {@link startCoggingTorqueRecording} when auto-config is turned on.
-     * Motion Master will also update the integral limit values in 0x2011: Velocity controller and 0x2012: Position controller during this procedure.
-     *
-     * In future versions of the firmware, the chirp signal would be executed on the devices themselves, so no data points will be missing,
-     * and the system identification will be able to run at higher frequencies and with higher precision.
-     *
-     * This request will turn the motor.
-     */
-    startSystemIdentification(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startSystemIdentification = types_1.MotionMasterMessage.Request.StartSystemIdentification.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startSystemIdentification }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemIdentification', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get Circulo encoder magnet distance.
-     *
-     * This feature is only available for firmwares >=v5. For older firmwares, Motion Master will return an error.
-     *
-     * Motion Master will read registers 0x2B and 0x2F on the specified encoder (by encoder ordinal), and then it will compute the magnet distance.
-     * The computation depends on the Circulo type, encoder port, and ring revision.
-     */
-    getCirculoEncoderMagnetDistance(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getCirculoEncoderMagnetDistance = types_1.MotionMasterMessage.Request.GetCirculoEncoderMagnetDistance.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getCirculoEncoderMagnetDistance }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderMagnetDistance', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start the Circulo encoder narrow-angle calibration procedure.
-     *
-     * This feature is only available on firmwares >=v5.
-     *
-     * Before starting the procedure, Motion Master will check and return an error if:
-     * - the firmware version is not >=v5
-     * - software position limits are set so that the required motor rotation is not possible
-     * - for SMM devices, the encoder source type is not set to None
-     * - the velocity resolution determined by the gear ratio, SI unit velocity, and feed constant is not high enough
-     *
-     * Before starting the procedure, Motion Master will do the following:
-     * - send OS command 14 (Ignore BiSS status bits) so that no firmware warnings or errors are raised during the procedure.
-     * - set certain encoder registers to their default values.
-     * - set the BiSS encoder to raw mode.
-     * - change the values of some device parameters: profile acceleration, deceleration, max motor speed, etc.
-     *
-     * The parameter values Motion Master sets depend on the type of the device (fetched from the hardware description file).
-     * Once the operation has completed, Motion Master will roll back all of the above parameters to their initial values.
-     *
-     * Procedure:
-     * - The procedure is run in velocity profile mode of operation.
-     * - The procedure will do multiple iterations until the encoder data is satisfactory.
-     * - The procedure can fail for various reasons: data out of range, motor too slow, bad data, internal error, etc.
-     * - The procedure will run a maximum of 13 calibration iterations, up to 2 mins in total.
-     * - One iteration turns the motor in one direction, and then the next one reverses the direction.
-     * - Each iteration will record encoder data into HRD files (4kHz) that contain the raw data from the specified encoder.
-     * - Motion Master will remove previous high-resolution data (HRD) files after each iteration. HRD streaming is configured/started using OS commands.
-     * - After each iteration, which lasts ~6 seconds, the recorded data in HRD files is read and passed to the iC House library.
-     * - The recorded data is sliced into 32-bit pairs of values of master and nonius track data. Motion Master creates two arrays out of this data and
-     * passes that to the iC House library which computes the new calibration parameters depending on encoder type sine and cosine offset, gain, etc.
-     * - The iterations are being repeated until the encoder (raw) data satisfies a certain threshold.
-     *
-     * The result of a successful calibration is setting multiple parameters into registers of the specified encoder.
-     *
-     * At the end of the procedure Motion Master will rotate the motor back to the starting position and run commutation offset detection.
-     * There will also be a final iteration that only measures the values of a (now) calibrated encoder for display.
-     *
-     * This request will turn the motor.
-     */
-    startCirculoEncoderNarrowAngleCalibrationProcedure(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startCirculoEncoderNarrowAngleCalibrationProcedure = types_1.MotionMasterMessage.Request.StartCirculoEncoderNarrowAngleCalibrationProcedure.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderNarrowAngleCalibrationProcedure', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get device CiA402 state.
-     */
-    getDeviceCia402State(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const getDeviceCia402State = types_1.MotionMasterMessage.Request.GetDeviceCiA402State.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ getDeviceCia402State }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceCia402State', requestTimeout, id));
-        }));
-    }
-    /**
-     * Set device CiA402 state.
-     */
-    setDeviceCia402State(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const setDeviceCia402State = types_1.MotionMasterMessage.Request.SetDeviceCiA402State.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ setDeviceCia402State }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceCia402State', requestTimeout, id));
-        }));
-    }
-    /**
-     * Get system log.
-     *
-     * The system log represents the collected standard output from the Motion Master process.
-     *
-     * This request will return the entire system log, which can be a maximum of approximately 2MB.
-     *
-     * The log level can be set as an environmental variable when the Motion Master process is started.
-     * The log level can be selected in the OBLAC Drives Update Service expert mode before installing a release.
-     * The supported log levels are:
-     * - 6: Request content
-     * - 5: Request type
-     * - 4: Parameter value
-     * - 3: Monitoring
-     * - 2: Verbose 2
-     * - 1: Verbose 1
-     * - 0: Info
-     * - 1: Warnings
-     * - 2: Errors
-     * - 3: Fatal errors
-     */
-    getSystemLog(requestTimeout, messageId) {
-        const getSystemLog = types_1.MotionMasterMessage.Request.GetSystemVersion.create();
-        const id = this.sendRequest({ getSystemLog }, messageId);
-        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemLog', requestTimeout, id));
-    }
-    /**
-     * Start device SII restore.
-     *
-     * This request uses the EEPROM tool from SOEM to overwrite the SII portion of the EEPROM on a device.
-     *
-     * Motion Master will verify the provided SII file before writing it to EEPROM. It will:
-     * - Check the file content length,
-     * - Compute CRC from a part of the SII file content and compare it to the CRC inside the file,
-     * - Check the SII category types in the category header.
-     *
-     * Unlike IgH EtherCAT Master, which identifies interfaces by MAC address, the SOEM tool requires an adapter name.
-     * Before calling the SOEM tool, Motion Master will find the adapter name by looking into /sys/class/net.
-     *
-     * The SOEM tool binary is delivered as a part of the Motion Master Docker image.
-     */
-    startDeviceSiiRestore(props, requestTimeout, messageId) {
-        const startDeviceSiiRestore = types_1.MotionMasterMessage.Request.StartDeviceSiiRestore.create(props);
-        const id = this.sendRequest({ startDeviceSiiRestore }, messageId);
-        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceSiiRestore', requestTimeout, id));
-    }
-    /**
-     * Start open-loop field control.
-     *
-     * The precondition for running the open-loop field control is to have a configured motor.
-     * No encoder configuration or offset detection is required.
-     *
-     * Open-loop field control is started by changing the Modes of operation (0x6060) parameter value to -3 (Open-loop field mode) and
-     * setting the CiA402 state to Ready to switch on.
-     * After that, Motion Master will run several OS commands that configure the open-loop field control parameters:
-     * - Start angle [milliradian]
-     * - End angle [milliradian]
-     * - Max rotational speed [radian/s]
-     * - Rotational acceleration [radian/s^2]
-     * - Start length [permille of rated torque]
-     * - End length [permille of rated torque]
-     * - Length speed [permille of rated torque]
-     *
-     * After the configuration, Motion Master will switch the device to Operation enabled CiA402 state, and the profile will start.
-     *
-     * While the open-loop field control is running, Motion Master will monitor the target reached bit in the statusword.
-     * When the target reached bit becomes 1, Motion Master will stop the procedure by changing the CiA402 state to Switched on.
-     *
-     * Motion Master will return an error if the device goes out of the Operation enabled state before the target reached bit becomes 1.
-     * There is no timeout on the Motion Master side.
-     *
-     * This request will turn the motor.
-     */
-    startOpenLoopFieldControl(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startOpenLoopFieldControl = types_1.MotionMasterMessage.Request.StartOpenLoopFieldControl.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startOpenLoopFieldControl }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('openLoopFieldControl', requestTimeout, id));
-        }));
-    }
-    /**
-     * @deprecated use {@link startFullAutoTuning} instead
-     */
-    computeFullAutoTuningGains(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const computeFullAutoTuningGains = types_1.MotionMasterMessage.Request.ComputeFullAutoTuningGains.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ computeFullAutoTuningGains }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('fullAutoTuning', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start full auto-tuning.
-     *
-     * The preconditions for running the full auto-tuning are a properly configured motor, brake, and encoders,
-     * and having executed the offset detection and the system identification procedures.
-     *
-     * In order to successfully run the full auto-tuning procedure, the motor must not rotate, and the device must not be in CiA402 Operation enabled.
-     *
-     * Motion Master will try to read the plant_model.csv file, and if it doesn't exist, it will return an error.
-     *
-     * Before the operation starts, Motion Master will measure the actual velocity for 500ms at a standstill to determine the encoder noise.
-     * The noise is then sent, along with some other parameters (velocity feedback filter, feed forward, DC link voltage, firmware version, and similar)
-     * and data to a proprietary computation algorithm.
-     * ADC current ratio, which is used in the computation script, is determined by the firmware version and the device hardware ID (e.g., 9500, 9501, 8501...).
-     *
-     * Full auto-tuning will compute the PID gains, and Motion Master will update the parameter values in the velocity or position controller, depending on the request.
-     *
-     * Motion Master will return the damping ratio, settling time, and bandwidth values when the procedure completes. UI will use these values to update the sliders in the Tuning screen.
-     *
-     * This procedure can be stopped with {@link stopFullAutoTuning}.
-     */
-    startFullAutoTuning(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startFullAutoTuning = types_1.MotionMasterMessage.Request.StartFullAutoTuning.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startFullAutoTuning }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('fullAutoTuning', requestTimeout, id));
-        }));
-    }
-    /**
-     * Stop full auto-tuning.
-     *
-     * Motion Master has only one exit point for this procedure, which is after the computation algorithm ends.
-     * This means that, once stopped, the procedure will compute the gains, but Motion Master will not update the controller parameters.
-     * A previously started full auto-tuning request will complete with an aborted error.
-     */
-    stopFullAutoTuning(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const stopFullAutoTuning = types_1.MotionMasterMessage.Request.StopFullAutoTuning.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ stopFullAutoTuning }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('fullAutoTuning', requestTimeout, id), (0, operators_1.map)((status) => {
-                var _a, _b;
-                if (((_a = status.success) === null || _a === void 0 ? void 0 : _a.code) === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_STOPPED ||
-                    ((_b = status.success) === null || _b === void 0 ? void 0 : _b.code) === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_STOPPED) {
-                    // Full auto tuning status is shared between start and stop.
-                    // When full auto tuning has stopped this request is considered successful.
-                    status.request = 'succeeded';
-                }
-                return status;
-            }));
-        }));
-    }
-    /**
-     * Start Circulo encoder configuration.
-     *
-     * The preconditions for this procedure are to have a Circulo device with internal encoders and firmware >=v5.
-     *
-     * This procedure will set various internal encoder registers based on the hardware description, Circulo device type, and the encoder ordinal.
-     *
-     * Before updating the registers, Motion Master will send an OS command to ignore the BiSS status bits.
-     * Once the procedure is done, the value of this register will be reverted.
-     *
-     * Depending on the setup, this procedure can take up to 30 seconds.
-     *
-     * This procedure can fail if it's already running, if it's not supported because of the firmware version,
-     * or if the hardware description file is missing.
-     *
-     * While this procedure runs, Motion Master will report its progress.
-     */
-    startCirculoEncoderConfiguration(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startCirculoEncoderConfiguration = types_1.MotionMasterMessage.Request.StartCirculoEncoderConfiguration.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startCirculoEncoderConfiguration }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderConfiguration', requestTimeout, id));
-        }));
-    }
-    /**
-     * @deprecated use {@link stopDevice} instead
-     */
-    stopCirculoEncoderNarrowAngleCalibrationProcedure(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const stopCirculoEncoderNarrowAngleCalibrationProcedure = types_1.MotionMasterMessage.Request.StopCirculoEncoderNarrowAngleCalibrationProcedure.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ stopCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderNarrowAngleCalibrationProcedure', requestTimeout, id));
-        }));
-    }
-    /**
-     * Start OS command.
-     *
-     * This request will execute an OS command and return the result as a byte array.
-     *
-     * Motion Master will check if an OS command is already running and use a mutex to ensure only one OS command runs at a time.
-     *
-     * This request can fail if the requested OS command is not supported.
-     *
-     * Motion Master will check if the OS command has failed and return an error.
-     *
-     * The OS command can timeout if it takes longer than the provided timeout in milliseconds, in which case Motion Master will return an error.
-     */
-    startOsCommand(props, requestTimeout, messageId) {
-        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            const startOsCommand = types_1.MotionMasterMessage.Request.StartOsCommand.create(Object.assign(Object.assign({}, props), { deviceAddress }));
-            const id = this.sendRequest({ startOsCommand }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('osCommand', requestTimeout, id));
-        }));
-    }
-    /**
-     * Send request.
-     *
-     * Create a Motion Master message with the provided request, optionally generate a unique message ID,
-     * and then send the message through the socket.
-     *
-     * @returns the message ID
-     */
-    sendRequest(request, messageId) {
-        const id = messageId !== null && messageId !== void 0 ? messageId : (0, uuid_1.v4)();
-        const message = types_1.MotionMasterMessage.create({ request, id });
-        this.socket.send(message);
-        return id;
-    }
-    //
-    // Helpers
-    //
-    /**
-     * Get the device serial number by device address.
-     *
-     * This function does not make any requests; instead, it utilizes the previously mapped device serial number to an instance of a device.
-     */
-    getSerialNumberByDeviceAddress(deviceAddress) {
-        for (let [serialNumber, device] of this.deviceMap.entries()) {
-            if (device.deviceAddress === deviceAddress) {
-                return serialNumber;
-            }
-        }
-        return;
-    }
-    /**
-     * Resolve a device.
-     *
-     * Resolves the device object by its reference, which can be a position, serial number, or device address.
-     *
-     * This function will make requests to retrieve the list of devices and the .hardware_description file for each device,
-     * but only if it has not been previously retrieved for this session.
-     *
-     * @throws errors if the device reference is invalid
-     */
-    resolveDevice(deviceRef, requestTimeout = 20000) {
-        const deviceRefObj = (typeof deviceRef === 'object') ? deviceRef : (0, util_1.makeDeviceRefObj)(deviceRef);
-        if (!(0, util_1.isValidDeviceRefObj)(deviceRefObj)) {
-            return (0, rxjs_1.throwError)(() => new Error(`Device ref object is not valid ${JSON.stringify(deviceRefObj)}`));
-        }
-        const device = this.getCachedDeviceByDeviceRefObj(deviceRefObj);
-        if (device) {
-            return (0, rxjs_1.of)(device);
-        }
-        else {
-            return this.getDevices(requestTimeout).pipe((0, rxjs_1.tap)((devices) => {
-                this.deviceMap.clear();
-                devices.forEach((device) => {
-                    if (!device.hardwareDescription) {
-                        throw new Error(`Device ${device.position} has no hardware description`);
-                    }
-                    const deviceSerialNumber = (0, hardware_description_1.getSerialNumberFromHardwareDescription)(device.hardwareDescription);
-                    this.deviceMap.set(deviceSerialNumber, device);
-                });
-            }), (0, operators_1.map)(() => {
-                const device = this.getCachedDeviceByDeviceRefObj(deviceRefObj);
-                if (!device) {
-                    throw new Error(`Device is not found by deviceRefObj ${JSON.stringify(deviceRefObj)}`);
-                }
-                return device;
-            }));
-        }
-    }
-    /**
-     * Resolve device address.
-     *
-     * This method should return the device address by a device reference object,
-     * or throw an error if the device address cannot be found.
-     *
-     * Refer to the description of this class for more information.
-     */
-    resolveDeviceAddress(deviceRef, requestTimeout = 60000) {
-        const deviceRefObj = (typeof deviceRef === 'object') ? deviceRef : (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.resolveDevice(deviceRefObj, requestTimeout).pipe((0, operators_1.map)((device) => device.deviceAddress));
-    }
-    /**
-     * Get devices.
-     *
-     * Retrieve device information from Motion Master.
-     *
-     * For each device in the list, read its .hardware_description file and assign its content to the device.
-     */
-    getDevices(requestTimeout = 10000) {
-        return this.getDeviceInfo(requestTimeout).pipe((0, operators_1.mergeMap)((deviceInfo) => {
-            var _a;
-            const devices = ((_a = deviceInfo.devices) !== null && _a !== void 0 ? _a : []);
-            return (0, rxjs_1.forkJoin)(devices.map((device) => {
-                const deviceAddress = device.deviceAddress;
-                const getDeviceFile = types_1.MotionMasterMessage.Request.GetDeviceFile
-                    .create({ name: '.hardware_description', deviceAddress });
-                const id = this.sendRequest({ getDeviceFile }, (0, uuid_1.v4)());
-                return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id), (0, operators_1.map)((deviceFile) => {
-                    const status = this.fixProductionScrewUp(deviceFile);
-                    if (status.content) {
-                        const data = (0, util_1.decodeTextContent)(status.content);
-                        const hardwareDescription = JSON.parse(data);
-                        const id = (0, hardware_description_1.getSerialNumberFromHardwareDescription)(hardwareDescription);
-                        return Object.assign(Object.assign({}, device), { id, hardwareDescription });
-                    }
-                    return Object.assign({}, device);
-                }));
-            }));
-        }));
-    }
-    getParameterValue(a, b, c, d, e, f) {
-        try {
-            const { deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId } = this.resolveGetDeviceParameterValueArguments(a, b, c, d, e, f);
-            return this.createGetParameterValueObservable(deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId);
-        }
-        catch (err) {
-            return (0, rxjs_1.throwError)(() => err);
-        }
-    }
-    upload(a, b, c, d, e, f) {
-        const { deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId } = this.resolveGetDeviceParameterValueArguments(a, b, c, d, e, f);
-        return (0, rxjs_1.lastValueFrom)(this.createGetParameterValueObservable(deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId));
-    }
-    createGetParameterValueObservable(deviceRefObj, index, subindex, loadFromCache = false, requestTimeout = 1000, messageId) {
-        return (0, rxjs_1.defer)(() => {
-            return this.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameters: [{ index, subindex, loadFromCache }] }), requestTimeout, messageId).pipe((0, operators_1.map)(({ parameterValues }) => {
-                var _a, _b, _c;
-                const parameterValue = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0];
-                if (parameterValue === null || parameterValue === void 0 ? void 0 : parameterValue.success) {
-                    const typeValue = parameterValue.typeValue;
-                    if (typeValue) {
-                        return parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0][typeValue];
-                    }
-                }
-                const props = Object.assign(Object.assign({}, deviceRefObj), { index, subindex, loadFromCache, requestTimeout, messageId });
-                const errorCodeName = types_1.MotionMasterMessage.Status.DeviceParameterValues.ParameterValue.Error.Code[(_c = (_b = (_a = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0]) === null || _a === void 0 ? void 0 : _a.error) === null || _b === void 0 ? void 0 : _b.code) !== null && _c !== void 0 ? _c : 0];
-                throw new Error(`Failed to get parameter value (${errorCodeName}) for ${JSON.stringify(props)}`);
-            }));
-        });
-    }
-    resolveGetDeviceParameterValueArguments(a, b, c, d, e, f) {
-        let deviceSerialNumber;
-        let index;
-        let subindex = 0;
-        let loadFromCache = false;
-        let requestTimeout = 1000;
-        let deviceRefObj;
-        let messageId;
-        if (typeof b === 'number' && typeof c === 'number') { // index, subindex, e.g. 0x6060, 1
-            deviceRefObj = (0, util_1.makeDeviceRefObj)(a);
-            index = b;
-            subindex = c;
-            if (typeof d === 'boolean') {
-                loadFromCache = d;
-            }
-            if (typeof e === 'number') {
-                requestTimeout = e;
-            }
-            if (typeof f === 'string') {
-                messageId = f;
-            }
-        }
-        else if (typeof a === 'string') { // device parameter id, e.g. "0x2110:1A.8502-03-0001353-2115"
-            [deviceSerialNumber, index, subindex] = (0, device_parameter_1.splitDeviceParameterId)(a);
-            deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceSerialNumber);
-            if (typeof b === 'boolean') {
-                loadFromCache = b;
-            }
-            if (typeof c === 'number') {
-                requestTimeout = c;
-            }
-            if (typeof d === 'string') {
-                messageId = d;
-            }
-        }
-        if (!index) {
-            throw new Error('Device parameter index is not provided!');
-        }
-        if (!deviceRefObj) {
-            throw new Error('Device address, position or serial number is not provided!');
-        }
-        return { deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId };
-    }
-    getParameterValues(ids, loadFromCache = false, requestTimeout = 9000, messageId) {
-        return this.resolveGetParameterValuesIds(ids).pipe((0, operators_1.mergeMap)((tuples) => {
-            var _a;
-            const collection = [];
-            for (const [deviceAddress, index, subindex] of tuples) {
-                let item = collection.find(c => c.deviceAddress === deviceAddress);
-                if (!item) {
-                    item = { deviceAddress, parameters: [], sendProgress: false };
-                    collection.push(item);
-                }
-                (_a = item.parameters) === null || _a === void 0 ? void 0 : _a.push({ index, subindex, loadFromCache });
-            }
-            return this.getMultiDeviceParameterValues({ collection }, requestTimeout, messageId).pipe((0, operators_1.map)((multiDeviceParameterValues) => {
-                if (!(multiDeviceParameterValues === null || multiDeviceParameterValues === void 0 ? void 0 : multiDeviceParameterValues.collection)) {
-                    throw new Error(`Multi device parameter values collection is empty`);
-                }
-                return multiDeviceParameterValues.collection.map(({ parameterValues, deviceAddress }) => {
-                    if (!parameterValues) {
-                        throw new Error(`No parameterValues for device ${deviceAddress}`);
-                    }
-                    return parameterValues.map((parameterValue) => {
-                        const value = parameterValue;
-                        const typeValue = value === null || value === void 0 ? void 0 : value.typeValue;
-                        if (typeValue) {
-                            return parameterValue[typeValue];
-                        }
-                        throw new Error(`No type value for parameter ${(0, parameter_1.makeParameterId)(value === null || value === void 0 ? void 0 : value.index, value === null || value === void 0 ? void 0 : value.subindex)}`);
-                    });
-                }).flat();
-            }));
-        }));
-    }
-    uploadMany(ids, loadFromCache = false, requestTimeout = 9000, messageId) {
-        return (0, rxjs_1.lastValueFrom)(this.getParameterValues(ids, loadFromCache, requestTimeout, messageId));
-    }
-    resolveGetParameterValuesIds(ids) {
-        if (ids.length === 0) {
-            return (0, rxjs_1.throwError)(() => new Error('The provided array of device parameter ids or addresses is empty!'));
-        }
-        let refs;
-        if ((0, types_1.isArrayOfDeviceSerialNumbers)(ids)) {
-            refs = ids.map(id => (0, device_parameter_1.splitDeviceParameterId)(id));
-        }
-        else {
-            refs = ids;
-        }
-        return (0, rxjs_1.defer)(() => {
-            return (0, rxjs_1.forkJoin)(refs.map(([deviceRef, index, subindex]) => {
-                return this.resolveDeviceAddress((0, util_1.makeDeviceRefObj)(deviceRef)).pipe((0, operators_1.map)((deviceAddress) => ([deviceAddress, index, subindex])));
-            }));
-        });
-    }
-    setParameterValue(a, b, c, d, e, f, g) {
-        try {
-            const { deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId } = this.resolveSetDeviceParameterValueArguments(a, b, c, d, e, f, g);
-            return this.createSetParameterValueObservable(deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId);
-        }
-        catch (err) {
-            return (0, rxjs_1.throwError)(() => err);
-        }
-    }
-    download(a, b, c, d, e, f, g) {
-        const { deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId } = this.resolveSetDeviceParameterValueArguments(a, b, c, d, e, f, g);
-        return (0, rxjs_1.lastValueFrom)(this.createSetParameterValueObservable(deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId));
-    }
-    createSetParameterValueObservable(deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout = 1000, messageId) {
-        return (0, rxjs_1.defer)(() => {
-            return this.resolveDeviceParameterTypeValueKey(deviceRefObj, index, subindex, valueTypeKey).pipe((0, operators_1.mergeMap)((valueTypeKey) => {
-                const parameterValue = { index, subindex, [valueTypeKey]: value };
-                return this.setDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameterValues: [parameterValue] }), requestTimeout, messageId).pipe((0, operators_1.map)(({ parameterValues }) => {
-                    var _a, _b, _c;
-                    const parameterValue = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0];
-                    if (parameterValue === null || parameterValue === void 0 ? void 0 : parameterValue.success) {
-                        const typeValue = parameterValue.typeValue;
-                        if (typeValue) {
-                            return;
-                        }
-                    }
-                    const props = Object.assign(Object.assign({}, deviceRefObj), { index, subindex, value, valueTypeKey, requestTimeout, messageId });
-                    const errorCodeName = types_1.MotionMasterMessage.Status.DeviceParameterValues.ParameterValue.Error.Code[(_c = (_b = (_a = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0]) === null || _a === void 0 ? void 0 : _a.error) === null || _b === void 0 ? void 0 : _b.code) !== null && _c !== void 0 ? _c : 0];
-                    throw new Error(`Failed to set parameter value (${errorCodeName}) for ${JSON.stringify(props)}`);
-                }));
-            }));
-        });
-    }
-    /**
-     * Resolve set device parameter value arguments.
-     */
-    resolveSetDeviceParameterValueArguments(a, b, c, d, e, f, g) {
-        let deviceSerialNumber;
-        let index;
-        let subindex = 0;
-        let value = 0;
-        let valueTypeKey;
-        let requestTimeout = 1000;
-        let deviceRefObj;
-        let messageId;
-        if (typeof b === 'number' && typeof c === 'number') { // index, subindex, e.g. 0x6060, 1
-            deviceRefObj = (0, util_1.makeDeviceRefObj)(a);
-            index = b;
-            subindex = c;
-            if (d !== undefined) {
-                value = d;
-            }
-            valueTypeKey = e;
-            if (typeof f === 'number') {
-                requestTimeout = f;
-            }
-            messageId = g;
-        }
-        else if (typeof a === 'string') { // device parameter id, e.g. "0x2110:1A.8502-03-0001353-2115"
-            [deviceSerialNumber, index, subindex] = (0, device_parameter_1.splitDeviceParameterId)(a);
-            deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceSerialNumber);
-            value = b;
-            if (typeof c !== 'number') {
-                valueTypeKey = c;
-            }
-            if (typeof d === 'number') {
-                requestTimeout = d;
-            }
-            messageId = e;
-        }
-        if (!index) {
-            throw new Error('Device parameter index is not provided!');
-        }
-        if (!deviceRefObj) {
-            throw new Error('Device address, position or serial number is not provided!');
-        }
-        return { deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId };
-    }
-    setParameterValues(ids, requestTimeout = 9000, messageId) {
-        if (ids.length === 0) {
-            return (0, rxjs_1.throwError)(() => new Error('The provided array of device parameter ids or addresses is empty!'));
-        }
-        let refs;
-        if ((0, types_1.isObjectOfDeviceSerialNumberToValues)(ids)) {
-            refs = Object.entries(ids).map(([id, value]) => ([...(0, device_parameter_1.splitDeviceParameterId)(id), value]));
-        }
-        else {
-            refs = ids;
-        }
-        return (0, rxjs_1.defer)(() => {
-            return (0, rxjs_1.forkJoin)(refs.map(([deviceRef, index, subindex, value, typeValueKey]) => {
-                const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-                return this.resolveDeviceAddress(deviceRefObj).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-                    return this.resolveDeviceParameterTypeValueKey(deviceRefObj, index, subindex, typeValueKey).pipe((0, operators_1.map)((typeValueKey) => ([deviceAddress, index, subindex, value, typeValueKey])));
-                }));
-            })).pipe((0, operators_1.mergeMap)((tuples) => {
-                var _a;
-                const collection = [];
-                for (const [deviceAddress, index, subindex, value, typeValueKey] of tuples) {
-                    let item = collection.find(c => c.deviceAddress === deviceAddress);
-                    if (!item) {
-                        item = { deviceAddress, parameterValues: [] };
-                        collection.push(item);
-                    }
-                    (_a = item.parameterValues) === null || _a === void 0 ? void 0 : _a.push({ index, subindex, [typeValueKey]: value });
-                }
-                return this.setMultiDeviceParameterValues({ collection }, requestTimeout, messageId).pipe((0, operators_1.map)((multiDeviceParameterValues) => {
-                    var _a;
-                    (_a = multiDeviceParameterValues.collection) === null || _a === void 0 ? void 0 : _a.map(({ parameterValues, deviceAddress }) => {
-                        if (!parameterValues) {
-                            throw new Error(`No parameterValues for device ${deviceAddress}`);
-                        }
-                    });
-                }));
-            }));
-        });
-    }
-    downloadMany(ids, requestTimeout = 9000, messageId) {
-        return (0, rxjs_1.lastValueFrom)(this.setParameterValues(ids, requestTimeout, messageId));
-    }
-    resolveDeviceParameterTypeValueKey(deviceRefObj, index, subindex, typeValueKey) {
-        if (typeValueKey) {
-            return (0, rxjs_1.of)(typeValueKey);
-        }
-        return this.resolveDeviceParameterInfoMap(deviceRefObj).pipe((0, operators_1.map)((infoMap) => {
-            const parameterId = (0, parameter_1.makeParameterId)(index, subindex);
-            const infoParameter = infoMap.get(parameterId);
-            if (!(infoParameter === null || infoParameter === void 0 ? void 0 : infoParameter.typeValueKey)) {
-                throw new Error(`No type value key is set for device ${JSON.stringify(deviceRefObj)} ${parameterId}`);
-            }
-            return infoParameter.typeValueKey;
-        }));
-    }
-    resolveDeviceParameterInfoMap(deviceRef, requestTimeout = 5000) {
-        return this.resolveDeviceAddress(deviceRef).pipe((0, operators_1.mergeMap)((deviceAddress) => {
-            let infoMap = this.deviceParameterInfoMap.get(deviceAddress);
-            if (infoMap) {
-                return (0, rxjs_1.of)(infoMap);
-            }
-            return this.getDeviceParameterInfo({ deviceAddress }, requestTimeout).pipe((0, operators_1.map)(({ parameters }) => {
-                if (!parameters) {
-                    throw new Error(`Device parameter info has no parameters ${deviceAddress}`);
-                }
-                infoMap = new Map();
-                this.deviceParameterInfoMap.set(deviceAddress, infoMap);
-                for (const parameter of parameters) {
-                    if (parameter.valueType) {
-                        const typeValue = util_1.valueTypeToParameterTypeValueKeyMap.get(parameter.valueType);
-                        if (!typeValue) {
-                            throw new Error(`No type value for device ${deviceAddress} in resolveDeviceParameterInfoMap`);
-                        }
-                        const serialNumber = this.getSerialNumberByDeviceAddress(deviceAddress);
-                        if (!serialNumber) {
-                            throw new Error(`No serial number for device ${deviceAddress} in resolveDeviceParameterInfoMap`);
-                        }
-                        const id = (0, device_parameter_1.makeDeviceParameterId)(serialNumber, parameter.index, parameter.subindex);
-                        const key = (0, parameter_1.makeParameterId)(parameter);
-                        infoMap.set(key, Object.assign(Object.assign({}, parameter), { id, index: parameter.index, subindex: parameter.subindex, name: parameter.name, typeValueKey: typeValue }));
-                    }
-                }
-                return infoMap;
-            }));
-        }));
-    }
-    /**
-     * Get device parameters.
-     */
-    getDeviceParameters(props, requestTimeout = 30000) {
-        return this.resolveDevice(props).pipe((0, operators_1.mergeMap)((device) => {
-            return this.getDeviceParameterInfo({ deviceAddress: device.deviceAddress }, requestTimeout).pipe((0, operators_1.mergeMap)(deviceParameterInfoStatus => {
-                var _a;
-                const { loadFromCache, sendProgress } = props;
-                const parameters = (_a = deviceParameterInfoStatus.parameters) === null || _a === void 0 ? void 0 : _a.map(p => { var _a, _b; return ({ index: (_a = p.index) !== null && _a !== void 0 ? _a : 0, subindex: (_b = p.subindex) !== null && _b !== void 0 ? _b : 0, loadFromCache }); });
-                return this.getDeviceParameterValues({ deviceAddress: device.deviceAddress, sendProgress, parameters }, requestTimeout).pipe((0, operators_1.map)(deviceParameterValuesStatus => {
-                    var _a, _b;
-                    if (!deviceParameterValuesStatus.parameterValues) {
-                        throw new Error('Device parameter values is empty');
-                    }
-                    const deviceParameters = deviceParameterValuesStatus.parameterValues.map((value, i) => {
-                        var _a, _b, _c;
-                        const index = (_a = value.index) !== null && _a !== void 0 ? _a : 0;
-                        const subindex = (_b = value.subindex) !== null && _b !== void 0 ? _b : 0;
-                        const id = (0, device_parameter_1.makeDeviceParameterId)(device.id, index, subindex);
-                        return (Object.assign(Object.assign(Object.assign({ id }, value), (_c = deviceParameterInfoStatus.parameters) === null || _c === void 0 ? void 0 : _c[i]), { index, subindex, value: (0, util_1.getParameterValue)(value) }));
-                    });
-                    const progress = sendProgress ? (_b = (_a = deviceParameterValuesStatus === null || deviceParameterValuesStatus === void 0 ? void 0 : deviceParameterValuesStatus.progress) === null || _a === void 0 ? void 0 : _a.percentage) !== null && _b !== void 0 ? _b : 0 : 100;
-                    return { parameters: deviceParameters, progress };
-                }));
-            }));
-        }));
-    }
-    /**
-     * Get files.
-     */
-    getFiles(deviceRef, requestTimeout = 30000, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.getDeviceFileList(deviceRefObj, requestTimeout, messageId).pipe((0, operators_1.map)((status) => { var _a, _b; return (_b = (_a = status.fileList) === null || _a === void 0 ? void 0 : _a.files) !== null && _b !== void 0 ? _b : []; }));
-    }
-    /**
-     * Get file.
-     */
-    getFile(deviceRef, name, requestTimeout = 5000, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => content));
-    }
-    /**
-     * Get decoded file.
-     *
-     * Content of a device file is returned as a binary data buffer.
-     * This functions tries to decode the content as a text in utf-8 character encoding.
-     */
-    getDecodedFile(deviceRef, name, requestTimeout = 2000, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => {
-            if (content) {
-                return (0, util_1.decodeTextContent)(content);
-            }
-            throw new Error(`Device file ${name} content for device ${deviceRef} is undefined!}`);
-        }));
-    }
-    /**
-     * Unlock protected files.
-     *
-     * This will enable the deletion of protected files.
-     * Protected files begin with a period, such as '.hardware_description'.
-     */
-    unlockProtectedFiles(deviceRef, requestTimeout = 5000, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name: 'fs-stackunlock=DD1317' }), requestTimeout, messageId);
-    }
-    /**
-     * Delete file.
-     */
-    deleteFile(deviceRef, name, requestTimeout = 3000, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.deleteDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId);
-    }
-    /**
-     * Get system log lines.
-     *
-     * Get the system log content and parse it into an array of lines, where each line contains the date, uptime, ID, file, level, and message.
-     */
-    getSystemLogLines(requestTimeout = 2000, messageId) {
-        return this.getSystemLog(requestTimeout, messageId).pipe((0, operators_1.map)((systemLog) => { var _a; return (0, util_1.parseSystemLogContent)((_a = systemLog.content) !== null && _a !== void 0 ? _a : ''); }));
-    }
-    /**
-     * Store parameters.
-     *
-     * Command the device to store the parameters into config.csv, then delay initially and subsequently check if the value of
-     * the Store parameters has changed to 1, indicating the successful completion.
-     *
-     * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
-     */
-    storeParameters(deviceRef) {
-        return this.setParameterValue(deviceRef, 0x1010, 1, 0x65766173).pipe(// "evas"
-        (0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1010, 1, 1).pipe((0, operators_1.retry)({ count: 10, delay: 500 }))));
-    }
-    /**
-     * Restore default parameters.
-     *
-     * Command the device to restore the default parameters, then delay initially and subsequently check if the value of
-     * the Restore default parameters has changed to 1, indicating the successful completion.
-     *
-     * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
-     */
-    restoreDefaultParameters(deviceRef, type = types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS) {
-        return this.setParameterValue(deviceRef, 0x1011, type, 0x64616f6c).pipe(// "daol"
-        (0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1011, type, 1).pipe((0, operators_1.retry)({ count: 10, delay: 500 }))));
-    }
-    /**
-     * Match parameter value.
-     *
-     * This function will retrieve a parameter value from a device and compare it with the expected value.
-     *
-     * @throws Will throw an error if the values do not match.
-     */
-    matchParameterValue(deviceRef, index, subindex, expectedValue) {
-        return this.getParameterValue(deviceRef, index, subindex).pipe((0, operators_1.map)((value) => {
-            if (value !== expectedValue) {
-                throw new Error(`Device parameter value and the expected value don't match: ${value} ${expectedValue}`);
-            }
-        }));
-    }
-    matchCia402States(deviceRef, expectedStates) {
-        return this.getParameterValue(deviceRef, 0x6041, 0).pipe((0, operators_1.map)((value) => {
-            const state = (0, cia402_1.getCia402State)(value);
-            if (!expectedStates.includes(state)) {
-                throw new Error(`Device CiA402 state and the expected state don't match: ${state} ${expectedStates}`);
-            }
-        }));
-    }
-    /**
-     * Helper function to enable motion.
-     */
-    enableMotion(deviceRef, controllerType, filter = false, requestTimeout = 2000, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.enableMotionController(Object.assign(Object.assign({}, deviceRefObj), { controllerType, filter }), requestTimeout, messageId);
-    }
-    /**
-     * A helper function to disable motion.
-     */
-    disableMotion(deviceRef, requestTimeout = 3000, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.disableMotionController(deviceRefObj, requestTimeout, messageId);
-    }
-    /**
-     * A helper function to set the motion target.
-     */
-    setMotionTarget(deviceRef, target, messageId) {
-        const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
-        return this.setMotionControllerParameters(Object.assign(Object.assign({}, deviceRefObj), { target }), messageId);
-    }
-    /**
-     * A helper function to set the value of the Modes of Operation parameter (0x6060:00).
-     */
-    setModesOfOperation(deviceRef, modesOfOperation) {
-        return this.setParameterValue(deviceRef, 0x6060, 0, modesOfOperation);
-    }
-    /**
-     * Get CiA402 state.
-     */
-    getCia402State(deviceRef, requestTimeout = 5000, messageId) {
-        return this.getParameterValue(deviceRef, 0x6041, 0, false, requestTimeout, messageId).pipe((0, operators_1.map)((value) => (0, cia402_1.getCia402State)(value)));
-    }
-    /**
-     * Transition to CiA402 state.
-     *
-     * This function will utilize the current value of the controlword and modify it to transition to the requested CiA402 state.
-     *
-     * Only one transition will occur, except when the current CiA402 state is SWITCH_ON_DISABLED. In this case,
-     * the first transition is from SOD to RTSO, and then from RTSO to the requested CiA402 state.
-     *
-     * The Statusword will be polled to check if the device has successfully transitioned to the requested CiA402 state.
-     * When transitioning to QSA, the Statusword will be checked against both QSA and SOD.
-     * This is necessary because the automatic transition from QSA to SOD can occur faster than the client's polling interval.
-     */
-    transitionToCia402State(deviceRef, targetState) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            let currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
-            if (targetState === currentState) {
-                return;
-            }
-            if (currentState === cia402_1.Cia402State.NOT_READY_TO_SWITCH_ON || currentState === cia402_1.Cia402State.FAULT_REACTION_ACTIVE) {
-                throw new Error(`It is not possible to transition from state ${currentState} to state ${targetState}. The transition from the current ${currentState} state is automatic.`);
-            }
-            let controlword = yield this.upload(deviceRef, 0x6040, 0);
-            let transition = cia402_2.cia402Transitions.find(t => t.from === currentState && t.to === targetState);
-            // From SOD it's only possible to transition to RTSO.
-            if (currentState === cia402_1.Cia402State.SWITCH_ON_DISABLED && targetState !== cia402_1.Cia402State.READY_TO_SWITCH_ON) {
-                transition = cia402_2.cia402Transitions.find(t => t.from === cia402_1.Cia402State.READY_TO_SWITCH_ON && t.to === targetState);
-            }
-            if (!transition) {
-                throw new Error(`It is not possible to transition from state ${currentState} to state ${targetState}.`);
-            }
-            if (currentState === cia402_1.Cia402State.SWITCH_ON_DISABLED) {
-                const sodToRtsoTransition = cia402_2.cia402Transitions[0];
-                const command = (0, cia402_3.createControlwordCommand)(controlword, sodToRtsoTransition.command);
-                yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, [cia402_1.Cia402State.READY_TO_SWITCH_ON]).pipe((0, operators_1.retry)({ count: 5, delay: 1000 })))));
-                controlword = yield this.upload(deviceRef, 0x6040, 0);
-                currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
-                if (targetState === currentState) {
-                    return;
-                }
-            }
-            const command = (0, cia402_3.createControlwordCommand)(controlword, transition.command);
-            const expectedStates = [targetState];
-            if (targetState === cia402_1.Cia402State.QUICK_STOP_ACTIVE) {
-                expectedStates.push(cia402_1.Cia402State.SWITCH_ON_DISABLED);
-            }
-            yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, expectedStates).pipe((0, operators_1.retry)({ count: 10, delay: 1000 }))), (0, operators_1.catchError)(() => {
-                throw new Error(`Timeout occurred while transitioning from ${currentState} state to ${targetState} state.`);
-            })));
-        });
-    }
-    /**
-     * Reset fault.
-     *
-     * Resetting a fault can only be done from the FAULT CiA402 state by transitioning to SWITCH_ON_DISABLED.
-     * This function will do the rising edge, that is it will first set the controlword reset fault bit to 0, wait a bit, and then set it to 1.
-     */
-    resetFault(deviceRef) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
-            if (currentState !== cia402_1.Cia402State.FAULT) {
-                throw new Error(`Device ${deviceRef} is not in FAULT CiA402 state.`);
-            }
-            let controlword = yield this.upload(deviceRef, 0x6040, 0);
-            controlword = controlword & 0xFF7F;
-            yield this.download(deviceRef, 0x6040, 0, controlword);
-            yield (0, util_1.resolveAfter)(25);
-            const command = (0, cia402_3.createControlwordCommand)(controlword, cia402_1.ControlwordCommand.FAULT_RESET);
-            yield this.download(deviceRef, 0x6040, 0, command);
-        });
-    }
-    /**
-     * Quick stop.
-     *
-     * Quickly stopping a drive can only be done from the OPERATION_ENABLED CiA402 state by transitioning to QUICK_STOP_ACTIVE.
-     */
-    quickStop(deviceRef) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
-            if (currentState !== cia402_1.Cia402State.OPERATION_ENABLED) {
-                throw new Error(`Device ${deviceRef} is not in OPERATION_ENABLED CiA402 state.`);
-            }
-            const controlword = yield this.upload(deviceRef, 0x6040, 0);
-            const command = (0, cia402_3.createControlwordCommand)(controlword, cia402_1.ControlwordCommand.QUICK_STOP);
-            yield this.download(deviceRef, 0x6040, 0, command);
-        });
-    }
-    /**
-     * Reset targets.
-     *
-     * Set torque and velocity targets to 0, and set the position target to the current position value.
-     */
-    resetTargets(deviceRef) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            const positionActualValue = yield this.upload(deviceRef, 0x6064, 0);
-            yield this.downloadMany([
-                [deviceRef, 0x6071, 0, 0],
-                [deviceRef, 0x607A, 0, positionActualValue],
-                [deviceRef, 0x60FF, 0, 0], // target velocity
-            ]);
-        });
-    }
-    /**
-     * Apply set point.
-     *
-     * When running in position profile mode and setting a new position target value, it's important to note that the device won't immediately move to the new position.
-     * To execute a new position set-point or target value, you need to make certain changes to the controlword.
-     *
-     * To indicate that the new set-point is valid and should be executed, you need to trigger a rising edge of the new set-point bit in the controlword.
-     * This rising edge serves as a signal to the device that a new set-point is being provided.
-     *
-     * Once the device receives the rising edge of the new set-point bit, it will set the set-point acknowledge bit in the statusword to 1.
-     * This indicates that the device has acknowledged the new set-point and will execute the corresponding action, such as moving to the specified position.
-     *
-     * Afterwards, the device will signal its ability to accept new set-points by setting the set-point acknowledge bit back to 0 in the statusword.
-     * This signifies that the device is ready to receive and process additional set-points.
-     *
-     * It's important to note that the device won't wait for the previous set-point to finish before executing a new set-point.
-     * If you want to initiate a new set-point while the previous one is still being executed, you need to generate another rising edge of the new set-point bit in the controlword.
-     */
-    applySetPoint(deviceRef) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            let controlword = yield this.upload(deviceRef, 0x6040, 0);
-            if ((controlword & 0x0010) > 0) {
-                controlword = controlword & 0xFFEF; // set new set-point bit to 0
-                yield this.download(deviceRef, 0x6040, 0, controlword);
-                yield (0, util_1.resolveAfter)(30);
-            }
-            controlword = controlword | 0x0010 | 0x0020; // set new set-point and change set immediately bits to 1
-            yield this.download(deviceRef, 0x6040, 0, controlword);
-        });
-    }
-    /**
-     * Run OS command.
-     *
-     * The OS command is a standard way of triggering actions or services that cannot be accommodated through a single SDO upload/download.
-     *
-     * The Dictionary object 0x1023 is used for executing OS commands. The following is the subindex list and their meanings:
-     *
-     * - 1: Command (OCTET_STRING), 8 bytes
-     *   - Byte 0: OS command ID, OS commands are identified by number, and here we specify which OS command to run, for example, 0 is encoder register communication
-     *   - Byte 1-7: Service request data, the remaining 7 bytes serve as arguments to the OS command, specifying details such as what register to read the value from
-     * - 2: Status (UNSIGNED8), 1 byte
-     *   - 0: last command completed, no errors, no response data
-     *   - 1: last command completed, no errors, response data available
-     *   - 2: last command completed, error, no response data
-     *   - 3: last command completed, error, response data available
-     *   - 100-200: command executing with percentage (100 = 0%, 200 = 100%)
-     *   - 255: command executing (if percentage display is not supported)
-     * - 3: Response (OCTET_STRING), 8 bytes
-     *   - Byte 0: Same as subindex 2
-     *   - Byte 1: unused
-     *   - Byte 2-7: Service response data, if the last command completed with response data, it will be available in these 6 bytes, for example, the value of the BiSS register
-     *
-     * Note that:
-     * - As soon as the value of 1: Command Byte 0 changes, the OS command will start to execute.
-     * - If the last command completed with response data, it will be available in bytes 2-7 of 3: Response subindex.
-     * - The value of subindex 2: Status will be the same as that of 3: Response Byte 0.
-     *
-     * All possible cases of 0x1023:03 Response subindex:
-     *
-     * | Description                                           |  Byte 0 | Byte 1 |     Byte 2    | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
-     * |-------------------------------------------------------|:-------:|:------:|:-------------:|:------:|:------:|:------:|:------:|:------:|
-     * | Command in progress with percentage                   | 100-200 |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
-     * | Command in progress without percentage                |   255   |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
-     * | Command completed without errors and without response |    0    |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
-     * | Command completed without errors and with response    |    1    |    -   |      Data     |  Data  |  Data  |  Data  |  Data  |  Data  |
-     * | Command completed with error and without response     |    2    |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
-     * | Command completed with error and with response        |    3    |    -   | OS error code |  Data  |  Data  |  Data  |  Data  |  Data  |
-     *
-     * Note that in the case of "Command completed without errors and with response," 6 bytes can be used for data.
-     * However, only 5 bytes are available in the case of "Command completed with error and with response."
-     * This limitation arises because Byte 2 in the latter response is allocated for the OS error code.
-     * The OS error code serves to indicate the reason behind the error occurrence.
-     *
-     * 0x1023: OS command is used in combination with 0x1024: OS command mode object.
-     * In our firmware, only the values 0 and 3 from the 0x1024 command mode object (USINT) are handled, and their meanings are as follows:
-     * - 0: Execute the next command immediatelly (default)
-     * - 3: Abort the current command and all commands in the buffer
-     *
-     * Note that if you abort the OS command, you must switch the value of 0x1024 back to 0 before executing another OS command.
-     */
-    runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
-        let response;
-        // defer must be used to make a request to Motion Master on each repeat step
-        const getResponse$ = (0, rxjs_1.defer)(() => this.getParameterValue(deviceRef, 0x1023, 3).pipe((0, operators_1.map)(os_command_1.parseOsCommandResponse), (0, rxjs_1.tap)((r) => response = r)));
-        return (0, rxjs_1.concat)(executeTheNextOsCommandImmediatelly ? this.setOsCommandMode(deviceRef, os_command_1.OsCommandMode.EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY) : rxjs_1.EMPTY, this.setParameterValue(deviceRef, 0x1023, 1, command), getResponse$.pipe((0, operators_1.repeat)({
-            delay: () => (response && (response.request === 'succeeded' || response.request === 'failed'))
-                ? rxjs_1.EMPTY
-                : (0, rxjs_1.timer)(responsePollingInterval),
-        }))).pipe((0, operators_1.takeUntil)((0, rxjs_1.timer)(commandTimeout).pipe((0, operators_1.mergeMap)(() => (0, rxjs_1.throwError)(() => new Error(`A timeout has occured for the OS command ${JSON.stringify(command)} on device ${deviceRef}.`))))), (0, operators_1.filter)(Boolean));
-    }
-    setOsCommandMode(deviceRef, value) {
-        return this.setParameterValue(deviceRef, 0x1024, 0, value);
-    }
-    abortOsCommand(deviceRef) {
-        return this.setOsCommandMode(deviceRef, os_command_1.OsCommandMode.ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER);
-    }
-    runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal = 1, slaveAddress = 0, rw = 0, registerAddress = 0, registerWriteValue = 0, commandTimeout = 10000, responsePollingInterval = 1000) {
-        const command = (0, os_command_1.createEncoderRegisterCommunicationOsCommand)(encoderOrdinal, slaveAddress, rw, registerAddress, registerWriteValue);
-        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
-            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
-                return Object.assign(Object.assign({}, osCommandResponse), { registerValue: osCommandResponse.data[0] });
-            }
-            return osCommandResponse;
-        }));
-    }
-    runMotorPhaseOrderDetectionOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
-        const command = (0, os_command_1.createMotorPhaseOrderDetectionOsCommand)();
-        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
-            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
-                return Object.assign(Object.assign({}, osCommandResponse), { motorPhaseOrder: osCommandResponse.data[0] });
-            }
-            return osCommandResponse;
-        }));
-    }
-    runCommutationOffsetMeasurementOsCommand(deviceRef, commandTimeout = 30000, responsePollingInterval = 1000) {
-        const command = (0, os_command_1.createCommutationOffsetMeasurementOsCommand)();
-        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
-            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
-                const [b0, b1] = osCommandResponse.data;
-                const commutationAngleOffset = (b0 << 8) | b1;
-                return Object.assign(Object.assign({}, osCommandResponse), { commutationAngleOffset });
-            }
-            return osCommandResponse;
-        }));
-    }
-    runOpenPhaseDetectionOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
-        const command = (0, os_command_1.createMotorPhaseOrderDetectionOsCommand)();
-        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
-            if (osCommandResponse.request === 'succeeded') {
-                return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: false });
-            }
-            if (osCommandResponse.request === 'failed') {
-                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode <= 250) {
-                    const { errorName, errorDescription } = os_command_1.openPhaseDetectionErrors[osCommandResponse.errorCode];
-                    return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: true, errorName, errorDescription });
-                }
-                return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: true });
-            }
-            return osCommandResponse;
-        }));
-    }
-    runPolePairDetectionOsCommand(deviceRef, commandTimeout = 60000, responsePollingInterval = 1000) {
-        const command = (0, os_command_1.createPolePairDetectionOsCommand)();
-        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
-            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
-                return Object.assign(Object.assign({}, osCommandResponse), { numberOfPolePairs: osCommandResponse.data[0] });
-            }
-            if (osCommandResponse.request === 'failed') {
-                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
-                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'The drive is not able to increase the amplitude of motor phase currents to the required value. This problem can occur due to limited Vdc or high motor phase impedances.' });
-                }
-            }
-            return osCommandResponse;
-        }));
-    }
-    runPhaseResistanceMeasurementOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
-        const command = (0, os_command_1.createPhaseResistanceMeasurementOsCommand)();
-        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
-            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
-                const [b0, b1, b2, b3] = osCommandResponse.data;
-                const phaseResistance = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
-                return Object.assign(Object.assign({}, osCommandResponse), { phaseResistance });
-            }
-            if (osCommandResponse.request === 'failed') {
-                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
-                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
-                }
-            }
-            return osCommandResponse;
-        }));
-    }
-    runPhaseInductanceMeasurementOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
-        const command = (0, os_command_1.createPhaseInductanceMeasurementOsCommand)();
-        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
-            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
-                const [b0, b1, b2, b3] = osCommandResponse.data;
-                const phaseInductance = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
-                return Object.assign(Object.assign({}, osCommandResponse), { phaseInductance });
-            }
-            if (osCommandResponse.request === 'failed') {
-                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
-                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
-                }
-            }
-            return osCommandResponse;
-        }));
-    }
-    readOsCommandResponse(deviceRef) {
-        return this.getParameterValue(deviceRef, 0x1023, 3).pipe((0, operators_1.map)(os_command_1.parseOsCommandResponse));
-    }
-    /**
-     * Set halt bit.
-     *
-     * The behavior of the halt function (bit 8) in the controlword depends on the specific operation mode of the device.
-     * When the halt bit is set to 1, the commanded motion will be interrupted, and the behavior of the device will follow the defined rules for the halt option code.
-     *
-     * After releasing the halt function by setting the halt bit to 0, the drive device will attempt to continue the commanded motion if possible,
-     * based on the specific operation mode and the conditions of the system.
-     */
-    setHaltBit(deviceRef, value) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            let controlword = yield this.upload(deviceRef, 0x6040, 0);
-            controlword = value ? (controlword | 0x0100) : (controlword & 0xFEFF);
-            yield this.download(deviceRef, 0x6040, 0, controlword);
-        });
-    }
-    getCachedDeviceByDeviceRefObj(deviceRefObj) {
-        if (deviceRefObj.deviceSerialNumber) {
-            return this.deviceMap.get(deviceRefObj.deviceSerialNumber);
-        }
-        else if (typeof deviceRefObj.devicePosition === 'number') {
-            for (const device of this.deviceMap.values()) {
-                if (device.position === deviceRefObj.devicePosition) {
-                    return device;
-                }
-            }
-        }
-        else if (typeof deviceRefObj.deviceAddress === 'number') {
-            for (const device of this.deviceMap.values()) {
-                if (device.deviceAddress === deviceRefObj.deviceAddress) {
-                    return device;
-                }
-            }
-        }
-        return;
-    }
-}
-exports.MotionMasterReqResClient = MotionMasterReqResClient;
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MotionMasterReqResClient = void 0;
+const tslib_1 = require("tslib");
+const rxjs_1 = require("rxjs");
+const operators_1 = require("rxjs/operators");
+const uuid_1 = require("uuid");
+const device_1 = require("./device");
+const device_parameter_1 = require("./device-parameter");
+const hardware_description_1 = require("./hardware-description");
+const operators_2 = require("./operators");
+const parameter_1 = require("./parameter");
+const types_1 = require("./types");
+const cia402_1 = require("./cia402");
+const cia402_2 = require("./cia402");
+const cia402_3 = require("./cia402");
+const os_command_1 = require("./os-command");
+const util_1 = require("./util");
+/**
+ * This class contains methods for making requests to Motion Master using the injected request/response socket.
+ *
+ * Each request message defined in the proto file has a corresponding request method in this class.
+ * For some requests, like firmware installation, Motion Master will send progress messages until the firmware installation is complete.
+ *
+ * A call to a request method will return an Observable of: (1) the corresponding status message,
+ * for example a call to `getDeviceInfo` will return an instance of `MotionMasterMessage.Status.DeviceInfo`,
+ * (2) request status - one of "succeeded," "failed," or "running.", and (3) request message id.
+ *
+ * If the request fails on Motion Master, the function will throw an error. It can also throw an error if the request times out.
+ *
+ * Request methods have an optional messageId input parameter.
+ * If `messageId` is not provided, one will be generated before sending the request message to Motion Master.
+ * Status messages (responses) received from Motion Master that correspond to the previous request will have the same `messageId` as the one in the request.
+ * This is how we match requests with response messages in full-duplex asynchronous communication (WebSockets, ZeroMQ).
+ * Matching request/response by message id is inspired by the [JSON-RPC 2.0 Specification](https://www.jsonrpc.org/specification).
+ *
+ * Almost all request methods have a mandatory `requestTimeout` input parameter.
+ * This parameter specifies how long (in milliseconds) the client will wait for the status (response) messages corresponding to the previous request.
+ * If the status message is not received in due time, the request method will throw a timeout error.
+ * The error doesn't mean the request has failed on Motion Master, but rather that the client has given up waiting for the response(s).
+ * It's possible to stop some ongoing procedures on Motion Master with the corresponding stop messages, for example, StopFullAutoTuning.
+ *
+ * @example
+ * How to handle a request method timeout error:
+ * ```typescript
+ * req.getDeviceInfo(10).subscribe({
+ *   next: (status) => console.log(status),
+ *   error: (err: unknown) => {
+ *     if (err instanceof TimeoutError) {
+ *       alert('Request has timed out');
+ *     }
+ *   }
+ * });
+ * ```
+ *
+ * Request methods for a particular device, like `getDeviceParameterInfo`, accept the type of request message as the first input parameter as defined in the proto file.
+ * For `getDeviceParameterInfo`, that's `MotionMasterMessage.Request.IGetDeviceParameterInfo`. This type is extended (via type intersection) by `DeviceRefObj`.
+ * This is done in order to support multiple ways to reference a device. Motion Master only supports device addresses, which it re-generates for each device on power cycle.
+ * Because device addresses can change, for scripts and applications, it's preferred to use a device reference that won't change.
+ * The device serial number in the hardware description file uniquely identifies the device and doesn't change. This is what each request message is extended with.
+ * Before sending the request message to Motion Master, the device address gets resolved and is set on the request message.
+ * Besides the device address and device serial number, devices can be referenced by position (sequence number in the network chain).
+ *
+ * It is ensured that the Observable returned from a call to the request method will eventually complete, so a call to unsubscribe is not required.
+ * The Observable will complete when the request status is either "succeeded" or "failed," or it will complete (error) due to a timeout.
+ * Finding out if a request has completed, failed, or is still ongoing is different for each request - it depends on the status messages, see {@link requestStatusResolver}.
+ * Request methods handle this and for each request, they will emit status messages with one of "succeeded," "failed," or "running" request statuses.
+ *
+ * Besides the request methods, this class contains many helper methods such as the ones for getting and setting device parameter values and
+ * saving all parameters, which involves complex logic like multiple repeating requests to determine if saving all parameters has completed successfully.
+ */
+class MotionMasterReqResClient {
+    constructor(socket) {
+        this.socket = socket;
+        /**
+         * Maps a device address to a map of parameter ID to a type value key.
+         *
+         * @example
+         * ```typescript
+         * new Map([
+         *   [2045285448, new Map([
+         *     ["0x1018:02", {
+         *       id: '0x1018:02',
+         *       index: 4120,
+         *       subindex: 2,
+         *       name: 'Product Code',
+         *       unit: '',
+         *       group: 'Identity object',
+         *       readAccess: true,
+         *       writeAccess: false,
+         *       min: undefined,
+         *       max: undefined,
+         *       valueType: 7, // UNSIGNED32
+         *       typeValueKey: "uintValue"
+         *     }]
+         *   ])]
+         * ]);
+         * ```
+         *
+         * When setting a parameter value, only one of int, uint, float, string, or raw type value fields must be set.
+         * This is defined in the proto file SetDeviceParameterValues request message.
+         *
+         * Device parameters have a richer set of base types defined in ESI, and they are provided by the DeviceParameterInfo status message.
+         * When device parameter info is fetched, this map gets updated by mapping device parameter types to "oneof" proto types, e.g., `INTEGER32 -> intValue`.
+         *
+         * This map helps in simplifying the API by allowing users to set parameter values without specifying the type value field.
+         * One can simply call `setParameterValue(2045285448, 0x2004, 0x03, 2500)`, and the correct type value field on the proto message will be set, `uintValue` in this example.
+         */
+        this.deviceParameterInfoMap = new Map();
+        /**
+         * Maps a device serial number to a device.
+         *
+         * @example
+         * ```typescript
+         * new Map([
+         *   ["8502-03-0001353-2115", { deviceAddress: 2045285448, ... }]
+         * ]);
+         * ```
+         *
+         * When making requests related to a device, the device address is used as an identifier.
+         * The device address is not permanent. The number is regenerated by Motion Master when devices are power-cycled.
+         * For scripts and applications using this library, having a permanent device identifier is a better option.
+         * The device serial number read from the hardware description file (.hardware_description) stored on a device is a permanent identifier.
+         *
+         * This map helps in making all request methods related to a device accept a device reference instead of just a device address as an identifier.
+         * The device reference {@link DeviceRefObj} can be one of the following: device address, device serial number, or device position.
+         * Before sending a request message to Motion Master, the device address is resolved from the device reference, and this map is used for that.
+         */
+        this.deviceMap = new Map();
+    }
+    /**
+     * Clears the state of an instance of this class.
+     *
+     * This method is typically called when Motion Master is deinitializing or the socket is closing.
+     * Both maps are implicitly populated when a device or parameter type value key gets resolved.
+     */
+    clearDevicesInformation() {
+        this.deviceParameterInfoMap.clear();
+        this.deviceMap.clear();
+    }
+    //
+    // Requests
+    //
+    /**
+     * Pings the system.
+     *
+     * The client must send messages to Motion Master at regular intervals for Motion Master to consider it alive.
+     * When the client is considered "not alive", Motion Master will stop the ongoing procedures and monitorings started by that client.
+     * Each client on the Motion Master side has its own default timeout, which can be changed by {@link setSystemClientTimeout}.
+     */
+    pingSystem(messageId) {
+        const pingSystem = types_1.MotionMasterMessage.Request.PingSystem.create();
+        this.sendRequest({ pingSystem }, messageId);
+        return rxjs_1.EMPTY;
+    }
+    /**
+     * Get the system version.
+     *
+     * Retrieve the version of Motion Master. The version follows [Semantic Versioning 2.0.0](https://semver.org/).
+     */
+    getSystemVersion(requestTimeout, messageId) {
+        const getSystemVersion = types_1.MotionMasterMessage.Request.GetSystemVersion.create();
+        const id = this.sendRequest({ getSystemVersion }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemVersion', requestTimeout, id));
+    }
+    /**
+     * Get device info.
+     *
+     * Device info includes a list of devices on the network. Each device has a type, position in the network, and a device address.
+     * At the time of writing, the device alias is not yet supported.
+     *
+     * Motion Master will assign a unique device address to each device in the list.
+     * The device address is what the client libraries use to make requests like `getDeviceParameter` for a particular device.
+     * The device address is only valid for the duration of the session, that is, until Motion Master re-initializes the devices, for example,
+     * when devices are power cycled or the Motion Master process is restarted.
+     */
+    getDeviceInfo(requestTimeout, messageId) {
+        const getDeviceInfo = types_1.MotionMasterMessage.Request.GetDeviceInfo.create();
+        const id = this.sendRequest({ getDeviceInfo }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceInfo', requestTimeout, id));
+    }
+    /**
+     * Get device parameter info.
+     *
+     * Device parameter info includes a list of all parameters for the requested device, but without the parameter values.
+     * Getting device parameter values can take more than 20ms per parameter using the IgH EtherCAT Master library.
+     * Not all clients require all the parameter values at once, like OBLAC Drives, so this method is useful for getting
+     * the list of available parameters and then separately obtaining the values of some required parameters.
+     *
+     * The returned list of device parameters will include some basic data for each parameter: index, subindex,
+     * name, unit, group (ARRAY or RECORD name for subitems), read and write access, min and max, and value type.
+     * Min and max values are not yet fully supported - they contain the min/max values for the used base type.
+     * The same info and more can be read from the "SOMANET_CiA_402.xml" file, but getting info from the ESI file is more complicated.
+     * It requires an XML parsing library and knowing how to read objects info from a dictionary and assigned modules.
+     */
+    getDeviceParameterInfo(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getDeviceParameterInfo = types_1.MotionMasterMessage.Request.GetDeviceParameterInfo.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getDeviceParameterInfo }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceParameterInfo', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get device parameter values.
+     *
+     * As mentioned earlier, fetching parameter values can take 20ms or more. However,
+     * it can also fail completely or timeout on the master side, registering as a "cannot refresh value" error.
+     */
+    getDeviceParameterValues(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getDeviceParameterValues = types_1.MotionMasterMessage.Request.GetDeviceParameterValues.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getDeviceParameterValues }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceParameterValues', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get multi-device parameter values.
+     *
+     * Allows requesting parameter values from multiple devices at the same time.
+     */
+    getMultiDeviceParameterValues(props, requestTimeout, messageId) {
+        const getMultiDeviceParameterValues = types_1.MotionMasterMessage.Request.GetMultiDeviceParameterValues.create(props);
+        const id = this.sendRequest({ getMultiDeviceParameterValues }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('multiDeviceParameterValues', requestTimeout, id));
+    }
+    /**
+     * Set device parameter values.
+     */
+    setDeviceParameterValues(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const setDeviceParameterValues = types_1.MotionMasterMessage.Request.SetDeviceParameterValues.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ setDeviceParameterValues }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceParameterValues', requestTimeout, id));
+        }));
+    }
+    /**
+     * Set multi-device parameter values.
+     *
+     * Allows setting parameter values on multiple devices at the same time.
+     */
+    setMultiDeviceParameterValues(props, requestTimeout, messageId) {
+        const setMultiDeviceParameterValues = types_1.MotionMasterMessage.Request.SetMultiDeviceParameterValues.create(props);
+        const id = this.sendRequest({ setMultiDeviceParameterValues }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('multiDeviceParameterValues', requestTimeout, id));
+    }
+    /**
+     * Get device file list.
+     *
+     * Motion Master will use Filetransfer over EtherCAT (FoE) to obtain the list of files from a device.
+     * There isn't an actual command for getting the list, but rather the content of a specially named file "fs-getlist" is the file list.
+     * The list can be read like any other file from a device using the IgH EtherCAT Master for Linux CLI program:
+     *
+     * ```
+     * $ ethercat foe_read fs-getlist
+     * ```
+     *
+     * At the time of writing this document, "fs-getlist" can return a maximum of 32 files (subject to change) in the list. This is a firmware limitation.
+     * However, more than 32 files can be stored on the device flash memory, but they won't appear in the list.
+     * Also, note that FoE can behave differently in the bootstrap firmware, which runs in the BOOT EtherCAT state, and
+     * SOMANET firmware, which runs in other EtherCAT states like PREOP/OP. Bootstrap tends to be buggier since it cannot be updated easily, so
+     * Motion Master has certain workarounds to overcome these FoE differences and bugs.
+     */
+    getDeviceFileList(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getDeviceFileList = types_1.MotionMasterMessage.Request.GetDeviceFileList.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getDeviceFileList }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFileList', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get device file.
+     *
+     * Motion Master uses Filetransfer over EtherCAT (FoE) to read and send back the content of a file from the device flash memory.
+     *
+     * The IgH EtherCAT Master library used by Motion Master limits the file read buffer to 9KB, so any file written to flash that is larger than 9KB
+     * needs to be split into parts of max 9KB. Motion Master does this automatically on request to {@link setDeviceFile}.
+     *
+     * Upon receiving this request, Motion Master will first read the list of files on a device, see {@link getDeviceFileList}.
+     * It does that in order to determine if the requested file, for example, "SOMANET_CiA_402.xml," has been stored in multiple parts.
+     * The parts are named like "SOMANET_CiA_402.xml.zip.part000," "SOMANET_CiA_402.xml.zip.part001," and so on.
+     * Motion Master will read all parts of the requested file, unzip it, and send the content back to a client.
+     * Since the number of items in the list of files is limited to 32 (based on the firmware version), Motion Master might not see the file,
+     * but in any case, it will try to read the content of it.
+     * If the file exists, it will return its content; otherwise, it will return the file not found error.
+     *
+     * Zipped files will be automatically unzipped, and their content returned; for example, "stack_image.svg.zip" can be stored
+     * in one or multiple files depending on the size. No matter how it's stored, it will be unzipped, and its content returned as
+     * text (SVG) instead of zipped content (binary).
+     *
+     * In BOOT EtherCAT state, it's only allowed to read the .hardware_description file. This was done because
+     * the bootloader firmware would hang when trying to read a corrupted or missing file.
+     *
+     * If the requested file content is empty, Motion Master will return a not found error. This is subject to change now that Motion Master reads the file error codes.
+     */
+    getDeviceFile(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getDeviceFile = types_1.MotionMasterMessage.Request.GetDeviceFile.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getDeviceFile }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id), (0, operators_1.map)((status) => this.fixProductionScrewUp(status)));
+        }));
+    }
+    /**
+     * Fixing a production screw-up that affects a very important customer. Added on February 29th, 2024.
+     * Besides fixing the production screw-up, this function will return a dummy .hardware_description file if one is not found on the device.
+     */
+    fixProductionScrewUp(status) {
+        if (status.name === '.hardware_description') {
+            if (status.content) {
+                const text = (0, util_1.decodeTextContent)(status.content);
+                if (text.includes('\\":')) {
+                    const replacedText = text.replace(/\\"/g, '"').replace(/"{/, '{').replace(/}"/, '}');
+                    const content = new TextEncoder().encode(replacedText);
+                    this.unlockProtectedFiles(status.deviceAddress, 10000).subscribe({
+                        next: () => {
+                            this.setDeviceFile({ content, deviceAddress: status.deviceAddress, name: '.hardware_description', overwrite: true }, 10000).subscribe({
+                                error(err) {
+                                    if (err instanceof Error) {
+                                        console.warn(`Failed to replace the invalid .hardware_description file. Error: ${err.message}`);
+                                    }
+                                },
+                            });
+                        },
+                        error: (err) => {
+                            if (err instanceof Error) {
+                                console.warn(`Failed to unlock protected files. Error: ${err.message}`);
+                            }
+                        },
+                    });
+                    status.content = content;
+                }
+            }
+            else {
+                if (status.deviceAddress) {
+                    const addr = status.deviceAddress.toString();
+                    const sn = addr.slice(0, 4) + '-' + addr.slice(4, 6) + '-' + addr.slice(6, 10) + '000-0000';
+                    const hw = JSON.parse(JSON.stringify(hardware_description_1.dummyHardwareDescriptionFileContentTemplate));
+                    hw.device.serialNumber = sn;
+                    const content = new TextEncoder().encode(JSON.stringify(hw));
+                    status.content = content;
+                    // @ts-ignore
+                    status['data'] = 'success';
+                    status.error = null;
+                    status.request = 'succeeded';
+                    status.success = {};
+                }
+            }
+        }
+        return status;
+    }
+    /**
+     * Set device file.
+     *
+     * Motion Master uses Filetransfer over EtherCAT (FoE) to write files to the device flash memory.
+     *
+     * The IgH EtherCAT Master library used by Motion Master limits the file read buffer to 9KB, so any file written to flash that is larger than 9KB
+     * needs to be split into parts of max 9KB. Motion Master does this automatically by first zipping the content and then writing the parts.
+     * The parts are named in the following manner: "SOMANET_CiA_402.xml.zip.part000," "SOMANET_CiA_402.xml.zip.part001," and so on.
+     */
+    setDeviceFile(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const setDeviceFile = types_1.MotionMasterMessage.Request.SetDeviceFile.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ setDeviceFile }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id));
+        }));
+    }
+    /**
+     * Delete device file.
+     *
+     * Motion Master uses Filetransfer over EtherCAT (FoE) to delete files from the device flash memory.
+     *
+     * If the file to delete is written in parts, Motion Master will ensure that all parts are deleted.
+     * It does this by reading the list of files on a device, see {@link getDeviceFileList}, removing all parts from that list, and then
+     * re-reading the list again to ensure that there are no leftovers if there were more than 32 files in the list. If there are still
+     * more than 32 files in the list, Motion Master will blindly try to make sure there are no file parts left in the memory (may or may not work).
+     */
+    deleteDeviceFile(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const deleteDeviceFile = types_1.MotionMasterMessage.Request.DeleteDeviceFile.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ deleteDeviceFile }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id));
+        }));
+    }
+    /**
+     * Reset device fault.
+     *
+     * When an error occurs on a device, the device will go into the Fault reaction active state (transition 13) and then automatically to the Fault state (transition 14).
+     * The CiA402 state of a device can be derived from the value of the Statusword object (0x6041:00).
+     * In order to exit the Fault state and enter the Switch on disabled state (transition 15), the master must send a Fault reset command via the Controlword object (0x6040:00).
+     *
+     * When this request is sent to Motion Master, it will attempt to reset the fault. Resetting the fault can either succeed or fail.
+     * While resetting the fault, Motion Master will use the current Controlword value and set the Reset fault bit to 1.
+     * However, upon completion, whether successful or encountering an error, Motion Master will set it back to 0.
+     *
+     * Motion Master will return a "No Fault" warning when this request is sent, and the device is not in the Fault or Fault reaction active state.
+     * If this request is sent when the device is in the Fault reaction active state, Motion Master will
+     * wait for the automatic transition (14) to the Fault state before attempting to reset the fault.
+     * When Motion Master sets the Controlword Fault bit to 1, it will also periodically check if the device is no longer in the Fault state.
+     * After a few seconds, if the device is still in the Fault state, Motion Master will give up and return a timeout error.
+     */
+    resetDeviceFault(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const resetDeviceFault = types_1.MotionMasterMessage.Request.ResetDeviceFault.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ resetDeviceFault }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFaultReset', requestTimeout, id));
+        }));
+    }
+    /**
+     * Stop device.
+     *
+     * Motion Master will use the current value of the Controlword object and set the command on it to Quick stop.
+     * It will then wait for up to 2 seconds for a device to enter one of the following CiA402 states: Switch on disabled, Operation enabled, Fault.
+     * This is achieved by periodically checking the value of the Statusword object. If the device fails to enter one of those states within the specified time,
+     * Motion Master will return a timeout or a quick stop failed error.
+     */
+    stopDevice(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const stopDevice = types_1.MotionMasterMessage.Request.StopDevice.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ stopDevice }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceStop', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start device firmware installation.
+     *
+     * When Motion Master receives this request for a device, it will perform the following steps:
+     * - Switch the device to the BOOT EtherCAT state; the device will then run the bootloader instead of the firmware.
+     * - Validate the firmware package.
+     * - Delete files found in the package from the device flash memory (SOMANET_CiA_402.xml and stack_image.svg).
+     * - Write files other than the firmware binaries and SII from the package to the device (SOMANET_CiA_402.xml and stack_image.svg).
+     * - (Optional) Install the SII file using the IgH EtherCAT Master library write SII function, or SOEM EEPROM tool.
+     * - Write the firmware binaries to the device using predefined names like app_firmware.bin and com_firmware.bin.
+     *
+     * During the firmware installation, Motion Master will send progress messages back to clients.
+     * If Motion Master encounters a failure in any step other than SII write, it will send an error. If SII write fails, only a warning will be sent.
+     */
+    startDeviceFirmwareInstallation(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startDeviceFirmwareInstallation = types_1.MotionMasterMessage.Request.StartDeviceFirmwareInstallation.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startDeviceFirmwareInstallation }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFirmwareInstallation', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get device log.
+     *
+     * The device log is stored in two files due to the IgH EtherCAT Master library 9KB file size limitation, as explained in {@link getDeviceFile}.
+     * The device automatically writes the log to logging_curr.log and copies that file to logging_prev.log once it reaches 9KB.
+     * When Motion Master receives this request, it will read both of these files and return their combined contents.
+     */
+    getDeviceLog(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getDeviceLog = types_1.MotionMasterMessage.Request.GetDeviceLog.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getDeviceLog }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceLog', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start cogging torque recording.
+     *
+     * Cogging torque compensation (CTC) recording can be initiated with or without auto-config.
+     * In the proto file, skipping the auto-config is currently named skip_auto_tuning. The field name is deprecated and will be renamed.
+     *
+     * If CTC recording is started without auto-config, users must ensure that the encoder on the motor shaft is used for all functions: commutation, position, and velocity.
+     * If this is not the case, Motion Master will return an invalid encoder configuration error.
+     * Recording can also fail if the position controller is not tuned.
+     *
+     * If CTC recording is started with auto-config, Motion Master will:
+     * - Change the encoder configuration to have all encoder functions on the motor shaft.
+     * - Disable CTC.
+     * - Change the velocity feed forward value.
+     * - Change the position and velocity filter types and cutoff frequencies.
+     * - Run iterative sharpening position controller auto-tuning to compute the optimal PID values (gains) for CTC recording.
+     *
+     * All parameter values that Motion Master changes as part of the auto-config are first stored in memory and once the CTC recording is done, they are reverted back.
+     *
+     * CTC recording is initiated by changing the Modes of operation (0x6060) parameter value to -1 (Cogging compensation recording mode).
+     * During the operation, Motion Master will monitor the Cogging torque compensation state parameter (0x2008:01) to know when the recording is in progress and when it's done.
+     *
+     * The result of CTC recording is the cogging_torque.bin file written to the device flash memory. The size of this file is 2048 bytes.
+     * Each pair of bytes represents a 16-bit signed integer value in mNm (millinewton-meter).
+     *
+     * This request will turn the motor.
+     */
+    startCoggingTorqueRecording(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startCoggingTorqueRecording = types_1.MotionMasterMessage.Request.StartCoggingTorqueRecording.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startCoggingTorqueRecording }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('coggingTorqueRecording', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get cogging torque data.
+     *
+     * The cogging_torque.bin file is the result of cogging torque compensation recording, as explained in {@link startCoggingTorqueRecording}.
+     * The size of this file is 2048 bytes, where each pair of bytes represents a 16-bit signed integer value in mNm (millinewton-meter).
+     *
+     * Motion Master will read the cogging_torque.bin file, convert the bytes to 16-bit signed integer values, and return them as an array of numbers.
+     */
+    getCoggingTorqueData(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getCoggingTorqueData = types_1.MotionMasterMessage.Request.GetCoggingTorqueData.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getCoggingTorqueData }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('coggingTorqueData', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start offset detection.
+     *
+     * Running offset detection differs for firmwares <v5 and >=v5.
+     *
+     * For devices running firmware >=v5, Motion Master will execute multiple OS commands.
+     * Before initiating any command, the device is switched to Modes of operation -2 (Diagnostics mode), and
+     * it's put into the operation-enabled CiA402 state. The OS commands are then executed in the following order:
+     * - Open phase detection
+     * - Phase resistance measurement
+     * - Phase inductance measurement
+     * - Pole pair detection
+     * - Motor phase order detection
+     * - Commutation offset measurement
+     *
+     * Motion Master will return an error if any of the following OS commands fail: open phase detection,
+     * phase order detection, commutation offset measurement.
+     * If other OS commands fail, Motion Master will continue with the procedure and only return a warning.
+     *
+     * Once the commutation offset measurement command completes, it will update the following parameter values:
+     * - 0x2001:00 Commutation angle offset to the computed offset value
+     * - 0x2009:01 Commutation offset State to 2 (OFFSET_VALID)
+     * - 0x2003:05 Motor phases inverted will be changed by the firmware
+     *
+     * For devices running firmware <5, the same Modes of operation -2 is used, but it's named Commutation offset detection mode,
+     * and it will run as a single procedure as soon as the device is switched to CiA402 operation-enabled state.
+     * The end result is the same; the procedure will update 0x2001:00 and 0x2009:01 parameter values.
+     *
+     * This request will turn the motor.
+     */
+    startOffsetDetection(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startOffsetDetection = types_1.MotionMasterMessage.Request.StartOffsetDetection.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startOffsetDetection }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('offsetDetection', requestTimeout, id));
+        }));
+    }
+    /**
+     * @deprecated use {@link startSystemIdentification} instead
+     */
+    startPlantIdentification(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startPlantIdentification = types_1.MotionMasterMessage.Request.StartPlantIdentification.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startPlantIdentification }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('plantIdentification', requestTimeout, id));
+        }));
+    }
+    /**
+     * Compute auto-tuning gains.
+     *
+     * Auto-tuning gains can be computed for the position or the velocity controller.
+     *
+     * The prerequisites for running this procedure are a configured motor and the existence of
+     * the plant_model.csv file created by previously running the system identification {@link startSystemIdentification}.
+     * Motion Master will return an error if the plant_model.csv file is not found.
+     *
+     * In OBLAC Drives, this request is called when the tuning sliders (damping ratio, bandwidth) are moved and
+     * during the CTC recording {@link startCoggingTorqueRecording} when auto-config is not skipped.
+     *
+     * Motion Master will compute the PID gains using a proprietary algorithm and update the Kp, Ki, Kd values of the 0x2011 and 0x2012 parameters.
+     */
+    computeAutoTuningGains(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const computeAutoTuningGains = types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ computeAutoTuningGains }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('autoTuning', requestTimeout, id));
+        }));
+    }
+    /**
+     * Set motion controller parameters.
+     *
+     * This request sets the target value for a device on Motion Master.
+     *
+     * A previous call to {@link enableMotionController} will set the mode of operation to CSP, CSV, or CST and optionally enable filtering.
+     */
+    setMotionControllerParameters(props, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const setMotionControllerParameters = types_1.MotionMasterMessage.Request.SetMotionControllerParameters.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            this.sendRequest({ setMotionControllerParameters }, messageId);
+            return rxjs_1.EMPTY;
+        }));
+    }
+    /**
+     * Enable motion controller.
+     *
+     * This request will set the mode of operation to CSP, CSV, or CST and optionally enable filtering.
+     *
+     * If filtering is enabled, Motion Master will compute an intermediate target value in each cycle, and depending on the active mode of operation,
+     * set the value of one of 0x607A Target position, 0x60FF Target velocity, 0x6071 Target torque to that value.
+     *
+     * The target value can be updated with {@link setMotionControllerParameters}.
+     */
+    enableMotionController(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const enableMotionController = types_1.MotionMasterMessage.Request.EnableMotionController.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ enableMotionController }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('motionController', requestTimeout, id));
+        }));
+    }
+    /**
+     * Disable motion controller.
+     *
+     * Depending on the current CiA402 state, this request will do the following:
+     * - If the device is in Quick stop active, it will transition to Switch on disabled state.
+     * - If the device is in Operation enabled, it will transition to Switched on state.
+     */
+    disableMotionController(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const disableMotionController = types_1.MotionMasterMessage.Request.DisableMotionController.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ disableMotionController }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('motionController', requestTimeout, id));
+        }));
+    }
+    /**
+     * Set signal generator parameters.
+     *
+     * This request will update the signal generator parameter values for a device on Motion Master.
+     * The selected signal generator is then started by {@link startSignalGenerator}.
+     * The signal generator must be started within the next 60 seconds before Motion Master invalidates the previously set parameters.
+     */
+    setSignalGeneratorParameters(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const setSignalGeneratorParameters = types_1.MotionMasterMessage.Request.SetSignalGeneratorParameters.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ setSignalGeneratorParameters }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('signalGenerator', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start signal generator.
+     *
+     * This request will start one of the signal generators based on the
+     * previously set parameters with {@link setSignalGeneratorParameters}.
+     *
+     * Signal generators are started by changing the mode of operation, putting the device into Operation enabled CiA402 state,
+     * and setting the target value. The mode of operation set depends on the type of signal generator and the selected controller:
+     * - For the simple & advanced step response and the sine wave, one of CSP, CSV, or CST is set.
+     * - For the ramp, trapezoidal, and bidirectional signal generators, also called profiles, one of the PP, PV, TQ is set.
+     *
+     * Currently, the only profile type that the firmware supports is the ramp profile.
+     * Motion Master uses this profile type to construct and run the following signals: ramp, trapezoidal, and bidirectional.
+     * Sine wave is also a profile, but it is currently being generated on Motion Master alone.
+     * Firmwares >=5.2 will support generating and running sine wave profiles on devices themselves. This will enable lossless profile
+     * execution on possibly higher frequencies. Future Motion Master versions will switch to this method.
+     *
+     * For the simple step response, Motion Master will only set the target value, wait for the specified holding duration,
+     * and then send a Quick Stop command.
+     *
+     * The advanced step response is similar to the simple one, but, after the holding duration, it will set the new target
+     * multiple times depending on the shape, and then send a Quick Stop if the repeat option is set to NO. If repeat is set to YES,
+     * then the signal generator will run indefinitely, and the users must stop it manually.
+     *
+     * Before running a profile, Motion Master will check if the device supports the profile modes by looking at 0x6502 Supported drive modes.
+     * If profile modes are not supported, then the profiles will be generated on Motion Master. This means the targets will be computed upfront.
+     * If profiles are supported, then the ramp, trapezoidal, and bidirectional signal generators are run in profile mode of operation.
+     * To prepare the signal generator for execution, Motion Master will set the following parameters:
+     * - 0x6081:00 Profile velocity (only for the position controller)
+     * - 0x6083:00 Profile acceleration
+     * - 0x6084:00 Profile deceleration
+     * Motion Master knows when the profile has completed by comparing the demand with the actual value, taking into account the
+     * holding duration and the shape of the profile. Once the profile is considered complete, Motion Master will send a Quick Stop, but
+     * only if repeat is set to NO.
+     *
+     * The sine wave profile is generated upfront on Motion Master. Targets are computed for each master cycle (millisecond).
+     * Once the last computed target has been set, Motion Master will send a Quick Stop if repeat is set to NO.
+     *
+     * For all signal generators, Motion Master will check the requested target against the currently set software position limits
+     * and, if necessary, alter it while returning a warning.
+     *
+     * This request will turn the motor.
+     */
+    startSignalGenerator(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startSignalGenerator = types_1.MotionMasterMessage.Request.StartSignalGenerator.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startSignalGenerator }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('signalGenerator', requestTimeout, id));
+        }));
+    }
+    /**
+     * Stop signal generator.
+     *
+     * This request will send a Quick Stop command to the device.
+     */
+    stopSignalGenerator(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const stopSignalGenerator = types_1.MotionMasterMessage.Request.StopSignalGenerator.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ stopSignalGenerator }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('signalGenerator', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start monitoring device parameter values.
+     *
+     * When monitoring is started, Motion Master will begin and continue reading values from the device
+     * and send them back to a client at the specified interval on the given topic.
+     *
+     * The request is made through the req/res socket {@link MotionMasterReqResSocket},
+     * but the status messages will arrive on the pub/sub socket {@link MotionMasterPubSubSocket}.
+     *
+     * The same monitoring can read both PDO and SDO values. PDO values will be updated on every Motion Master cycle (1ms).
+     * How fast SDO values will update depends on the number of SDOs being monitored. Motion Master reads the SDO values in a sequence,
+     * so, for example, if there are 10 SDOs and it takes 20ms to read a single SDO, it will take approximately 200ms for each SDO to get updated.
+     * IgH EtherCAT Master supports non-blocking SDO reading with a request to read and check the state of the request (one of not used, busy, failed, succeeded).
+     * A future version of Motion Master will likely leverage this and update SDO values out of order as each of the requests to update SDO succeeds.
+     * This should decrease the time it takes to read multiple SDOs.
+     * If a parameter is required to be updated more frequently, it should be mapped as a PDO.
+     *
+     * Firmware versions >=5.2 support SDO complete access, but it is currently not being supported in Motion Master.
+     * With SDO complete access, RECORD and ARRAY subitems can be read with a single request.
+     *
+     * The interval is given in microseconds.
+     *
+     * The topic should be unique. The previous monitoring will stop if the given topic is reused.
+     * Clients can easily stop one another's monitoring by using the same topic.
+     * Prefixing topics with the client id or some other unique identifier is suggested.
+     *
+     * When the monitoring request is received, Motion Master will mark all requested parameters as stale.
+     * The first time a parameter gets refreshed from a device, it'll be marked as not stale.
+     * Motion Master won't start publishing parameter values until all parameters are marked as not stale.
+     * This was done to satisfy the firmware test client applications.
+     *
+     * Stopping the ongoing monitoring is done through the req/res socket using
+     * the request message ID of the initial start monitoring message {@link stopMonitoringDeviceParameterValues}.
+     */
+    startMonitoringDeviceParameterValues(props, requestTimeout, messageId) {
+        const startMonitoringDeviceParameterValues = types_1.MotionMasterMessage.Request.StartMonitoringDeviceParameterValues.create(props);
+        const id = this.sendRequest({ startMonitoringDeviceParameterValues }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('monitoringParameterValues', requestTimeout, id));
+    }
+    /**
+     * Stop monitoring device parameter values.
+     *
+     * The Message ID used for {@link startMonitoringDeviceParameterValues} uniquely identifies a monitoring and is used for stopping it.
+     */
+    stopMonitoringDeviceParameterValues(props, messageId) {
+        const stopMonitoringDeviceParameterValues = types_1.MotionMasterMessage.Request.StopMonitoringDeviceParameterValues.create(props);
+        this.sendRequest({ stopMonitoringDeviceParameterValues }, messageId);
+        return rxjs_1.EMPTY;
+    }
+    /**
+     * Get the EtherCAT network state.
+     *
+     * Returns one of the EtherCAT network states: BOOT, INIT, PRE-OP, SAFE-OP, OP.
+     * The state is returned as an enum value: INIT: 1, PREOP: 2, BOOT: 3, SAFEOP: 4, OP: 5.
+     */
+    getEthercatNetworkState(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getEthercatNetworkState = types_1.MotionMasterMessage.Request.GetEthercatNetworkState.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getEthercatNetworkState }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('ethercatNetworkState', requestTimeout, id));
+        }));
+    }
+    /**
+     * Set the EtherCAT network state.
+     *
+     * Set the EtherCAT network state to one of: BOOT, INIT, PRE-OP, SAFE-OP, OP.
+     * The state is set by an enum value: INIT: 1, PREOP: 2, BOOT: 3, SAFEOP: 4, OP: 5.
+     *
+     * When switching from PRE-OP to OP, MM will reinitialize slaves to update the PDO mapping.
+     */
+    setEthercatNetworkState(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const setEthercatNetworkState = types_1.MotionMasterMessage.Request.SetEthercatNetworkState.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ setEthercatNetworkState }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('ethercatNetworkState', requestTimeout, id));
+        }));
+    }
+    /**
+     * @deprecated use {@link startCirculoEncoderNarrowAngleCalibrationProcedure} instead
+     */
+    startNarrowAngleCalibration(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startNarrowAngleCalibration = types_1.MotionMasterMessage.Request.StartNarrowAngleCalibration.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startNarrowAngleCalibration }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('narrowAngleCalibration', requestTimeout, id));
+        }));
+    }
+    /**
+     * Set system client timeout.
+     *
+     * This request will update the client timeout.
+     *
+     * The client timeout specifies how long Motion Master will wait for the client to send a ping or any other message before
+     * considering it gone and clearing the resources (stopping procedures and monitorings) related to that client.
+     *
+     * The default client timeout is 1000ms.
+     *
+     * Clients will typically change this once the socket connection is established.
+     */
+    setSystemClientTimeout(props, messageId) {
+        const setSystemClientTimeout = types_1.MotionMasterMessage.Request.SetSystemClientTimeout.create(props);
+        this.sendRequest({ setSystemClientTimeout }, messageId);
+        return rxjs_1.EMPTY;
+    }
+    /**
+     * Start system identification.
+     *
+     * This request will run the system identification procedure, which identifies the plant model.
+     *
+     * Pre-conditions: a configured motor and configured encoders.
+     *
+     * The chirp signal that the procedure generates only uses the torque controller.
+     * The chirp signal is generated on Motion Master, and then, on every master cycle (1ms), the target torque value is set on a device.
+     * Motion Master will send a Quick Stop to a device after the last target value is set.
+     *
+     * The request can fail for multiple reasons: the device is in the fault state, cannot set the op mode state,
+     * or the system identification fails because not enough data points have been collected.
+     * While running the chirp signal, the data points are collected, but due to potential communication lag, it can happen
+     * that the master doesn't collect enough data points. If more than 80% of data points are missing, the procedure will fail.
+     * If between 20%-80% of data points are missing, only a warning will be returned. The exact thresholds are subject to change.
+     *
+     * Before computing the plant model data based on the collected data points, Motion Master will interpolate the missing data points.
+     * Plant model data is then computed and written to the plant_model.csv file on the device flash memory.
+     * The plant model file is later used to compute the PID values using {@link computeAutoTuningGains} and {@link startFullAutoTuning}.
+     * It's also used indirectly in {@link startCoggingTorqueRecording} when auto-config is turned on.
+     * Motion Master will also update the integral limit values in 0x2011: Velocity controller and 0x2012: Position controller during this procedure.
+     *
+     * In future versions of the firmware, the chirp signal would be executed on the devices themselves, so no data points will be missing,
+     * and the system identification will be able to run at higher frequencies and with higher precision.
+     *
+     * This request will turn the motor.
+     */
+    startSystemIdentification(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startSystemIdentification = types_1.MotionMasterMessage.Request.StartSystemIdentification.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startSystemIdentification }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemIdentification', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get Circulo encoder magnet distance.
+     *
+     * This feature is only available for firmwares >=v5. For older firmwares, Motion Master will return an error.
+     *
+     * Motion Master will read registers 0x2B and 0x2F on the specified encoder (by encoder ordinal), and then it will compute the magnet distance.
+     * The computation depends on the Circulo type, encoder port, and ring revision.
+     */
+    getCirculoEncoderMagnetDistance(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getCirculoEncoderMagnetDistance = types_1.MotionMasterMessage.Request.GetCirculoEncoderMagnetDistance.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getCirculoEncoderMagnetDistance }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderMagnetDistance', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start the Circulo encoder narrow-angle calibration procedure.
+     *
+     * This feature is only available on firmwares >=v5.
+     *
+     * Before starting the procedure, Motion Master will check and return an error if:
+     * - the firmware version is not >=v5
+     * - software position limits are set so that the required motor rotation is not possible
+     * - for SMM devices, the encoder source type is not set to None
+     * - the velocity resolution determined by the gear ratio, SI unit velocity, and feed constant is not high enough
+     *
+     * Before starting the procedure, Motion Master will do the following:
+     * - send OS command 14 (Ignore BiSS status bits) so that no firmware warnings or errors are raised during the procedure.
+     * - set certain encoder registers to their default values.
+     * - set the BiSS encoder to raw mode.
+     * - change the values of some device parameters: profile acceleration, deceleration, max motor speed, etc.
+     *
+     * The parameter values Motion Master sets depend on the type of the device (fetched from the hardware description file).
+     * Once the operation has completed, Motion Master will roll back all of the above parameters to their initial values.
+     *
+     * Procedure:
+     * - The procedure is run in velocity profile mode of operation.
+     * - The procedure will do multiple iterations until the encoder data is satisfactory.
+     * - The procedure can fail for various reasons: data out of range, motor too slow, bad data, internal error, etc.
+     * - The procedure will run a maximum of 13 calibration iterations, up to 2 mins in total.
+     * - One iteration turns the motor in one direction, and then the next one reverses the direction.
+     * - Each iteration will record encoder data into HRD files (4kHz) that contain the raw data from the specified encoder.
+     * - Motion Master will remove previous high-resolution data (HRD) files after each iteration. HRD streaming is configured/started using OS commands.
+     * - After each iteration, which lasts ~6 seconds, the recorded data in HRD files is read and passed to the iC House library.
+     * - The recorded data is sliced into 32-bit pairs of values of master and nonius track data. Motion Master creates two arrays out of this data and
+     * passes that to the iC House library which computes the new calibration parameters depending on encoder type sine and cosine offset, gain, etc.
+     * - The iterations are being repeated until the encoder (raw) data satisfies a certain threshold.
+     *
+     * The result of a successful calibration is setting multiple parameters into registers of the specified encoder.
+     *
+     * At the end of the procedure Motion Master will rotate the motor back to the starting position and run commutation offset detection.
+     * There will also be a final iteration that only measures the values of a (now) calibrated encoder for display.
+     *
+     * This request will turn the motor.
+     */
+    startCirculoEncoderNarrowAngleCalibrationProcedure(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startCirculoEncoderNarrowAngleCalibrationProcedure = types_1.MotionMasterMessage.Request.StartCirculoEncoderNarrowAngleCalibrationProcedure.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderNarrowAngleCalibrationProcedure', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get device CiA402 state.
+     */
+    getDeviceCia402State(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const getDeviceCia402State = types_1.MotionMasterMessage.Request.GetDeviceCiA402State.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ getDeviceCia402State }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceCia402State', requestTimeout, id));
+        }));
+    }
+    /**
+     * Set device CiA402 state.
+     */
+    setDeviceCia402State(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const setDeviceCia402State = types_1.MotionMasterMessage.Request.SetDeviceCiA402State.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ setDeviceCia402State }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceCia402State', requestTimeout, id));
+        }));
+    }
+    /**
+     * Get system log.
+     *
+     * The system log represents the collected standard output from the Motion Master process.
+     *
+     * This request will return the entire system log, which can be a maximum of approximately 2MB.
+     *
+     * The log level can be set as an environmental variable when the Motion Master process is started.
+     * The log level can be selected in the OBLAC Drives Update Service expert mode before installing a release.
+     * The supported log levels are:
+     * - 6: Request content
+     * - 5: Request type
+     * - 4: Parameter value
+     * - 3: Monitoring
+     * - 2: Verbose 2
+     * - 1: Verbose 1
+     * - 0: Info
+     * - 1: Warnings
+     * - 2: Errors
+     * - 3: Fatal errors
+     */
+    getSystemLog(requestTimeout, messageId) {
+        const getSystemLog = types_1.MotionMasterMessage.Request.GetSystemVersion.create();
+        const id = this.sendRequest({ getSystemLog }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('systemLog', requestTimeout, id));
+    }
+    /**
+     * Start device SII restore.
+     *
+     * This request uses the EEPROM tool from SOEM to overwrite the SII portion of the EEPROM on a device.
+     *
+     * Motion Master will verify the provided SII file before writing it to EEPROM. It will:
+     * - Check the file content length,
+     * - Compute CRC from a part of the SII file content and compare it to the CRC inside the file,
+     * - Check the SII category types in the category header.
+     *
+     * Unlike IgH EtherCAT Master, which identifies interfaces by MAC address, the SOEM tool requires an adapter name.
+     * Before calling the SOEM tool, Motion Master will find the adapter name by looking into /sys/class/net.
+     *
+     * The SOEM tool binary is delivered as a part of the Motion Master Docker image.
+     */
+    startDeviceSiiRestore(props, requestTimeout, messageId) {
+        const startDeviceSiiRestore = types_1.MotionMasterMessage.Request.StartDeviceSiiRestore.create(props);
+        const id = this.sendRequest({ startDeviceSiiRestore }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceSiiRestore', requestTimeout, id));
+    }
+    /**
+     * Start open-loop field control.
+     *
+     * The precondition for running the open-loop field control is to have a configured motor.
+     * No encoder configuration or offset detection is required.
+     *
+     * Open-loop field control is started by changing the Modes of operation (0x6060) parameter value to -3 (Open-loop field mode) and
+     * setting the CiA402 state to Ready to switch on.
+     * After that, Motion Master will run several OS commands that configure the open-loop field control parameters:
+     * - Start angle [milliradian]
+     * - End angle [milliradian]
+     * - Max rotational speed [radian/s]
+     * - Rotational acceleration [radian/s^2]
+     * - Start length [permille of rated torque]
+     * - End length [permille of rated torque]
+     * - Length speed [permille of rated torque]
+     *
+     * After the configuration, Motion Master will switch the device to Operation enabled CiA402 state, and the profile will start.
+     *
+     * While the open-loop field control is running, Motion Master will monitor the target reached bit in the statusword.
+     * When the target reached bit becomes 1, Motion Master will stop the procedure by changing the CiA402 state to Switched on.
+     *
+     * Motion Master will return an error if the device goes out of the Operation enabled state before the target reached bit becomes 1.
+     * There is no timeout on the Motion Master side.
+     *
+     * This request will turn the motor.
+     */
+    startOpenLoopFieldControl(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startOpenLoopFieldControl = types_1.MotionMasterMessage.Request.StartOpenLoopFieldControl.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startOpenLoopFieldControl }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('openLoopFieldControl', requestTimeout, id));
+        }));
+    }
+    /**
+     * @deprecated use {@link startFullAutoTuning} instead
+     */
+    computeFullAutoTuningGains(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const computeFullAutoTuningGains = types_1.MotionMasterMessage.Request.ComputeFullAutoTuningGains.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ computeFullAutoTuningGains }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('fullAutoTuning', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start full auto-tuning.
+     *
+     * The preconditions for running the full auto-tuning are a properly configured motor, brake, and encoders,
+     * and having executed the offset detection and the system identification procedures.
+     *
+     * In order to successfully run the full auto-tuning procedure, the motor must not rotate, and the device must not be in CiA402 Operation enabled.
+     *
+     * Motion Master will try to read the plant_model.csv file, and if it doesn't exist, it will return an error.
+     *
+     * Before the operation starts, Motion Master will measure the actual velocity for 500ms at a standstill to determine the encoder noise.
+     * The noise is then sent, along with some other parameters (velocity feedback filter, feed forward, DC link voltage, firmware version, and similar)
+     * and data to a proprietary computation algorithm.
+     * ADC current ratio, which is used in the computation script, is determined by the firmware version and the device hardware ID (e.g., 9500, 9501, 8501...).
+     *
+     * Full auto-tuning will compute the PID gains, and Motion Master will update the parameter values in the velocity or position controller, depending on the request.
+     *
+     * Motion Master will return the damping ratio, settling time, and bandwidth values when the procedure completes. UI will use these values to update the sliders in the Tuning screen.
+     *
+     * This procedure can be stopped with {@link stopFullAutoTuning}.
+     */
+    startFullAutoTuning(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startFullAutoTuning = types_1.MotionMasterMessage.Request.StartFullAutoTuning.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startFullAutoTuning }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('fullAutoTuning', requestTimeout, id));
+        }));
+    }
+    /**
+     * Stop full auto-tuning.
+     *
+     * Motion Master has only one exit point for this procedure, which is after the computation algorithm ends.
+     * This means that, once stopped, the procedure will compute the gains, but Motion Master will not update the controller parameters.
+     * A previously started full auto-tuning request will complete with an aborted error.
+     */
+    stopFullAutoTuning(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const stopFullAutoTuning = types_1.MotionMasterMessage.Request.StopFullAutoTuning.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ stopFullAutoTuning }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('fullAutoTuning', requestTimeout, id), (0, operators_1.map)((status) => {
+                var _a, _b;
+                if (((_a = status.success) === null || _a === void 0 ? void 0 : _a.code) === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_STOPPED ||
+                    ((_b = status.success) === null || _b === void 0 ? void 0 : _b.code) === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_STOPPED) {
+                    // Full auto tuning status is shared between start and stop.
+                    // When full auto tuning has stopped this request is considered successful.
+                    status.request = 'succeeded';
+                }
+                return status;
+            }));
+        }));
+    }
+    /**
+     * Start Circulo encoder configuration.
+     *
+     * The preconditions for this procedure are to have a Circulo device with internal encoders and firmware >=v5.
+     *
+     * This procedure will set various internal encoder registers based on the hardware description, Circulo device type, and the encoder ordinal.
+     *
+     * Before updating the registers, Motion Master will send an OS command to ignore the BiSS status bits.
+     * Once the procedure is done, the value of this register will be reverted.
+     *
+     * Depending on the setup, this procedure can take up to 30 seconds.
+     *
+     * This procedure can fail if it's already running, if it's not supported because of the firmware version,
+     * or if the hardware description file is missing.
+     *
+     * While this procedure runs, Motion Master will report its progress.
+     */
+    startCirculoEncoderConfiguration(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startCirculoEncoderConfiguration = types_1.MotionMasterMessage.Request.StartCirculoEncoderConfiguration.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startCirculoEncoderConfiguration }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderConfiguration', requestTimeout, id));
+        }));
+    }
+    /**
+     * @deprecated use {@link stopDevice} instead
+     */
+    stopCirculoEncoderNarrowAngleCalibrationProcedure(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const stopCirculoEncoderNarrowAngleCalibrationProcedure = types_1.MotionMasterMessage.Request.StopCirculoEncoderNarrowAngleCalibrationProcedure.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ stopCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderNarrowAngleCalibrationProcedure', requestTimeout, id));
+        }));
+    }
+    /**
+     * Start OS command.
+     *
+     * This request will execute an OS command and return the result as a byte array.
+     *
+     * Motion Master will check if an OS command is already running and use a mutex to ensure only one OS command runs at a time.
+     *
+     * This request can fail if the requested OS command is not supported.
+     *
+     * Motion Master will check if the OS command has failed and return an error.
+     *
+     * The OS command can timeout if it takes longer than the provided timeout in milliseconds, in which case Motion Master will return an error.
+     */
+    startOsCommand(props, requestTimeout, messageId) {
+        return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            const startOsCommand = types_1.MotionMasterMessage.Request.StartOsCommand.create(Object.assign(Object.assign({}, props), { deviceAddress }));
+            const id = this.sendRequest({ startOsCommand }, messageId);
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('osCommand', requestTimeout, id));
+        }));
+    }
+    /**
+     * Send request.
+     *
+     * Create a Motion Master message with the provided request, optionally generate a unique message ID,
+     * and then send the message through the socket.
+     *
+     * @returns the message ID
+     */
+    sendRequest(request, messageId) {
+        const id = messageId !== null && messageId !== void 0 ? messageId : (0, uuid_1.v4)();
+        const message = types_1.MotionMasterMessage.create({ request, id });
+        this.socket.send(message);
+        return id;
+    }
+    //
+    // Helpers
+    //
+    /**
+     * Get the device serial number by device address.
+     *
+     * This function does not make any requests; instead, it utilizes the previously mapped device serial number to an instance of a device.
+     */
+    getSerialNumberByDeviceAddress(deviceAddress) {
+        for (let [serialNumber, device] of this.deviceMap.entries()) {
+            if (device.deviceAddress === deviceAddress) {
+                return serialNumber;
+            }
+        }
+        return;
+    }
+    /**
+     * Resolve a device.
+     *
+     * Resolves the device object by its reference, which can be a position, serial number, or device address.
+     *
+     * This function will make requests to retrieve the list of devices and the .hardware_description file for each device,
+     * but only if it has not been previously retrieved for this session.
+     *
+     * @throws errors if the device reference is invalid
+     */
+    resolveDevice(deviceRef, requestTimeout = 20000) {
+        const deviceRefObj = (typeof deviceRef === 'object') ? deviceRef : (0, device_1.makeDeviceRefObj)(deviceRef);
+        if (!(0, device_1.isValidDeviceRefObj)(deviceRefObj)) {
+            return (0, rxjs_1.throwError)(() => new Error(`Device ref object is not valid ${JSON.stringify(deviceRefObj)}`));
+        }
+        const device = this.getCachedDeviceByDeviceRefObj(deviceRefObj);
+        if (device) {
+            return (0, rxjs_1.of)(device);
+        }
+        else {
+            return this.getDevices(requestTimeout).pipe((0, rxjs_1.tap)((devices) => {
+                this.deviceMap.clear();
+                devices.forEach((device) => {
+                    if (!device.hardwareDescription) {
+                        throw new Error(`Device ${device.position} has no hardware description`);
+                    }
+                    const deviceSerialNumber = (0, hardware_description_1.getSerialNumberFromHardwareDescription)(device.hardwareDescription);
+                    this.deviceMap.set(deviceSerialNumber, device);
+                });
+            }), (0, operators_1.map)(() => {
+                const device = this.getCachedDeviceByDeviceRefObj(deviceRefObj);
+                if (!device) {
+                    throw new Error(`Device is not found by deviceRefObj ${JSON.stringify(deviceRefObj)}`);
+                }
+                return device;
+            }));
+        }
+    }
+    /**
+     * Resolve device address.
+     *
+     * This method should return the device address by a device reference object,
+     * or throw an error if the device address cannot be found.
+     *
+     * Refer to the description of this class for more information.
+     */
+    resolveDeviceAddress(deviceRef, requestTimeout = 60000) {
+        const deviceRefObj = (typeof deviceRef === 'object') ? deviceRef : (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.resolveDevice(deviceRefObj, requestTimeout).pipe((0, operators_1.map)((device) => device.deviceAddress));
+    }
+    /**
+     * Get devices.
+     *
+     * Retrieve device information from Motion Master.
+     *
+     * For each device in the list, read its .hardware_description file and assign its content to the device.
+     */
+    getDevices(requestTimeout = 10000) {
+        return this.getDeviceInfo(requestTimeout).pipe((0, operators_1.mergeMap)((deviceInfo) => {
+            var _a;
+            const devices = ((_a = deviceInfo.devices) !== null && _a !== void 0 ? _a : []);
+            return (0, rxjs_1.forkJoin)(devices.map((device) => {
+                const deviceAddress = device.deviceAddress;
+                const getDeviceFile = types_1.MotionMasterMessage.Request.GetDeviceFile
+                    .create({ name: '.hardware_description', deviceAddress });
+                const id = this.sendRequest({ getDeviceFile }, (0, uuid_1.v4)());
+                return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('deviceFile', requestTimeout, id), (0, operators_1.map)((deviceFile) => {
+                    const status = this.fixProductionScrewUp(deviceFile);
+                    if (status.content) {
+                        const data = (0, util_1.decodeTextContent)(status.content);
+                        const hardwareDescription = JSON.parse(data);
+                        const id = (0, hardware_description_1.getSerialNumberFromHardwareDescription)(hardwareDescription);
+                        return Object.assign(Object.assign({}, device), { id, hardwareDescription });
+                    }
+                    return Object.assign({}, device);
+                }));
+            }));
+        }));
+    }
+    getParameterValue(a, b, c, d, e, f) {
+        try {
+            const { deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId } = this.resolveGetDeviceParameterValueArguments(a, b, c, d, e, f);
+            return this.createGetParameterValueObservable(deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId);
+        }
+        catch (err) {
+            return (0, rxjs_1.throwError)(() => err);
+        }
+    }
+    upload(a, b, c, d, e, f) {
+        const { deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId } = this.resolveGetDeviceParameterValueArguments(a, b, c, d, e, f);
+        return (0, rxjs_1.lastValueFrom)(this.createGetParameterValueObservable(deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId));
+    }
+    createGetParameterValueObservable(deviceRefObj, index, subindex, loadFromCache = false, requestTimeout = 1000, messageId) {
+        return (0, rxjs_1.defer)(() => {
+            return this.getDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameters: [{ index, subindex, loadFromCache }] }), requestTimeout, messageId).pipe((0, operators_1.map)(({ parameterValues }) => {
+                var _a, _b, _c;
+                const parameterValue = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0];
+                if (parameterValue === null || parameterValue === void 0 ? void 0 : parameterValue.success) {
+                    const typeValue = parameterValue.typeValue;
+                    if (typeValue) {
+                        return parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0][typeValue];
+                    }
+                }
+                const props = Object.assign(Object.assign({}, deviceRefObj), { index, subindex, loadFromCache, requestTimeout, messageId });
+                const errorCodeName = types_1.MotionMasterMessage.Status.DeviceParameterValues.ParameterValue.Error.Code[(_c = (_b = (_a = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0]) === null || _a === void 0 ? void 0 : _a.error) === null || _b === void 0 ? void 0 : _b.code) !== null && _c !== void 0 ? _c : 0];
+                throw new Error(`Failed to get parameter value (${errorCodeName}) for ${JSON.stringify(props)}`);
+            }));
+        });
+    }
+    resolveGetDeviceParameterValueArguments(a, b, c, d, e, f) {
+        let deviceSerialNumber;
+        let index;
+        let subindex = 0;
+        let loadFromCache = false;
+        let requestTimeout = 1000;
+        let deviceRefObj;
+        let messageId;
+        if (typeof b === 'number' && typeof c === 'number') { // index, subindex, e.g. 0x6060, 1
+            deviceRefObj = (0, device_1.makeDeviceRefObj)(a);
+            index = b;
+            subindex = c;
+            if (typeof d === 'boolean') {
+                loadFromCache = d;
+            }
+            if (typeof e === 'number') {
+                requestTimeout = e;
+            }
+            if (typeof f === 'string') {
+                messageId = f;
+            }
+        }
+        else if (typeof a === 'string') { // device parameter id, e.g. "0x2110:1A.8502-03-0001353-2115"
+            [deviceSerialNumber, index, subindex] = (0, device_parameter_1.splitDeviceParameterId)(a);
+            deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceSerialNumber);
+            if (typeof b === 'boolean') {
+                loadFromCache = b;
+            }
+            if (typeof c === 'number') {
+                requestTimeout = c;
+            }
+            if (typeof d === 'string') {
+                messageId = d;
+            }
+        }
+        if (!index) {
+            throw new Error('Device parameter index is not provided!');
+        }
+        if (!deviceRefObj) {
+            throw new Error('Device address, position or serial number is not provided!');
+        }
+        return { deviceRefObj, index, subindex, loadFromCache, requestTimeout, messageId };
+    }
+    getParameterValues(ids, loadFromCache = false, requestTimeout = 9000, messageId) {
+        return this.resolveGetParameterValuesIds(ids).pipe((0, operators_1.mergeMap)((tuples) => {
+            var _a;
+            const collection = [];
+            for (const [deviceAddress, index, subindex] of tuples) {
+                let item = collection.find(c => c.deviceAddress === deviceAddress);
+                if (!item) {
+                    item = { deviceAddress, parameters: [], sendProgress: false };
+                    collection.push(item);
+                }
+                (_a = item.parameters) === null || _a === void 0 ? void 0 : _a.push({ index, subindex, loadFromCache });
+            }
+            return this.getMultiDeviceParameterValues({ collection }, requestTimeout, messageId).pipe((0, operators_1.map)((multiDeviceParameterValues) => {
+                if (!(multiDeviceParameterValues === null || multiDeviceParameterValues === void 0 ? void 0 : multiDeviceParameterValues.collection)) {
+                    throw new Error(`Multi device parameter values collection is empty`);
+                }
+                return multiDeviceParameterValues.collection.map(({ parameterValues, deviceAddress }) => {
+                    if (!parameterValues) {
+                        throw new Error(`No parameterValues for device ${deviceAddress}`);
+                    }
+                    return parameterValues.map((parameterValue) => {
+                        const value = parameterValue;
+                        const typeValue = value === null || value === void 0 ? void 0 : value.typeValue;
+                        if (typeValue) {
+                            return parameterValue[typeValue];
+                        }
+                        throw new Error(`No type value for parameter ${(0, parameter_1.makeParameterId)(value === null || value === void 0 ? void 0 : value.index, value === null || value === void 0 ? void 0 : value.subindex)}`);
+                    });
+                }).flat();
+            }));
+        }));
+    }
+    uploadMany(ids, loadFromCache = false, requestTimeout = 9000, messageId) {
+        return (0, rxjs_1.lastValueFrom)(this.getParameterValues(ids, loadFromCache, requestTimeout, messageId));
+    }
+    resolveGetParameterValuesIds(ids) {
+        if (ids.length === 0) {
+            return (0, rxjs_1.throwError)(() => new Error('The provided array of device parameter ids or addresses is empty!'));
+        }
+        let refs;
+        if ((0, types_1.isArrayOfDeviceSerialNumbers)(ids)) {
+            refs = ids.map(id => (0, device_parameter_1.splitDeviceParameterId)(id));
+        }
+        else {
+            refs = ids;
+        }
+        return (0, rxjs_1.defer)(() => {
+            return (0, rxjs_1.forkJoin)(refs.map(([deviceRef, index, subindex]) => {
+                return this.resolveDeviceAddress((0, device_1.makeDeviceRefObj)(deviceRef)).pipe((0, operators_1.map)((deviceAddress) => ([deviceAddress, index, subindex])));
+            }));
+        });
+    }
+    setParameterValue(a, b, c, d, e, f, g) {
+        try {
+            const { deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId } = this.resolveSetDeviceParameterValueArguments(a, b, c, d, e, f, g);
+            return this.createSetParameterValueObservable(deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId);
+        }
+        catch (err) {
+            return (0, rxjs_1.throwError)(() => err);
+        }
+    }
+    download(a, b, c, d, e, f, g) {
+        const { deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId } = this.resolveSetDeviceParameterValueArguments(a, b, c, d, e, f, g);
+        return (0, rxjs_1.lastValueFrom)(this.createSetParameterValueObservable(deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId));
+    }
+    createSetParameterValueObservable(deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout = 1000, messageId) {
+        return (0, rxjs_1.defer)(() => {
+            return this.resolveDeviceParameterTypeValueKey(deviceRefObj, index, subindex, valueTypeKey).pipe((0, operators_1.mergeMap)((valueTypeKey) => {
+                const parameterValue = { index, subindex, [valueTypeKey]: value };
+                return this.setDeviceParameterValues(Object.assign(Object.assign({}, deviceRefObj), { parameterValues: [parameterValue] }), requestTimeout, messageId).pipe((0, operators_1.map)(({ parameterValues }) => {
+                    var _a, _b, _c;
+                    const parameterValue = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0];
+                    if (parameterValue === null || parameterValue === void 0 ? void 0 : parameterValue.success) {
+                        const typeValue = parameterValue.typeValue;
+                        if (typeValue) {
+                            return;
+                        }
+                    }
+                    const props = Object.assign(Object.assign({}, deviceRefObj), { index, subindex, value, valueTypeKey, requestTimeout, messageId });
+                    const errorCodeName = types_1.MotionMasterMessage.Status.DeviceParameterValues.ParameterValue.Error.Code[(_c = (_b = (_a = parameterValues === null || parameterValues === void 0 ? void 0 : parameterValues[0]) === null || _a === void 0 ? void 0 : _a.error) === null || _b === void 0 ? void 0 : _b.code) !== null && _c !== void 0 ? _c : 0];
+                    throw new Error(`Failed to set parameter value (${errorCodeName}) for ${JSON.stringify(props)}`);
+                }));
+            }));
+        });
+    }
+    /**
+     * Resolve set device parameter value arguments.
+     */
+    resolveSetDeviceParameterValueArguments(a, b, c, d, e, f, g) {
+        let deviceSerialNumber;
+        let index;
+        let subindex = 0;
+        let value = 0;
+        let valueTypeKey;
+        let requestTimeout = 1000;
+        let deviceRefObj;
+        let messageId;
+        if (typeof b === 'number' && typeof c === 'number') { // index, subindex, e.g. 0x6060, 1
+            deviceRefObj = (0, device_1.makeDeviceRefObj)(a);
+            index = b;
+            subindex = c;
+            if (d !== undefined) {
+                value = d;
+            }
+            valueTypeKey = e;
+            if (typeof f === 'number') {
+                requestTimeout = f;
+            }
+            messageId = g;
+        }
+        else if (typeof a === 'string') { // device parameter id, e.g. "0x2110:1A.8502-03-0001353-2115"
+            [deviceSerialNumber, index, subindex] = (0, device_parameter_1.splitDeviceParameterId)(a);
+            deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceSerialNumber);
+            value = b;
+            if (typeof c !== 'number') {
+                valueTypeKey = c;
+            }
+            if (typeof d === 'number') {
+                requestTimeout = d;
+            }
+            messageId = e;
+        }
+        if (!index) {
+            throw new Error('Device parameter index is not provided!');
+        }
+        if (!deviceRefObj) {
+            throw new Error('Device address, position or serial number is not provided!');
+        }
+        return { deviceRefObj, index, subindex, value, valueTypeKey, requestTimeout, messageId };
+    }
+    setParameterValues(ids, requestTimeout = 9000, messageId) {
+        if (ids.length === 0) {
+            return (0, rxjs_1.throwError)(() => new Error('The provided array of device parameter ids or addresses is empty!'));
+        }
+        let refs;
+        if ((0, types_1.isObjectOfDeviceSerialNumberToValues)(ids)) {
+            refs = Object.entries(ids).map(([id, value]) => ([...(0, device_parameter_1.splitDeviceParameterId)(id), value]));
+        }
+        else {
+            refs = ids;
+        }
+        return (0, rxjs_1.defer)(() => {
+            return (0, rxjs_1.forkJoin)(refs.map(([deviceRef, index, subindex, value, typeValueKey]) => {
+                const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+                return this.resolveDeviceAddress(deviceRefObj).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+                    return this.resolveDeviceParameterTypeValueKey(deviceRefObj, index, subindex, typeValueKey).pipe((0, operators_1.map)((typeValueKey) => ([deviceAddress, index, subindex, value, typeValueKey])));
+                }));
+            })).pipe((0, operators_1.mergeMap)((tuples) => {
+                var _a;
+                const collection = [];
+                for (const [deviceAddress, index, subindex, value, typeValueKey] of tuples) {
+                    let item = collection.find(c => c.deviceAddress === deviceAddress);
+                    if (!item) {
+                        item = { deviceAddress, parameterValues: [] };
+                        collection.push(item);
+                    }
+                    (_a = item.parameterValues) === null || _a === void 0 ? void 0 : _a.push({ index, subindex, [typeValueKey]: value });
+                }
+                return this.setMultiDeviceParameterValues({ collection }, requestTimeout, messageId).pipe((0, operators_1.map)((multiDeviceParameterValues) => {
+                    var _a;
+                    (_a = multiDeviceParameterValues.collection) === null || _a === void 0 ? void 0 : _a.map(({ parameterValues, deviceAddress }) => {
+                        if (!parameterValues) {
+                            throw new Error(`No parameterValues for device ${deviceAddress}`);
+                        }
+                    });
+                }));
+            }));
+        });
+    }
+    downloadMany(ids, requestTimeout = 9000, messageId) {
+        return (0, rxjs_1.lastValueFrom)(this.setParameterValues(ids, requestTimeout, messageId));
+    }
+    resolveDeviceParameterTypeValueKey(deviceRefObj, index, subindex, typeValueKey) {
+        if (typeValueKey) {
+            return (0, rxjs_1.of)(typeValueKey);
+        }
+        return this.resolveDeviceParameterInfoMap(deviceRefObj).pipe((0, operators_1.map)((infoMap) => {
+            const parameterId = (0, parameter_1.makeParameterId)(index, subindex);
+            const infoParameter = infoMap.get(parameterId);
+            if (!(infoParameter === null || infoParameter === void 0 ? void 0 : infoParameter.typeValueKey)) {
+                throw new Error(`No type value key is set for device ${JSON.stringify(deviceRefObj)} ${parameterId}`);
+            }
+            return infoParameter.typeValueKey;
+        }));
+    }
+    resolveDeviceParameterInfoMap(deviceRef, requestTimeout = 5000) {
+        return this.resolveDeviceAddress(deviceRef).pipe((0, operators_1.mergeMap)((deviceAddress) => {
+            let infoMap = this.deviceParameterInfoMap.get(deviceAddress);
+            if (infoMap) {
+                return (0, rxjs_1.of)(infoMap);
+            }
+            return this.getDeviceParameterInfo({ deviceAddress }, requestTimeout).pipe((0, operators_1.map)(({ parameters }) => {
+                if (!parameters) {
+                    throw new Error(`Device parameter info has no parameters ${deviceAddress}`);
+                }
+                infoMap = new Map();
+                this.deviceParameterInfoMap.set(deviceAddress, infoMap);
+                for (const parameter of parameters) {
+                    if (parameter.valueType) {
+                        const typeValue = parameter_1.valueTypeToParameterTypeValueKeyMap.get(parameter.valueType);
+                        if (!typeValue) {
+                            throw new Error(`No type value for device ${deviceAddress} in resolveDeviceParameterInfoMap`);
+                        }
+                        const serialNumber = this.getSerialNumberByDeviceAddress(deviceAddress);
+                        if (!serialNumber) {
+                            throw new Error(`No serial number for device ${deviceAddress} in resolveDeviceParameterInfoMap`);
+                        }
+                        const id = (0, device_parameter_1.makeDeviceParameterId)(serialNumber, parameter.index, parameter.subindex);
+                        const key = (0, parameter_1.makeParameterId)(parameter);
+                        infoMap.set(key, Object.assign(Object.assign({}, parameter), { id, index: parameter.index, subindex: parameter.subindex, name: parameter.name, typeValueKey: typeValue }));
+                    }
+                }
+                return infoMap;
+            }));
+        }));
+    }
+    /**
+     * Get device parameters.
+     */
+    getDeviceParameters(props, requestTimeout = 30000) {
+        return this.resolveDevice(props).pipe((0, operators_1.mergeMap)((device) => {
+            return this.getDeviceParameterInfo({ deviceAddress: device.deviceAddress }, requestTimeout).pipe((0, operators_1.mergeMap)(deviceParameterInfoStatus => {
+                var _a;
+                const { loadFromCache, sendProgress } = props;
+                const parameters = (_a = deviceParameterInfoStatus.parameters) === null || _a === void 0 ? void 0 : _a.map(p => { var _a, _b; return ({ index: (_a = p.index) !== null && _a !== void 0 ? _a : 0, subindex: (_b = p.subindex) !== null && _b !== void 0 ? _b : 0, loadFromCache }); });
+                return this.getDeviceParameterValues({ deviceAddress: device.deviceAddress, sendProgress, parameters }, requestTimeout).pipe((0, operators_1.map)(deviceParameterValuesStatus => {
+                    var _a, _b;
+                    if (!deviceParameterValuesStatus.parameterValues) {
+                        throw new Error('Device parameter values is empty');
+                    }
+                    const deviceParameters = deviceParameterValuesStatus.parameterValues.map((value, i) => {
+                        var _a, _b, _c;
+                        const index = (_a = value.index) !== null && _a !== void 0 ? _a : 0;
+                        const subindex = (_b = value.subindex) !== null && _b !== void 0 ? _b : 0;
+                        const id = (0, device_parameter_1.makeDeviceParameterId)(device.id, index, subindex);
+                        return (Object.assign(Object.assign(Object.assign({ id }, value), (_c = deviceParameterInfoStatus.parameters) === null || _c === void 0 ? void 0 : _c[i]), { index, subindex, value: (0, parameter_1.getParameterValue)(value) }));
+                    });
+                    const progress = sendProgress ? (_b = (_a = deviceParameterValuesStatus === null || deviceParameterValuesStatus === void 0 ? void 0 : deviceParameterValuesStatus.progress) === null || _a === void 0 ? void 0 : _a.percentage) !== null && _b !== void 0 ? _b : 0 : 100;
+                    return { parameters: deviceParameters, progress };
+                }));
+            }));
+        }));
+    }
+    /**
+     * Get files.
+     */
+    getFiles(deviceRef, requestTimeout = 30000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.getDeviceFileList(deviceRefObj, requestTimeout, messageId).pipe((0, operators_1.map)((status) => { var _a, _b; return (_b = (_a = status.fileList) === null || _a === void 0 ? void 0 : _a.files) !== null && _b !== void 0 ? _b : []; }));
+    }
+    /**
+     * Get file.
+     */
+    getFile(deviceRef, name, requestTimeout = 5000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => content));
+    }
+    /**
+     * Get decoded file.
+     *
+     * Content of a device file is returned as a binary data buffer.
+     * This functions tries to decode the content as a text in utf-8 character encoding.
+     */
+    getDecodedFile(deviceRef, name, requestTimeout = 2000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId).pipe((0, operators_1.map)(({ content }) => {
+            if (content) {
+                return (0, util_1.decodeTextContent)(content);
+            }
+            throw new Error(`Device file ${name} content for device ${deviceRef} is undefined!}`);
+        }));
+    }
+    /**
+     * Unlock protected files.
+     *
+     * This will enable the deletion of protected files.
+     * Protected files begin with a period, such as '.hardware_description'.
+     */
+    unlockProtectedFiles(deviceRef, requestTimeout = 5000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.getDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name: 'fs-stackunlock=DD1317' }), requestTimeout, messageId);
+    }
+    /**
+     * Delete file.
+     */
+    deleteFile(deviceRef, name, requestTimeout = 3000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.deleteDeviceFile(Object.assign(Object.assign({}, deviceRefObj), { name }), requestTimeout, messageId);
+    }
+    /**
+     * Get system log lines.
+     *
+     * Get the system log content and parse it into an array of lines, where each line contains the date, uptime, ID, file, level, and message.
+     */
+    getSystemLogLines(requestTimeout = 2000, messageId) {
+        return this.getSystemLog(requestTimeout, messageId).pipe((0, operators_1.map)((systemLog) => { var _a; return (0, util_1.parseSystemLogContent)((_a = systemLog.content) !== null && _a !== void 0 ? _a : ''); }));
+    }
+    /**
+     * Store parameters.
+     *
+     * Command the device to store the parameters into config.csv, then delay initially and subsequently check if the value of
+     * the Store parameters has changed to 1, indicating the successful completion.
+     *
+     * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
+     */
+    storeParameters(deviceRef) {
+        return this.setParameterValue(deviceRef, 0x1010, 1, 0x65766173).pipe(// "evas"
+        (0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1010, 1, 1).pipe((0, operators_1.retry)({ count: 10, delay: 500 }))));
+    }
+    /**
+     * Restore default parameters.
+     *
+     * Command the device to restore the default parameters, then delay initially and subsequently check if the value of
+     * the Restore default parameters has changed to 1, indicating the successful completion.
+     *
+     * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
+     */
+    restoreDefaultParameters(deviceRef, type = types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS) {
+        return this.setParameterValue(deviceRef, 0x1011, type, 0x64616f6c).pipe(// "daol"
+        (0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1011, type, 1).pipe((0, operators_1.retry)({ count: 10, delay: 500 }))));
+    }
+    /**
+     * Match parameter value.
+     *
+     * This function will retrieve a parameter value from a device and compare it with the expected value.
+     *
+     * @throws Will throw an error if the values do not match.
+     */
+    matchParameterValue(deviceRef, index, subindex, expectedValue) {
+        return this.getParameterValue(deviceRef, index, subindex).pipe((0, operators_1.map)((value) => {
+            if (value !== expectedValue) {
+                throw new Error(`Device parameter value and the expected value don't match: ${value} ${expectedValue}`);
+            }
+        }));
+    }
+    matchCia402States(deviceRef, expectedStates) {
+        return this.getParameterValue(deviceRef, 0x6041, 0).pipe((0, operators_1.map)((value) => {
+            const state = (0, cia402_1.getCia402State)(value);
+            if (!expectedStates.includes(state)) {
+                throw new Error(`Device CiA402 state and the expected state don't match: ${state} ${expectedStates}`);
+            }
+        }));
+    }
+    /**
+     * Helper function to enable motion.
+     */
+    enableMotion(deviceRef, controllerType, filter = false, requestTimeout = 2000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.enableMotionController(Object.assign(Object.assign({}, deviceRefObj), { controllerType, filter }), requestTimeout, messageId);
+    }
+    /**
+     * A helper function to disable motion.
+     */
+    disableMotion(deviceRef, requestTimeout = 3000, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.disableMotionController(deviceRefObj, requestTimeout, messageId);
+    }
+    /**
+     * A helper function to set the motion target.
+     */
+    setMotionTarget(deviceRef, target, messageId) {
+        const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+        return this.setMotionControllerParameters(Object.assign(Object.assign({}, deviceRefObj), { target }), messageId);
+    }
+    /**
+     * A helper function to set the value of the Modes of Operation parameter (0x6060:00).
+     */
+    setModesOfOperation(deviceRef, modesOfOperation) {
+        return this.setParameterValue(deviceRef, 0x6060, 0, modesOfOperation);
+    }
+    /**
+     * Get CiA402 state.
+     */
+    getCia402State(deviceRef, requestTimeout = 5000, messageId) {
+        return this.getParameterValue(deviceRef, 0x6041, 0, false, requestTimeout, messageId).pipe((0, operators_1.map)((value) => (0, cia402_1.getCia402State)(value)));
+    }
+    /**
+     * Transition to CiA402 state.
+     *
+     * This function will utilize the current value of the controlword and modify it to transition to the requested CiA402 state.
+     *
+     * Only one transition will occur, except when the current CiA402 state is SWITCH_ON_DISABLED. In this case,
+     * the first transition is from SOD to RTSO, and then from RTSO to the requested CiA402 state.
+     *
+     * The Statusword will be polled to check if the device has successfully transitioned to the requested CiA402 state.
+     * When transitioning to QSA, the Statusword will be checked against both QSA and SOD.
+     * This is necessary because the automatic transition from QSA to SOD can occur faster than the client's polling interval.
+     */
+    transitionToCia402State(deviceRef, targetState) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            let currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (targetState === currentState) {
+                return;
+            }
+            if (currentState === cia402_1.Cia402State.NOT_READY_TO_SWITCH_ON || currentState === cia402_1.Cia402State.FAULT_REACTION_ACTIVE) {
+                throw new Error(`It is not possible to transition from state ${currentState} to state ${targetState}. The transition from the current ${currentState} state is automatic.`);
+            }
+            let controlword = yield this.upload(deviceRef, 0x6040, 0);
+            let transition = cia402_2.cia402Transitions.find(t => t.from === currentState && t.to === targetState);
+            // From SOD it's only possible to transition to RTSO.
+            if (currentState === cia402_1.Cia402State.SWITCH_ON_DISABLED && targetState !== cia402_1.Cia402State.READY_TO_SWITCH_ON) {
+                transition = cia402_2.cia402Transitions.find(t => t.from === cia402_1.Cia402State.READY_TO_SWITCH_ON && t.to === targetState);
+            }
+            if (!transition) {
+                throw new Error(`It is not possible to transition from state ${currentState} to state ${targetState}.`);
+            }
+            if (currentState === cia402_1.Cia402State.SWITCH_ON_DISABLED) {
+                const sodToRtsoTransition = cia402_2.cia402Transitions[0];
+                const command = (0, cia402_3.createControlwordCommand)(controlword, sodToRtsoTransition.command);
+                yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, [cia402_1.Cia402State.READY_TO_SWITCH_ON]).pipe((0, operators_1.retry)({ count: 5, delay: 1000 })))));
+                controlword = yield this.upload(deviceRef, 0x6040, 0);
+                currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+                if (targetState === currentState) {
+                    return;
+                }
+            }
+            const command = (0, cia402_3.createControlwordCommand)(controlword, transition.command);
+            const expectedStates = [targetState];
+            if (targetState === cia402_1.Cia402State.QUICK_STOP_ACTIVE) {
+                expectedStates.push(cia402_1.Cia402State.SWITCH_ON_DISABLED);
+            }
+            yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, expectedStates).pipe((0, operators_1.retry)({ count: 10, delay: 1000 }))), (0, operators_1.catchError)(() => {
+                throw new Error(`Timeout occurred while transitioning from ${currentState} state to ${targetState} state.`);
+            })));
+        });
+    }
+    /**
+     * Reset fault.
+     *
+     * Resetting a fault can only be done from the FAULT CiA402 state by transitioning to SWITCH_ON_DISABLED.
+     * This function will do the rising edge, that is it will first set the controlword reset fault bit to 0, wait a bit, and then set it to 1.
+     */
+    resetFault(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (currentState !== cia402_1.Cia402State.FAULT) {
+                throw new Error(`Device ${deviceRef} is not in FAULT CiA402 state.`);
+            }
+            let controlword = yield this.upload(deviceRef, 0x6040, 0);
+            controlword = controlword & 0xFF7F;
+            yield this.download(deviceRef, 0x6040, 0, controlword);
+            yield (0, util_1.resolveAfter)(25);
+            const command = (0, cia402_3.createControlwordCommand)(controlword, cia402_1.ControlwordCommand.FAULT_RESET);
+            yield this.download(deviceRef, 0x6040, 0, command);
+        });
+    }
+    /**
+     * Quick stop.
+     *
+     * Quickly stopping a drive can only be done from the OPERATION_ENABLED CiA402 state by transitioning to QUICK_STOP_ACTIVE.
+     */
+    quickStop(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (currentState !== cia402_1.Cia402State.OPERATION_ENABLED) {
+                throw new Error(`Device ${deviceRef} is not in OPERATION_ENABLED CiA402 state.`);
+            }
+            const controlword = yield this.upload(deviceRef, 0x6040, 0);
+            const command = (0, cia402_3.createControlwordCommand)(controlword, cia402_1.ControlwordCommand.QUICK_STOP);
+            yield this.download(deviceRef, 0x6040, 0, command);
+        });
+    }
+    /**
+     * Reset targets.
+     *
+     * Set torque and velocity targets to 0, and set the position target to the current position value.
+     */
+    resetTargets(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const positionActualValue = yield this.upload(deviceRef, 0x6064, 0);
+            yield this.downloadMany([
+                [deviceRef, 0x6071, 0, 0],
+                [deviceRef, 0x607A, 0, positionActualValue],
+                [deviceRef, 0x60FF, 0, 0], // target velocity
+            ]);
+        });
+    }
+    /**
+     * Apply set point.
+     *
+     * When running in position profile mode and setting a new position target value, it's important to note that the device won't immediately move to the new position.
+     * To execute a new position set-point or target value, you need to make certain changes to the controlword.
+     *
+     * To indicate that the new set-point is valid and should be executed, you need to trigger a rising edge of the new set-point bit in the controlword.
+     * This rising edge serves as a signal to the device that a new set-point is being provided.
+     *
+     * Once the device receives the rising edge of the new set-point bit, it will set the set-point acknowledge bit in the statusword to 1.
+     * This indicates that the device has acknowledged the new set-point and will execute the corresponding action, such as moving to the specified position.
+     *
+     * Afterwards, the device will signal its ability to accept new set-points by setting the set-point acknowledge bit back to 0 in the statusword.
+     * This signifies that the device is ready to receive and process additional set-points.
+     *
+     * It's important to note that the device won't wait for the previous set-point to finish before executing a new set-point.
+     * If you want to initiate a new set-point while the previous one is still being executed, you need to generate another rising edge of the new set-point bit in the controlword.
+     */
+    applySetPoint(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            let controlword = yield this.upload(deviceRef, 0x6040, 0);
+            if ((controlword & 0x0010) > 0) {
+                controlword = controlword & 0xFFEF; // set new set-point bit to 0
+                yield this.download(deviceRef, 0x6040, 0, controlword);
+                yield (0, util_1.resolveAfter)(30);
+            }
+            controlword = controlword | 0x0010 | 0x0020; // set new set-point and change set immediately bits to 1
+            yield this.download(deviceRef, 0x6040, 0, controlword);
+        });
+    }
+    /**
+     * Run OS command.
+     *
+     * The OS command is a standard way of triggering actions or services that cannot be accommodated through a single SDO upload/download.
+     *
+     * The Dictionary object 0x1023 is used for executing OS commands. The following is the subindex list and their meanings:
+     *
+     * - 1: Command (OCTET_STRING), 8 bytes
+     *   - Byte 0: OS command ID, OS commands are identified by number, and here we specify which OS command to run, for example, 0 is encoder register communication
+     *   - Byte 1-7: Service request data, the remaining 7 bytes serve as arguments to the OS command, specifying details such as what register to read the value from
+     * - 2: Status (UNSIGNED8), 1 byte
+     *   - 0: last command completed, no errors, no response data
+     *   - 1: last command completed, no errors, response data available
+     *   - 2: last command completed, error, no response data
+     *   - 3: last command completed, error, response data available
+     *   - 100-200: command executing with percentage (100 = 0%, 200 = 100%)
+     *   - 255: command executing (if percentage display is not supported)
+     * - 3: Response (OCTET_STRING), 8 bytes
+     *   - Byte 0: Same as subindex 2
+     *   - Byte 1: unused
+     *   - Byte 2-7: Service response data, if the last command completed with response data, it will be available in these 6 bytes, for example, the value of the BiSS register
+     *
+     * Note that:
+     * - As soon as the value of 1: Command Byte 0 changes, the OS command will start to execute.
+     * - If the last command completed with response data, it will be available in bytes 2-7 of 3: Response subindex.
+     * - The value of subindex 2: Status will be the same as that of 3: Response Byte 0.
+     *
+     * All possible cases of 0x1023:03 Response subindex:
+     *
+     * | Description                                           |  Byte 0 | Byte 1 |     Byte 2    | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
+     * |-------------------------------------------------------|:-------:|:------:|:-------------:|:------:|:------:|:------:|:------:|:------:|
+     * | Command in progress with percentage                   | 100-200 |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
+     * | Command in progress without percentage                |   255   |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
+     * | Command completed without errors and without response |    0    |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
+     * | Command completed without errors and with response    |    1    |    -   |      Data     |  Data  |  Data  |  Data  |  Data  |  Data  |
+     * | Command completed with error and without response     |    2    |    -   |       -       |    -   |    -   |    -   |    -   |    -   |
+     * | Command completed with error and with response        |    3    |    -   | OS error code |  Data  |  Data  |  Data  |  Data  |  Data  |
+     *
+     * Note that in the case of "Command completed without errors and with response," 6 bytes can be used for data.
+     * However, only 5 bytes are available in the case of "Command completed with error and with response."
+     * This limitation arises because Byte 2 in the latter response is allocated for the OS error code.
+     * The OS error code serves to indicate the reason behind the error occurrence.
+     *
+     * 0x1023: OS command is used in combination with 0x1024: OS command mode object.
+     * In our firmware, only the values 0 and 3 from the 0x1024 command mode object (USINT) are handled, and their meanings are as follows:
+     * - 0: Execute the next command immediatelly (default)
+     * - 3: Abort the current command and all commands in the buffer
+     *
+     * Note that if you abort the OS command, you must switch the value of 0x1024 back to 0 before executing another OS command.
+     */
+    runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        let response;
+        // defer must be used to make a request to Motion Master on each repeat step
+        const getResponse$ = (0, rxjs_1.defer)(() => this.getParameterValue(deviceRef, 0x1023, 3).pipe((0, operators_1.map)((value) => (0, os_command_1.parseOsCommandResponse)(value, command)), (0, rxjs_1.tap)((r) => response = r)));
+        return (0, rxjs_1.concat)(executeTheNextOsCommandImmediatelly ? this.setOsCommandMode(deviceRef, os_command_1.OsCommandMode.EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY) : rxjs_1.EMPTY, this.setParameterValue(deviceRef, 0x1023, 1, command), getResponse$.pipe((0, operators_1.repeat)({
+            delay: () => (response && (response.request === 'succeeded' || response.request === 'failed'))
+                ? rxjs_1.EMPTY
+                : (0, rxjs_1.timer)(responsePollingInterval),
+        }))).pipe((0, operators_1.takeUntil)((0, rxjs_1.timer)(commandTimeout).pipe((0, operators_1.mergeMap)(() => (0, rxjs_1.throwError)(() => new Error(`A timeout has occured for the OS command ${JSON.stringify(command)} on device ${deviceRef}.`))))), (0, operators_1.filter)(Boolean));
+    }
+    setOsCommandMode(deviceRef, value) {
+        return this.setParameterValue(deviceRef, 0x1024, 0, value);
+    }
+    abortOsCommand(deviceRef) {
+        return this.setOsCommandMode(deviceRef, os_command_1.OsCommandMode.ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER);
+    }
+    runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal = 1, slaveAddress = 0, rw = 0, registerAddress = 0, registerWriteValue = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createEncoderRegisterCommunicationOsCommand)(encoderOrdinal, slaveAddress, rw, registerAddress, registerWriteValue);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                return Object.assign(Object.assign({}, osCommandResponse), { registerValue: osCommandResponse.data[0] });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runIcMuCalibrationModeOsCommand(deviceRef, encoderOrdinal = 1, modeEnable = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createIcMuCalibrationModeOsCommand)(encoderOrdinal, modeEnable);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { calibrationModeSet: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runOpenLoopFieldModeOsCommand(deviceRef, parameterIndex = 0, parameterValue = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createOpenLoopFieldModeOsCommand)(parameterIndex, parameterValue);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { openLoopFieldMode: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runHrdStreamingOsCommand(deviceRef, action = 0, dataIndex = 0, duration = 1000, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createHrdStreamingOsCommand)(action, dataIndex, duration);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { hrdStreamingComplete: true });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode <= 250) {
+                    const { errorName, errorDescription } = os_command_1.hrdStreamingOsCommandErrors[osCommandResponse.errorCode];
+                    return Object.assign(Object.assign({}, osCommandResponse), { hrdStreamingComplete: false, errorName, errorDescription });
+                }
+                return Object.assign(Object.assign({}, osCommandResponse), { hrdStreamingComplete: false });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runMotorPhaseOrderDetectionOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createMotorPhaseOrderDetectionOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                return Object.assign(Object.assign({}, osCommandResponse), { motorPhaseOrder: osCommandResponse.data[0] });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runCommutationOffsetMeasurementOsCommand(deviceRef, commandTimeout = 30000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createCommutationOffsetMeasurementOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1] = osCommandResponse.data;
+                const commutationAngleOffset = (b0 << 8) | b1;
+                return Object.assign(Object.assign({}, osCommandResponse), { commutationAngleOffset });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runOpenPhaseDetectionOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createOpenPhaseDetectionOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly = true).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: false });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode <= 250) {
+                    const { errorName, errorDescription } = os_command_1.openPhaseDetectionErrors[osCommandResponse.errorCode];
+                    return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: true, errorName, errorDescription });
+                }
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runPolePairDetectionOsCommand(deviceRef, commandTimeout = 60000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createPolePairDetectionOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                return Object.assign(Object.assign({}, osCommandResponse), { numberOfPolePairs: osCommandResponse.data[0] });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'The drive is not able to increase the amplitude of motor phase currents to the required value. This problem can occur due to limited Vdc or high motor phase impedances.' });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    runPhaseResistanceMeasurementOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createPhaseResistanceMeasurementOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1, b2, b3] = osCommandResponse.data;
+                const phaseResistance = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseResistance });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    runPhaseInductanceMeasurementOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createPhaseInductanceMeasurementOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1, b2, b3] = osCommandResponse.data;
+                const phaseInductance = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseInductance });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    runTorqueConstantMeasurementOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createTorqueConstantMeasurementOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1, b2, b3] = osCommandResponse.data;
+                const torqueConstant = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
+                return Object.assign(Object.assign({}, osCommandResponse), { torqueConstant });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runSkippedCyclesCounterOsCommand(deviceRef, firmwareService = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createSkippedCyclesCounterOsCommand)(firmwareService);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1, b2, b3] = osCommandResponse.data;
+                const skippedCycles = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
+                return Object.assign(Object.assign({}, osCommandResponse), { skippedCycles });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runIgnoreBissStatusOsCommand(deviceRef, trigger = 1, encoderOrdinal = 1, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createIgnoreBissStatusBitsOsCommand)(trigger, encoderOrdinal);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { ignoringBissStatusBits: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runSystemIdentificationOsCommand(deviceRef, parameterIndex = 0, parameterValue = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createSystemIdentificationOsCommand)(parameterIndex, parameterValue);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { systemIdentificationCompleted: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runTriggerErrorOsCommand(deviceRef, firmwareService = 0, errorType = 11, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createTriggerErrorOsCommand)(firmwareService, errorType);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { errorSet: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runKublerEncoderCommandOsCommand(deviceRef, inputCommand = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createKublerEncoderCommand)(inputCommand);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const numberOfBytesWritten = (osCommandResponse.data[1] << 8) | osCommandResponse.data[0];
+                const responseInFoeBuffer = osCommandResponse.data[3];
+                return Object.assign(Object.assign({}, osCommandResponse), { numberOfBytesWritten, responseInFoeBuffer });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode <= 250) {
+                    if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) === 3 && inputCommand === 0) {
+                        const { errorName, errorDescription } = os_command_1.kublerEncoderCommandWriteCorrectionTableOsCommandErrors[osCommandResponse.errorCode + 1];
+                        return Object.assign(Object.assign({}, osCommandResponse), { errorName, errorDescription });
+                    }
+                    const { errorName, errorDescription } = os_command_1.kublerEncoderCommandSendScpiCommandOsCommandErrors[osCommandResponse.errorCode];
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName, errorDescription });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    runUseInternalEncoderVelocityOsCommand(deviceRef, trigger = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createUseInternalEncoderVelocityOsCommand)(trigger);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { usingInternalEncoderVelocity: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runKublerEncoderRegisterCommunicationOsCommand(deviceRef, rw = 0, registerAddress = 0, registerLength = 0, registerWriteValue = 0, commandTimeout = 10000, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        const command = (0, os_command_1.createKublerEncoderRegisterCommunicationOsCommand)(rw, registerAddress, registerLength, registerWriteValue);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval, executeTheNextOsCommandImmediatelly).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1, b2, b3] = osCommandResponse.data;
+                const kublerRegisterValue = b0 | (b1 << 8) | (b2 << 16) | (b3 << 24);
+                return Object.assign(Object.assign({}, osCommandResponse), { kublerRegisterValue });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode <= 250) {
+                    if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) === 3 && rw === 0) {
+                        const { errorName, errorDescription } = os_command_1.kublerEncoderCommandWriteCorrectionTableOsCommandErrors[osCommandResponse.errorCode + 1];
+                        return Object.assign(Object.assign({}, osCommandResponse), { errorName, errorDescription });
+                    }
+                    const { errorName, errorDescription } = os_command_1.kublerEncoderCommandWriteCorrectionTableOsCommandErrors[osCommandResponse.errorCode];
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName, errorDescription });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    readOsCommandResponse(deviceRef) {
+        return this.getParameterValue(deviceRef, 0x1023, 3).pipe((0, operators_1.map)((value) => (0, os_command_1.parseOsCommandResponse)(value)));
+    }
+    /**
+     * Set halt bit.
+     *
+     * The behavior of the halt function (bit 8) in the controlword depends on the specific operation mode of the device.
+     * When the halt bit is set to 1, the commanded motion will be interrupted, and the behavior of the device will follow the defined rules for the halt option code.
+     *
+     * After releasing the halt function by setting the halt bit to 0, the drive device will attempt to continue the commanded motion if possible,
+     * based on the specific operation mode and the conditions of the system.
+     */
+    setHaltBit(deviceRef, value) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            let controlword = yield this.upload(deviceRef, 0x6040, 0);
+            controlword = value ? (controlword | 0x0100) : (controlword & 0xFEFF);
+            yield this.download(deviceRef, 0x6040, 0, controlword);
+        });
+    }
+    getCachedDeviceByDeviceRefObj(deviceRefObj) {
+        if (deviceRefObj.deviceSerialNumber) {
+            return this.deviceMap.get(deviceRefObj.deviceSerialNumber);
+        }
+        else if (typeof deviceRefObj.devicePosition === 'number') {
+            for (const device of this.deviceMap.values()) {
+                if (device.position === deviceRefObj.devicePosition) {
+                    return device;
+                }
+            }
+        }
+        else if (typeof deviceRefObj.deviceAddress === 'number') {
+            for (const device of this.deviceMap.values()) {
+                if (device.deviceAddress === deviceRefObj.deviceAddress) {
+                    return device;
+                }
+            }
+        }
+        return;
+    }
+    getFeedConstant(deviceRef, requestTimeout = 5000) {
+        return this.getParameterValues([
+            [deviceRef, 0x6092, 1],
+            [deviceRef, 0x6092, 2], // Shaft revolutions
+        ], false, requestTimeout).pipe((0, operators_1.map)((values) => values[0] / values[1]));
+    }
+}
+exports.MotionMasterReqResClient = MotionMasterReqResClient;
 //# sourceMappingURL=motion-master-req-res-client.js.map