Motorcortex Bindings for JavaScript
\nClass for handling motorcortex data types: load proto and hash files,\ncreates a dictionary with all available data types, resolves data types by\nname or by hash, performs encoding and decoding of the messages.
\nRequest/Reply communication is used to send commands to a motorcortex server.
\nRequest/Reply communication is used to send commands to a motorcortex server.
\nContainer for the session parameters
\nSessionManager manages a communication session for Request and Subscribe.\nSessionManager monitors if the connection is alive and tries to recover \nif the connection is lost.
\nParameter value with a timestamp
\nSubscription class represents an active subscription group. It returns latest values and timestamps of the\ngroup parameters. Subscription class could be used as an observer, which notifies on every update or could be\nused as polling.
\nSubscribe class is used to receive continuous parameter updates from motorcortex server.\nSubscribe class simplifies creating and removing subscription groups.
\nEnumerator of possible session states
\nfunctionThis callback is resolved when subscription is ready or failed.
\nfunctionThis callback notifies when subscription is updated with new values.
\nstring\n * [.getDataType(name)](#module_motorcortex--module.exports.getDataType) ⇒ number\n * [.getParameterFlag(name)](#module_motorcortex--module.exports.getParameterFlag) ⇒ number\n * [.getParameterType(name)](#module_motorcortex--module.exports.getParameterType) ⇒ number\n * [.getPermission(name)](#module_motorcortex--module.exports.getPermission) ⇒ number\n * [.getStatusCode(name)](#module_motorcortex--module.exports.getStatusCode) ⇒ number\n * [.getUserGroup(name)](#module_motorcortex--module.exports.getUserGroup) ⇒ number\n\n\n\n### module.exports ⏏\nmotorcortex namespace.\n\n**Kind**: Exported member \n\n\n#### module.exports.statusToStr(code) ⇒ string\nReturns description of the Motorcortex Status Code. Status codes are defined \nin the StatusCode enumerator in msg/motorcortex.proto.\n\n**Kind**: static method of [module.exports](#exp_module_motorcortex--module.exports) \n**Returns**: string - Text description of the status \n\n| Param | Type | Description |\n| --- | --- | --- |\n| code | number | Code of the status. |\n\n**Example** \n```js\nmotorcortex.statusToStr(0x2100);\n```\n\n\n#### module.exports.getDataType(name) ⇒ number\nReturns a сode of the Parameter Data Type. Сodes are defined \nin the DataType enumerator in msg/motorcortex.proto.\n\n**Kind**: static method of [module.exports](#exp_module_motorcortex--module.exports) \n**Returns**: number - Code of the data dype \n\n| Param | Type | Description |\n| --- | --- | --- |\n| name | string | Name of the data type. |\n\n**Example** \n```js\nif (parameterDataType === motorcortex.getDataType('UINT8')) {\n // do something\n}\n```\n\n\n#### module.exports.getParameterFlag(name) ⇒ number\nReturns a сode of the Parameter Flag. Сodes are defined \nin the ParameterFlag enumerator in msg/motorcortex.proto.\n\n**Kind**: static method of [module.exports](#exp_module_motorcortex--module.exports) \n**Returns**: number - Code of the parameter flag \n\n| Param | Type | Description |\n| --- | --- | --- |\n| name | string | Name of the flag. |\n\n**Example** \n```js\nif (parameterFlag === motorcortex.getParameterFlag('OVERWRITE_IS_ACTIVE')) {\n // do something\n}\n```\n\n\n#### module.exports.getParameterType(name) ⇒ number\nReturns a сode of the Parameter Type. Сodes are defined \nin the ParameterType enumerator in msg/motorcortex.proto.\n\n**Kind**: static method of [module.exports](#exp_module_motorcortex--module.exports) \n**Returns**: number - Code of the parameter type \n\n| Param | Type | Description |\n| --- | --- | --- |\n| name | string | Name of the flag. |\n\n**Example** \n```js\nif (parameterType === motorcortex.getParameterType('INPUT')) {\n // do something\n}\n```\n\n\n#### module.exports.getPermission(name) ⇒ number\nReturns a сode of the Permision Type. Сodes are defined \nin the Permission enumerator in msg/motorcortex.proto.\n\n**Kind**: static method of [module.exports](#exp_module_motorcortex--module.exports) \n**Returns**: number - Code of the permission type \n\n| Param | Type | Description |\n| --- | --- | --- |\n| name | string | Name of the permission type. |\n\n**Example** \n```js\nif (parameterDataType | motorcortex.getPermission('USER_WRITE')) {\n // user has a write access\n}\n```\n\n\n#### module.exports.getStatusCode(name) ⇒ number\nReturns a сode of the Status. Сodes are defined \nin the StatusCode enumerator in msg/motorcortex.proto.\n\n**Kind**: static method of [module.exports](#exp_module_motorcortex--module.exports) \n**Returns**: number - Code of the status \n\n| Param | Type | Description |\n| --- | --- | --- |\n| name | string | Name of the status code. |\n\n**Example** \n```js\nif (replyCode === motorcortex.getStatusCode('OK')) {\n // all good\n console.log(motorcortex.statusToStr(motorcortex.getStatusCode('OK')));\n}\n```\n\n\n#### module.exports.getUserGroup(name) ⇒ number\nReturns a сode of the User Group. Сodes are defined \nin the UserGroup enumerator in msg/motorcortex.proto.\n\n**Kind**: static method of [module.exports](#exp_module_motorcortex--module.exports) \n**Returns**: number - Code of the user group \n\n| Param | Type | Description |\n| --- | --- | --- |\n| name | string | Name of the user group. |\n\n**Example** \n```js\nif (userGroup === motorcortex.getUserGroup('OPERATOR')) {\n // operator has an access\n}\n```\n\n\n## MessageTypes\nClass for handling motorcortex data types: load proto and hash files,\ncreates a dictionary with all available data types, resolves data types by\nname or by hash, performs encoding and decoding of the messages.\n\n**Kind**: global class \n\n* [MessageTypes](#MessageTypes)\n * [new exports.MessageTypes()](#new_MessageTypes_new)\n * [.load(proto_hash_pair_list)](#MessageTypes+load) ⇒ Promise.<string>\n * [.createType(type_name, [payload])](#MessageTypes+createType) ⇒ object\n * [.getTypeByName(type_name)](#MessageTypes+getTypeByName) ⇒ object\n\n\n\n### new exports.MessageTypes()\nCreates message types object\n\n\n\n### messageTypes.load(proto_hash_pair_list) ⇒ Promise.<string>\nLoads an array of .proto and .json file pairs.\n\n**Kind**: instance method of [MessageTypes](#MessageTypes) \n**Returns**: Promise.<string> - Returns a Promise, which is resolved when loading is complete. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| proto_hash_pair_list | Array.<object> | a list of corresponding proto message files and hash files. |\n\n**Example** \n```js\nlet motorcortex_types = new motorcortex.MessageTypes();\nlet type_load_done = motorcortex_types.load([{\n proto: 'msg/motorcortex.proto',\n hash: 'msg/motorcortex_hash.json'}, {\n proto: 'msg/motionJS.proto',\n hash: 'msg/motionJS_hash.json'}, {\n proto: 'msg/motionSL.proto',\n hash: 'msg/motionSL_hash.json'\n}]);\n\ntype_load_done.then(() => {\n console.log('Loaded all data types');}).catch((reason) => {\n console.error('Failed to load data types: ' + reason);\n});\n```\n\n\n### messageTypes.createType(type_name, [payload]) ⇒ object\nReturns an instance of the loaded data type and fills it with payload.\n\n**Kind**: instance method of [MessageTypes](#MessageTypes) \n**Returns**: object - Instance of the requested type, filled with payload. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| type_name | string | Type name from the proto files. |\n| [payload] | object | Payload data to fill. |\n\n**Example** \n```js\nlet load_msg = motorcortex_types.createType('motorcortex.LoadMsg', { path: '', fileName: 'control.xml' });\nlet encoded_msg = this.encode(load_msg);\n```\n\n\n### messageTypes.getTypeByName(type_name) ⇒ object\nReturns type with given name\n\n**Kind**: instance method of [MessageTypes](#MessageTypes) \n**Returns**: object - Returns a Protobuf Type \n\n| Param | Type | Description |\n| --- | --- | --- |\n| type_name | string | Name of the message type from the proto files. |\n\n**Example** \n```js\nlet ErrorList = motorcortex_types.getTypeByName('motorcortex.ErrorList');\nlet error_list = ErrorList.decode(encoded_msg);\nconsole.log('Error list: ', error_list);\n```\n\n\n## Request\nRequest/Reply communication is used to send commands to a motorcortex server.\n\n**Kind**: global class \n\n* [Request](#Request)\n * [new exports.Request(protobuf_types)](#new_Request_new)\n * [.getMessageTypes()](#Request+getMessageTypes)\n * [.connectionState()](#Request+connectionState) ⇒ number\n * [.connect(url, timeout_ms, max_request_queue_size)](#Request+connect) ⇒ Promise.<string>\n * [.close()](#Request+close)\n * [.encode(msg)](#Request+encode) ⇒ Uint8Array\n * [.send(encoded_msg, timeout_ms)](#Request+send) ⇒ Promise.<Object>\n * [.sendMsg(msg)](#Request+sendMsg) ⇒ Promise.<Object>\n * [.login(login, password)](#Request+login) ⇒ Promise.<StatusMsg>\n * [.getSessionTokenMsg()](#Request+getSessionTokenMsg)\n * [.restoreSessionMsg()](#Request+restoreSessionMsg)\n * [.logout()](#Request+logout) ⇒ Promise.<StatusMsg>\n * [.getParameterTree(timeout_msec)](#Request+getParameterTree) ⇒ Promise.<ParameterTreeManager>\n * [.getParameterTreeHash()](#Request+getParameterTreeHash) ⇒ Promise.<ParameterTreeHashMsg>\n * [.getParameter(path)](#Request+getParameter) ⇒ Promise.<ParameterMsg>\n * [.setParameter(path, value, [options])](#Request+setParameter) ⇒ Promise.<StatusMsg>\n * [.overwriteParameter(path, value, force_activate, [options])](#Request+overwriteParameter) ⇒ Promise.<StatusMsg>\n * [.releaseParameter(path)](#Request+releaseParameter) ⇒ Promise.<StatusMsg>\n * [.setParameterList(param_list)](#Request+setParameterList) ⇒ Promise.<StatusMsg>\n * [.getParameterList(path_list, timeout_ms)](#Request+getParameterList) ⇒ Promise.<StatusMsg>\n * [.createGroup(path_list, group_alias, [frq_divider])](#Request+createGroup) ⇒ Promise.<GroupStatusMsg>\n * [.removeGroup(group_alias)](#Request+removeGroup) ⇒ Promise.<StatusMsg>\n * [.save(file_name)](#Request+save) ⇒ Promise.<StatusMsg>\n * [.load(file_name)](#Request+load) ⇒ Promise.<StatusMsg>\n\n\n\n### new exports.Request(protobuf_types)\nCreates request object\n\n\n| Param | Type | Description |\n| --- | --- | --- |\n| protobuf_types | [MessageTypes](#MessageTypes) | Reference to an instance of the MessageTypes class. |\n\n\n\n### request.getMessageTypes()\nReturns loaded message types.\n\n**Kind**: instance method of [Request](#Request) \n\n\n### request.connectionState() ⇒ number\nActual Request/reply connection state.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: number - Returns a connection state. \n**Example** \n```js\nCONNECTING 0 The connection is not yet open\nOPEN 1 The connection is open and ready to communicate\nCLOSING 2 The connection is in the process of closing\nCLOSED 3 The connection is closed or could not be opened\n```\n\n\n### request.connect(url, timeout_ms, max_request_queue_size) ⇒ Promise.<string>\nOpens a request connection.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<string> - A promise, which completes when connection is ready.\nIf connection fails, a short error description is passed to the catch method. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| url | string | Motorcortex server URL. |\n| timeout_ms | number | Reply timeout in milliseconds. |\n| max_request_queue_size | number | Maximum size of the request queue. |\n\n**Example** \n```js\nlet req = new motorcortex.Request(motorcortex_types);\nlet req_conn_done = req.connect(`ws://${server}:5558`, 10000, 100);\nreq_conn_done\n.then(() => {\n console.log('Request connection is established');\n })\n.catch((reason) => {\n console.error('Failed to establish connection: ' + reason);\n });\n```\n\n\n### request.close()\nCloses connection to the server\n\n**Kind**: instance method of [Request](#Request) \n\n\n### request.encode(msg) ⇒ Uint8Array\nEncodes a data type from MessageTypes to a binary wire type.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Uint8Array - msg A binary array with encoded message. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| msg | Object | A message created by MotorcortexTypes. |\n\n**Example** \n```js\nlet motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});\nmotion_script.script = `print('Hello world');`;\nlet encoded_msg = req.encode(motion_script);\nreq.send(encoded_msg);\n```\n\n\n### request.send(encoded_msg, timeout_ms) ⇒ Promise.<Object>\nSends an encoded request to the server\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<Object> - Returns a Promise, which completes when reply from the server is received.\nIf request fails, catch callback is triggered. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| encoded_msg | Uint8Array | A binary array with encoded message. |\n| timeout_ms | integer | Timeout in milliseconds. |\n\n**Example** \n```js\nlet joint2cart = calcJointToCart({\n cartpose: [0, 0, 0, 0, 0, 0],\n jointpose: [0, 0, 1.57, 0, 1.57, 0] });\nlet reply = req.send(req.encode(joint2cart));\nreply.then((msg) => {\n console.log('Got reply: ' + JSON.stringify(msg));\n}).catch((msg) => {\n console.error('Failed: ' + JSON.stringify(msg));\n});\n```\n\n\n### request.sendMsg(msg) ⇒ Promise.<Object>\nEncodes and sends a request to the server\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<Object> - Returns a Promise, which completes when reply from the server is received. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| msg | Object | A message created by MotorcortexTypes. |\n\n**Example** \n```js\nlet motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});\nmotion_script.script = `print('Hello world');`;\nlet reply = req.encodeAndSend(motion_script);\nreply.then((msg) => {\n console.log('Got reply: ' + JSON.stringify(msg));\n}).catch((msg) => {\n console.error('Failed: ' + JSON.stringify(msg));\n});\n```\n\n\n### request.login(login, password) ⇒ Promise.<StatusMsg>\nSends a login request to the server\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves if login is successful and fails otherwise.\nReturned message has a status code, which indicates a status of the login. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| login | string | User login. |\n| password | string | User password. |\n\n**Example** \n```js\nlet login_reply = req.login('operator', 'god123');\nlogin_reply.then((reply) => {\n console.log('Logged-in successful: ' + motorcortex.statusToStr(reply.status));\n}).catch((reply) => {\n console.log('Failed to login: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### request.getSessionTokenMsg()\n**Kind**: instance method of [Request](#Request) \n\n\n### request.restoreSessionMsg()\n**Kind**: instance method of [Request](#Request) \n\n\n### request.logout() ⇒ Promise.<StatusMsg>\nSends logout request to the server\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves if login is successful and fails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n**Example** \n```js\nlet logout_reply = req.logout();\nlogout_reply.then((reply) => {\n console.log('Logged-out successful: ' + motorcortex.statusToStr(reply.status));\n}).catch((reply) => {\n console.log('Failed to logout: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### request.getParameterTree(timeout_msec) ⇒ Promise.<ParameterTreeManager>\nRequests a parameter tree manager to update its structure from the cache or from the server\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<ParameterTreeManager> - Returns a Promise, which resolves when the parameter tree is received or fails\notherwise. \n**See**: ParameterTreeManager \n\n| Param | Type | Description |\n| --- | --- | --- |\n| timeout_msec | integer | Timeout in milliseconds. |\n\n**Example** \n```js\nlet param_tree_reply = req.getParameterTree();\nparam_tree_reply.then((param_tree_manager) => {\n console.log('Got parameter tree msg: ' + JSON.stringify(param_tree_manager.getList()));\n}).catch((param_tree) => {\n console.log('Failed to get parameter tree: ' + motorcortex.statusToStr(param_tree.status));\n});\n```\n\n\n### request.getParameterTreeHash() ⇒ Promise.<ParameterTreeHashMsg>\nRequests a parameter tree hash from the server\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<ParameterTreeHashMsg> - Returns a Promise, which resolves when tree hash message is received or\nfails otherwise. \n**See**: motorcortex.proto, ParameterTreeHashMsg, StatusCode \n**Example** \n```js\nlet tree_hash_reply = req.getParameterTreeHash();\ntree_hash_reply.then((tree_hash) => {\n console.log('Got parameter tree hash: ' + tree_hash.hash);\n}).catch((tree_hash) => {\n console.log('Failed to get tree hash: ' + motorcortex.statusToStr(tree_hash.status));\n});\n```\n\n\n### request.getParameter(path) ⇒ Promise.<ParameterMsg>\nRequests a parameter with full information and value from the server\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<ParameterMsg> - Returns a Promise, which resolves when parameter message is successfully obtained,\nfails otherwise. \n**See**: motorcortex.proto, ParameterMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path | string | Parameter path in the tree. |\n\n**Example** \n```js\nlet param_reply = req.getParameter('root/Control/actualActuatorPositions');\nparam_reply.then((param) => {\n console.log('Got parameter: ' + JSON.stringify(param));\n}).catch((param) => {\n console.log('Failed to get parameter: ' + motorcortexs.statusToStr(param.status));\n});\n```\n\n\n### request.setParameter(path, value, [options]) ⇒ Promise.<StatusMsg>\nSets new value to a parameter with given path.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameter value is updated or fails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path | string | Parameter path in the tree. |\n| value | any | New parameter value. |\n| [options] | Object | Various options to parametrize Set operation. For example 'offset' and 'length' could be used to set an element offset and number of the elements to update in the destination array. |\n\n**Example** \n```js\n// updates a value of a simple parameter\nlet reply_handle = req.setParameter('root/Motorcontroller/actualmode', 2);\nreply_handle.catch((reply) => {\n console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));\n});\n\n// updates an array\nreq.setParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6]);\n// updates single element of array with the offset 2 (index 3)\nreq.setParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});\n// updates 2 elements of the arrays with the offset 4\nreq.setParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});\n```\n\n\n### request.overwriteParameter(path, value, force_activate, [options]) ⇒ Promise.<StatusMsg>\nOverwrites actual value of the parameter and depending on the flag forces this value to stay active.\nThis method of setting values is useful during debug and installation process, it is not recommended to use\nthis method during normal operation.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameter value is updated or fails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Default | Description |\n| --- | --- | --- | --- |\n| path | string | | Parameter path in the tree. |\n| value | any | | New parameter value. |\n| force_activate | boolean | false | Forces new value to stay active. By default is set to 'false'. |\n| [options] | Object | | Various options to parametrize Set operation. For example 'offset' and 'length' could be used to set an element offset and number of the elements to update in the destination array. |\n\n**Example** \n```js\n// overwrite and force to stay active a value of a simple parameter\nlet reply_handle = req.overwriteParameter('root/Motorcontroller/actualmode', 2, true);\nreply_handle.catch((reply) => {\n console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));\n});\n\n// overwrite and force to stay active an array\nreq.overwriteParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6], true);\n// overwrite and release force of a single element of the array with an offset 2 (index 3)\nreq.overwriteParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});\n// overwrite and force to stay active 2 elements of the arrays with an offset 4\nreq.overwriteParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});\n```\n\n\n### request.releaseParameter(path) ⇒ Promise.<StatusMsg>\nDeactivate overwrite operation of the parameter.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameter overwrite is deactivated or fails\notherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path | string | Path to a parameter in the tree. |\n\n**Example** \n```js\nlet reply_handle = releaseParameter('root/Motorcontroller/actualmode');\nreply_handle.catch((reply) => {\n console.log('Failed to release overwrite of the parameter: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### request.setParameterList(param_list) ⇒ Promise.<StatusMsg>\nSets new values to a parameter list.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameters from the list are updated,\notherwise fails. \n**See**: setParameter, motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| param_list | Array.<{path, value, options}> | A list of the parameters to update values. |\n\n**Example** \n```js\nlet reply_handle = req.setParameterList([{path: 'root/Motorcontroller/actualmode', value: 2},\n {path: 'root/Control/dummyDoubleArray6', value: [1.1,1.2,1.3,1.4,1.5,1.6]},\n {path: 'root/Control/dummyDoubleArray6', value: [10.0, 20.0], options: {offset: 4, length: 2}}]);\nreply_handle.catch((reply) => {\n console.log('Failed to set list of parameter: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### request.getParameterList(path_list, timeout_ms) ⇒ Promise.<StatusMsg>\nGet info and values of requested parameters.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when list of the parameter values is received,\notherwise fails. \n**See**: getParameter, motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path_list | Array.<string> | List of parameter paths. |\n| timeout_ms | number | Reply timeout in milliseconds. |\n\n**Example** \n```js\nlet reply_handle = req.getParameterList(['root/Motorcontroller/actualmode, 'root/Control/dummyDoubleArray6']);\nreply_handle.then((param_list) => {\n console.log('Got parameter list: ' + JSON.stringify(param_list));\n}).catch((param_list) => {\n console.log('Failed to get parameter list: ' + motorcortex.statusToStr(param_list.status));\n});\n```\n\n\n### request.createGroup(path_list, group_alias, [frq_divider]) ⇒ Promise.<GroupStatusMsg>\nCreate a subscription group for a list of the parameters. This method is used inside Subscription class, use\nsubscription class instead.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<GroupStatusMsg> - Returns a Promise, which resolves when subscription is complete, fails\notherwise. \n**See**: Subscription, motorcortex.proto, GroupStatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path_list | Array.<string> | List of the parameters to subscribe to. |\n| group_alias | string | Name of the group. |\n| [frq_divider] | number | Frequency divider is downscaling factor of the group publish rate. Default value is 1, every cycle of the publisher. |\n\n**Example** \n```js\n// creates a group with two signals, which is published every 10th cycle.\nlet group_handle = req.createGroup(['root/Motorcontroller/actualmode, 'root/Control/dummyDoubleArray6'],\n 'myGroup1', 10);\nreply_handle.then((group) => {\n console.log('Group layout: ' + JSON.stringify(group));\n}).catch((group) => {\n console.log('Failed to create group: ' + motorcortex.statusToStr(group.status));\n});\n```\n\n\n### request.removeGroup(group_alias) ⇒ Promise.<StatusMsg>\nUnsubscribes from the group. This method is used inside Subscription class, use\nsubscription class instead.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when the unsubscribe operation is complete,\nfails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| group_alias | string | Name of the group to unsubscribe from. |\n\n**Example** \n```js\nlet group_handle = req.removeGroup('myGroup1');\ngroup_handle.catch((group) => {\n console.log('Failed to remove group: ' + motorcortex.statusToStr(group.status));\n});\n```\n\n\n### request.save(file_name) ⇒ Promise.<StatusMsg>\nRequest a server to save a parameter tree in the file.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when save operation is completed,\nfails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| file_name | string | A file name where to save actual state of the parameter tree |\n\n**Example** \n```js\nlet reply = req.save('controls.xml');\nreply.catch((save) => {\n console.log('Failed to save parameters:' + motorcortex.statusToStr(save.status));\n});\n```\n\n\n### request.load(file_name) ⇒ Promise.<StatusMsg>\nRequest a server to load value from the file to the parameter tree.\n\n**Kind**: instance method of [Request](#Request) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when load operation is complete,\nfails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| file_name | string | A file name from which to load values to the parameter tree. |\n\n**Example** \n```js\nlet reply = req.load('controls.xml');\nreply.catch((load) => {\n console.log('Failed to load parameters:' + motorcortex.statusToStr(load.status));\n});\n```\n\n\n## RequestAsync\nRequest/Reply communication is used to send commands to a motorcortex server.\n\n**Kind**: global class \n\n* [RequestAsync](#RequestAsync)\n * [new exports.RequestAsync(protobuf_types)](#new_RequestAsync_new)\n * [.getMessageTypes()](#RequestAsync+getMessageTypes)\n * [.connectionState()](#RequestAsync+connectionState) ⇒ number\n * [.close()](#RequestAsync+close)\n * [.login(login, password)](#RequestAsync+login) ⇒ Promise.<StatusMsg>\n * [.logout()](#RequestAsync+logout) ⇒ Promise.<StatusMsg>\n * [.getSessionTokenMsg()](#RequestAsync+getSessionTokenMsg)\n * [.restoreSessionMsg()](#RequestAsync+restoreSessionMsg)\n * [.getParameterTree(timeout_msec)](#RequestAsync+getParameterTree) ⇒ Promise.<ParameterTreeManager>\n * [.getParameterTreeHash()](#RequestAsync+getParameterTreeHash) ⇒ Promise.<ParameterTreeHashMsg>\n * [.getParameter(path)](#RequestAsync+getParameter) ⇒ Promise.<ParameterMsg>\n * [.setParameter(path, value, [options])](#RequestAsync+setParameter) ⇒ Promise.<StatusMsg>\n * [.overwriteParameter(path, value, force_activate, [options])](#RequestAsync+overwriteParameter) ⇒ Promise.<StatusMsg>\n * [.releaseParameter(path)](#RequestAsync+releaseParameter) ⇒ Promise.<StatusMsg>\n * [.setParameterList(param_list)](#RequestAsync+setParameterList) ⇒ Promise.<StatusMsg>\n * [.getParameterList(path_list, timeout_ms)](#RequestAsync+getParameterList) ⇒ Promise.<StatusMsg>\n * [.save(file_name)](#RequestAsync+save) ⇒ Promise.<StatusMsg>\n * [.encode(msg)](#RequestAsync+encode) ⇒ Uint8Array\n * [.send(encoded_msg, timeout_ms)](#RequestAsync+send) ⇒ Promise.<Object>\n * [.sendMsg(msg)](#RequestAsync+sendMsg) ⇒ Promise.<Object>\n * [.load(file_name)](#RequestAsync+load) ⇒ Promise.<StatusMsg>\n\n\n\n### new exports.RequestAsync(protobuf_types)\nCreates request object\n\n\n| Param | Type | Description |\n| --- | --- | --- |\n| protobuf_types | [MessageTypes](#MessageTypes) | Reference to an instance of the MessageTypes class. |\n\n\n\n### requestAsync.getMessageTypes()\nReturns loaded message types.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n\n\n### requestAsync.connectionState() ⇒ number\nActual Request/reply connection state.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: number - Returns a connection state. \n**Example** \n```js\nCONNECTING 0 The connection is not yet open\nOPEN 1 The connection is open and ready to communicate\nCLOSING 2 The connection is in the process of closing\nCLOSED 3 The connection is closed or could not be opened\n```\n\n\n### requestAsync.close()\nCloses connection to the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n\n\n### requestAsync.login(login, password) ⇒ Promise.<StatusMsg>\nSends a login request to the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves if login is successful and fails otherwise.\nReturned message has a status code, which indicates a status of the login. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| login | string | User login. |\n| password | string | User password. |\n\n**Example** \n```js\nlet login_reply = req.login('operator', 'god123');\nlogin_reply.then((reply) => {\n console.log('Logged-in successful: ' + motorcortex.statusToStr(reply.status));\n}).catch((reply) => {\n console.log('Failed to login: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### requestAsync.logout() ⇒ Promise.<StatusMsg>\nSends logout request to the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves if login is successful and fails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n**Example** \n```js\nlet logout_reply = req.logout();\nlogout_reply.then((reply) => {\n console.log('Logged-out successful: ' + motorcortex.statusToStr(reply.status));\n}).catch((reply) => {\n console.log('Failed to logout: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### requestAsync.getSessionTokenMsg()\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n\n\n### requestAsync.restoreSessionMsg()\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n\n\n### requestAsync.getParameterTree(timeout_msec) ⇒ Promise.<ParameterTreeManager>\nRequests a parameter tree manager to update its structure from the cache or from the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<ParameterTreeManager> - Returns a Promise, which resolves when the parameter tree is received or fails\notherwise. \n**See**: ParameterTreeManager \n\n| Param | Type | Description |\n| --- | --- | --- |\n| timeout_msec | integer | Timeout in milliseconds. |\n\n**Example** \n```js\nlet param_tree_reply = req.getParameterTree();\nparam_tree_reply.then((param_tree_manager) => {\n console.log('Got parameter tree msg: ' + JSON.stringify(param_tree_manager.getList()));\n}).catch((param_tree) => {\n console.log('Failed to get parameter tree: ' + motorcortex.statusToStr(param_tree.status));\n});\n```\n\n\n### requestAsync.getParameterTreeHash() ⇒ Promise.<ParameterTreeHashMsg>\nRequests a parameter tree hash from the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<ParameterTreeHashMsg> - Returns a Promise, which resolves when tree hash message is received or\nfails otherwise. \n**See**: motorcortex.proto, ParameterTreeHashMsg, StatusCode \n**Example** \n```js\nlet tree_hash_reply = req.getParameterTreeHash();\ntree_hash_reply.then((tree_hash) => {\n console.log('Got parameter tree hash: ' + tree_hash.hash);\n}).catch((tree_hash) => {\n console.log('Failed to get tree hash: ' + motorcortex.statusToStr(tree_hash.status));\n});\n```\n\n\n### requestAsync.getParameter(path) ⇒ Promise.<ParameterMsg>\nRequests a parameter with full information and value from the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<ParameterMsg> - Returns a Promise, which resolves when parameter message is successfully obtained,\nfails otherwise. \n**See**: motorcortex.proto, ParameterMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path | string | Parameter path in the tree. |\n\n**Example** \n```js\nlet param_reply = req.getParameter('root/Control/actualActuatorPositions');\nparam_reply.then((param) => {\n console.log('Got parameter: ' + JSON.stringify(param));\n}).catch((param) => {\n console.log('Failed to get parameter: ' + motorcortex.statusToStr(param.status));\n});\n```\n\n\n### requestAsync.setParameter(path, value, [options]) ⇒ Promise.<StatusMsg>\nSets new value to a parameter with given path.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameter value is updated or fails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path | string | Parameter path in the tree. |\n| value | any | New parameter value. |\n| [options] | Object | Various options to parametrize Set operation. For example 'offset' and 'length' could be used to set an element offset and number of the elements to update in the destination array. |\n\n**Example** \n```js\n// updates a value of a simple parameter\nlet reply_handle = req.setParameter('root/Motorcontroller/actualmode', 2);\nreply_handle.catch((reply) => {\n console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));\n});\n\n// updates an array\nreq.setParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6]);\n// updates single element of array with the offset 2 (index 3)\nreq.setParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});\n// updates 2 elements of the arrays with the offset 4\nreq.setParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});\n```\n\n\n### requestAsync.overwriteParameter(path, value, force_activate, [options]) ⇒ Promise.<StatusMsg>\nOverwrites actual value of the parameter and depending on the flag forces this value to stay active.\nThis method of setting values is useful during debug and installation process, it is not recommended to use\nthis method during normal operation.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameter value is updated or fails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Default | Description |\n| --- | --- | --- | --- |\n| path | string | | Parameter path in the tree. |\n| value | any | | New parameter value. |\n| force_activate | boolean | false | Forces new value to stay active. By default is set to 'false'. |\n| [options] | Object | | Various options to parametrize Set operation. For example 'offset' and 'length' could be used to set an element offset and number of the elements to update in the destination array. |\n\n**Example** \n```js\n// overwrite and force to stay active a value of a simple parameter\nlet reply_handle = req.overwriteParameter('root/Motorcontroller/actualmode', 2, true);\nreply_handle.catch((reply) => {\n console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));\n});\n\n// overwrite and force to stay active an array\nreq.overwriteParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6], true);\n// overwrite and release force of a single element of the array with an offset 2 (index 3)\nreq.overwriteParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});\n// overwrite and force to stay active 2 elements of the arrays with an offset 4\nreq.overwriteParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});\n```\n\n\n### requestAsync.releaseParameter(path) ⇒ Promise.<StatusMsg>\nDeactivate overwrite operation of the parameter.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameter overwrite is deactivated or fails\notherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path | string | Path to a parameter in the tree. |\n\n**Example** \n```js\nlet reply_handle = releaseParameter('root/Motorcontroller/actualmode');\nreply_handle.catch((reply) => {\n console.log('Failed to release overwrite of the parameter: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### requestAsync.setParameterList(param_list) ⇒ Promise.<StatusMsg>\nSets new values to a parameter list.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when parameters from the list are updated,\notherwise fails. \n**See**: setParameter, motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| param_list | Array.<{path, value, options}> | A list of the parameters to update values. |\n\n**Example** \n```js\nlet reply_handle = req.setParameterList([{path: 'root/Motorcontroller/actualmode', value: 2},\n {path: 'root/Control/dummyDoubleArray6', value: [1.1,1.2,1.3,1.4,1.5,1.6]},\n {path: 'root/Control/dummyDoubleArray6', value: [10.0, 20.0], options: {offset: 4, length: 2}}]);\nreply_handle.catch((reply) => {\n console.log('Failed to set list of parameter: ' + motorcortex.statusToStr(reply.status));\n});\n```\n\n\n### requestAsync.getParameterList(path_list, timeout_ms) ⇒ Promise.<StatusMsg>\nGet info and values of requested parameters.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when list of the parameter values is received,\notherwise fails. \n**See**: getParameter, motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| path_list | Array.<string> | List of parameter paths. |\n| timeout_ms | number | Reply timeout in milliseconds. |\n\n**Example** \n```js\nlet reply_handle = req.getParameterList(['root/Motorcontroller/actualmode, 'root/Control/dummyDoubleArray6']);\nreply_handle.then((param_list) => {\n console.log('Got parameter list: ' + JSON.stringify(param_list));\n}).catch((param_list) => {\n console.log('Failed to get parameter list: ' + motorcortex.statusToStr(param_list.status));\n});\n```\n\n\n### requestAsync.save(file_name) ⇒ Promise.<StatusMsg>\nRequest a server to save a parameter tree in the file.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when save operation is completed,\nfails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| file_name | string | A file name where to save actual state of the parameter tree |\n\n**Example** \n```js\nlet reply = req.save('controls.xml');\nreply.catch((save) => {\n console.log('Failed to save parameters:' + motorcortex.statusToStr(save.status));\n});\n```\n\n\n### requestAsync.encode(msg) ⇒ Uint8Array\nEncodes a data type from MessageTypes to a binary wire type.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Uint8Array - msg A binary array with encoded message. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| msg | Object | A message created by MotorcortexTypes. |\n\n**Example** \n```js\nlet motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});\nmotion_script.script = `print('Hello world');`;\nlet encoded_msg = req.encode(motion_script);\nreq.send(encoded_msg);\n```\n\n\n### requestAsync.send(encoded_msg, timeout_ms) ⇒ Promise.<Object>\nSends an encoded request to the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<Object> - Returns a Promise, which completes when reply from the server is received.\nIf request fails, catch callback is triggered. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| encoded_msg | Uint8Array | A binary array with encoded message. |\n| timeout_ms | integer | Timeout in milliseconds. |\n\n**Example** \n```js\nlet joint2cart = calcJointToCart({\n cartpose: [0, 0, 0, 0, 0, 0],\n jointpose: [0, 0, 1.57, 0, 1.57, 0] });\nlet reply = req.send(req.encode(joint2cart));\nreply.then((msg) => {\n console.log('Got reply: ' + JSON.stringify(msg));\n}).catch((msg) => {\n console.error('Failed: ' + JSON.stringify(msg));\n});\n```\n\n\n### requestAsync.sendMsg(msg) ⇒ Promise.<Object>\nEncodes and sends a request to the server\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<Object> - Returns a Promise, which completes when reply from the server is received. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| msg | Object | A message created by MotorcortexTypes. |\n\n**Example** \n```js\nlet motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});\nmotion_script.script = `print('Hello world');`;\nlet reply = req.encodeAndSend(motion_script);\nreply.then((msg) => {\n console.log('Got reply: ' + JSON.stringify(msg));\n}).catch((msg) => {\n console.error('Failed: ' + JSON.stringify(msg));\n});\n```\n\n\n### requestAsync.load(file_name) ⇒ Promise.<StatusMsg>\nRequest a server to load value from the file to the parameter tree.\n\n**Kind**: instance method of [RequestAsync](#RequestAsync) \n**Returns**: Promise.<StatusMsg> - Returns a Promise, which resolves when load operation is complete,\nfails otherwise. \n**See**: motorcortex.proto, StatusMsg, StatusCode \n\n| Param | Type | Description |\n| --- | --- | --- |\n| file_name | string | A file name from which to load values to the parameter tree. |\n\n**Example** \n```js\nlet reply = req.load('controls.xml');\nreply.catch((load) => {\n console.log('Failed to load parameters:' + motorcortex.statusToStr(load.status));\n});\n```\n\n\n## ConnectionData\nContainer for the session parameters\n\n**Kind**: global class \n\n* [ConnectionData](#ConnectionData)\n * [new ConnectionData(host, req_port, sub_port, security, request_timeout_ms, tree_timeout_ms, token_update_interval_ms, queue_length)](#new_ConnectionData_new)\n * [.getRequestUri()](#ConnectionData+getRequestUri)\n * [.getSubscribeUri()](#ConnectionData+getSubscribeUri)\n * [.getRequestTimeoutMs()](#ConnectionData+getRequestTimeoutMs)\n * [.getTreeTimeoutMs()](#ConnectionData+getTreeTimeoutMs)\n * [.getTokenUpdateIntervalMs()](#ConnectionData+getTokenUpdateIntervalMs)\n * [.getQueueLength()](#ConnectionData+getQueueLength)\n\n\n\n### new ConnectionData(host, req_port, sub_port, security, request_timeout_ms, tree_timeout_ms, token_update_interval_ms, queue_length)\nCreates connection data object\n\n\n| Param | Type | Description |\n| --- | --- | --- |\n| host | string | Motorcortex server URL. |\n| req_port | number | Request port. |\n| sub_port | number | Subscribe port. |\n| security | boolean | Use secured communication. |\n| request_timeout_ms | number | Request timeout in milliseconds.. |\n| tree_timeout_ms | number | Request Parameter Tree timeout in milliseconds. |\n| token_update_interval_ms | number | Toke update interval in milliseconds. |\n| queue_length | number | Maximum size of the request queue. |\n\n\n\n### connectionData.getRequestUri()\nReturns request URI, for example wss://192.168.2.200:5568\n\n**Kind**: instance method of [ConnectionData](#ConnectionData) \n\n\n### connectionData.getSubscribeUri()\nReturns subscribe URI, for example wss://192.168.2.200:5567\n\n**Kind**: instance method of [ConnectionData](#ConnectionData) \n\n\n### connectionData.getRequestTimeoutMs()\nReturns request timeout in milliseconds.\n\n**Kind**: instance method of [ConnectionData](#ConnectionData) \n\n\n### connectionData.getTreeTimeoutMs()\nReturns parameter tree request timeout in milliseconds.\n\n**Kind**: instance method of [ConnectionData](#ConnectionData) \n\n\n### connectionData.getTokenUpdateIntervalMs()\nReturns how often session toke is updated.\n\n**Kind**: instance method of [ConnectionData](#ConnectionData) \n\n\n### connectionData.getQueueLength()\nReturns maximum length of the request queue.\n\n**Kind**: instance method of [ConnectionData](#ConnectionData) \n\n\n## SessionManager\nSessionManager manages a communication session for Request and Subscribe.\nSessionManager monitors if the connection is alive and tries to recover \nif the connection is lost.\n\n**Kind**: global class \n\n* [SessionManager](#SessionManager)\n * [.open(connection_data, login_data, options)](#SessionManager+open) ⇒ Promise.<string>\n * [.close()](#SessionManager+close)\n * [.ready()](#SessionManager+ready) ⇒ boolean\n * [.hasError()](#SessionManager+hasError) ⇒ boolean\n * [.isConnecting()](#SessionManager+isConnecting) ⇒ boolean\n * [.notify(observer)](#SessionManager+notify) ⇒ number\n * [.remove(id)](#SessionManager+remove)\n * [.getState(id)](#SessionManager+getState) ⇒ [SessionState](#SessionState)\n\n\n\n### sessionManager.open(connection_data, login_data, options) ⇒ Promise.<string>\nOpens new session.\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n**Returns**: Promise.<string> - A promise, which completes when connection is ready.\nIf connection fails, a short error description is passed to the catch method. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| connection_data | [ConnectionData](#ConnectionData) | Motorcortex server URL and all necessary connection parameters. |\n| login_data | Object | Login and password to access Motorcortex server. |\n| options | Object | Extra option for future use. |\n\n**Example** \n```js\nlet motorcortex_types = new motorcortex.MessageTypes();\nlet req = new motorcortex.RequestAsync(motorcortex_types);\nlet sub = new motorcortex.Subscribe(req);\nlet session = new motorcortex.SessionManager(req, sub);\nlet open_handle = session.open({\n host: '192.168.2.100',\n security: true,\n request_port: 5568,\n subscribe_port: 5567,\n timeout_ms: 1000,\n queue_length: 1000\n }, {\n login: 'test',\n password: 'test'\n });\nopen_handle.then({\n console.log('connection ready');\n }).catch(e => {\n console.log('connection failed:' + e.text);\n });\n```\n\n\n### sessionManager.close()\nCloses connection to the server\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n\n\n### sessionManager.ready() ⇒ boolean\nChecks if connection is ready\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n**Returns**: boolean - Returns True if connection is ready. \n\n\n### sessionManager.hasError() ⇒ boolean\nChecks if there are connection errors\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n**Returns**: boolean - Returns True if connection is in the error state. \n\n\n### sessionManager.isConnecting() ⇒ boolean\nChecks if there establishing connection is in progress\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n**Returns**: boolean - Returns True if establishing connection is in progress. \n\n\n### sessionManager.notify(observer) ⇒ number\nRegister an observer, which is notified after communcation state is changed.\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n**Returns**: number - id Unique identifier of the registered observer. \n\n| Param | Type | Description |\n| --- | --- | --- |\n| observer | Object | A callback function, which is called after state is changed. |\n\n**Example** \n```js\nlet motorcortex_types = new motorcortex.MessageTypes();\nlet req = new motorcortex.RequestAsync(motorcortex_types);\nlet sub = new motorcortex.Subscribe(req);\nlet session = new motorcortex.SessionManager(req, sub);\nsession.notify(data => {\n if (session.hasError()) {\n console.error('Session error: ' + motorcortex.SessionState.getInfo(data.state));\n } else {\n console.log('Session state: ' + motorcortex.SessionState.getInfo(data.state));\n if (session.ready()) {\n let tree = parameter_manager.getTree();\n console.log(tree);\n }\n }\n```\n\n\n### sessionManager.remove(id)\nRemoves an observer from the notify list.\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n\n| Param | Type | Description |\n| --- | --- | --- |\n| id | number | Unique identifier of the registered observer. |\n\n**Example** \n```js\nlet id = session.notify(data => {});\nsession.remove(id);\n```\n\n\n### sessionManager.getState(id) ⇒ [SessionState](#SessionState)\nReturns an active state of the communication session.\n\n**Kind**: instance method of [SessionManager](#SessionManager) \n**Returns**: [SessionState](#SessionState) - Session state description \n\n| Param | Type | Description |\n| --- | --- | --- |\n| id | number | Unique identifier of the registered observer. |\n\n**Example** \n```js\nif (motorcortex.session.getState() == SessionState.OK) {\n // session is connected\n}\n```\n\n\n## Parameter\nParameter value with a timestamp\n\n**Kind**: global class \n\n* [Parameter](#Parameter)\n * [.get()](#Parameter+get) ⇒ Object\n * [.getTimestamp()](#Parameter+getTimestamp) ⇒ Timestamp\n * [.getValue()](#Parameter+getValue) ⇒ DataType\n * [.toString()](#Parameter+toString) ⇒ string\n\n\n\n### parameter.get() ⇒ Object\nGets a parameter timestamp and a value\n\n**Kind**: instance method of [Parameter](#Parameter) \n**Returns**: Object - Returns an object with parameter timestamp and value. \n**See**: motorcortex.proto DataType \n**Example** \n```js\n// Reads latest update from the subscription\nlet parameters = subscription.read();\n// Iterates through all the parameters\nfor (let parameter of parameters) {\n // Gets time and value\n let time_value_pair = parameter.get();\n console.log('Parameter timestamp: ' + time_value_pair.timestamp + ' value: ', time_value_pair.value);\n}\n```\n\n\n### parameter.getTimestamp() ⇒ Timestamp\nGets parameter timestamp\n\n**Kind**: instance method of [Parameter](#Parameter) \n**Returns**: Timestamp - Returns parameter timestamp. \n**Example** \n```js\n// Reads latest update from the subscription\nlet parameters = subscription.read();\n// Iterates through all the parameters\nfor (let parameter of parameters) {\n // Gets time\n console.log('Parameter timestamp: ' + parameter.getTimestamp());\n}\n```\n\n\n### parameter.getValue() ⇒ DataType\nGets parameter value\n\n**Kind**: instance method of [Parameter](#Parameter) \n**Returns**: DataType - Returns parameter value. \n**See**: motorcortex.proto DataType \n**Example** \n```js\nReads latest update from the subscription\nlet parameters = subscription.read();\n// Iterates through all the parameters\nfor (let parameter of parameters) {\n // Gets value\n console.log('Parameter value: ', parameter.getValue());\n}\n```\n\n\n### parameter.toString() ⇒ string\nGets parameter as a string\n\n**Kind**: instance method of [Parameter](#Parameter) \n**Returns**: string - String formatted as 'timestamp: parameter'. \n**Example** \n```js\nReads latest update from the subscription\nlet parameters = subscription.read();\n// Iterates through all the parameters\nfor (let parameter of parameters) {\n // Gets value\n console.log('Parameter value: ', parameter.toString());\n}\n```\n\n\n## Subscription\nSubscription class represents an acti","readmeFilename":"README.md"}