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library and CLI program used for communicating with Motion Master.","maintainers":[{"name":"markosankovic","email":"sankovic.marko@gmail.com"}],"readme":"# Motion Master Client\n\nThe Motion Master Client is a [TypeScript](https://www.typescriptlang.org) library designed to facilitate communication with the [Motion Master](https://synapticon.github.io/motion_master/) process via [WebSocket](https://developer.mozilla.org/en-US/docs/Web/API/WebSocket) connections. It utilizes [Protocol Buffers](https://developers.google.com/protocol-buffers) for efficient message serialization during data exchange.\n\nYou can find various examples in the official [Motion Master Client Examples](https://github.com/synapticon/motion-master-client-examples) GitHub repository.\n\n## Usage\n\nThe Motion Master Client library is versatile and can be used both in server environments with [Node.js](https://nodejs.org/) and in browsers.\n\nThe key classes for making requests are:\n\n- [MotionMasterClient](https://synapticon.github.io/oblac/motion-master-client/classes/MotionMasterClient.html)\n- [MotionMasterReqResClient](https://synapticon.github.io/oblac/motion-master-client/classes/MotionMasterReqResClient.html)\n\n### Server usage\n\nInitialize a project:\n\n```sh\nmkdir hello-somanet\ncd hello-somanet\nnpm init --yes\n```\n\nInstall the required dependencies:\n\n```sh\nnpm install --save motion-master-client rxjs ws\nnpm install --save-dev ts-node typescript\n```\n\nCreate a TypeScript configuration:\n\n```sh\nnpx tsc --init\n```\n\nCreate a main program file:\n\n```sh\ntouch main.ts\n```\n\nAdd the following content to the _main.ts_ file:\n\n```ts\nimport { createMotionMasterClient } from 'motion-master-client';\nimport { lastValueFrom } from 'rxjs';\n\n// Ensure that Node.js has the global WebSocket object available.\nObject.assign(globalThis, { WebSocket: require('ws') });\n\nconst client = createMotionMasterClient('192.168.200.253');\n\nclient\n  .whenReady()\n  .then(async () => {\n    const devices = await lastValueFrom(client.request.getDevices());\n    const message = JSON.stringify(devices, null, 2);\n    console.log(message);\n  })\n  .finally(() => client.closeSockets());\n```\n\nRun the program:\n\n```sh\nnpx ts-node main.ts\n```\n\nThe program will:\n\n1. Create an instance of the client and connect to a Motion Master process running at 192.168.200.253.\n2. The client needs some time to connect, so it must be ready before making requests. Most of the requests are implemented and documented in the [MotionMasterReqResClient](https://synapticon.github.io/oblac/motion-master-client/classes/MotionMasterReqResClient.html) class.\n3. The client requests a list of devices, which are then printed to the console.\n4. The client closes opened sockets.\n\nHere's another example that demonstrates how to get and set device parameter values:\n\n```ts\nimport { createMotionMasterClient } from 'motion-master-client';\n\n// Ensure that Node.js has the global WebSocket object available.\nObject.assign(globalThis, { WebSocket: require('ws') });\n\nconst client = createMotionMasterClient('192.168.200.253');\n\nclient\n  .whenReady()\n  .then(async () => {\n    // Device is referenced by a position (0).\n    const motorRatedCurrent = await client.request.upload(0, 0x6075, 0);\n    console.log(`Motor rated current: ${motorRatedCurrent}`);\n\n    // The device parameter is referenced by an ID, which consists of\n    // the index (0x6076), subindex (0x00), and the device serial number (8504-03-0002369-2329).\n    const motorRatedTorque = await client.request.upload('0x6076:00.8504-03-0002369-2329');\n    console.log(`Motor rated current: ${motorRatedTorque}`);\n\n    // Update the Max current parameter value to 2000.\n    await client.request.download(0, 0x6073, 0, 2000);\n  })\n  .finally(() => client.closeSockets());\n```\n\n## Understanding requests\n\nWhen the client is instantiated, it connects to the Motion Master process using the WebSocket protocol. As it is a bi-directional, full-duplex communication protocol, there needs to be a mechanism that couples requests with responses. This is solved by having a message ID that is a mandatory attribute of each request; responses produced by that request will include the same message ID.\n\nFor some requests, such as firmware installation, Motion Master will send progress messages until the firmware installation is complete. Therefore, when making a request with the client library, functions will return an Observable of request statuses. This means that you can subscribe to an Observable and receive status messages over time. These observables are asynchronous, meaning your program can continue to do other things while the request executes. For the purpose of utilizing Observables and implementing reactive programming, the client library uses [RxJs](https://rxjs.dev/).\n\nTo demonstrate the use of reactive programming, let's create a program that monitors the drive and core temperatures:\n\n```ts\nimport { createMotionMasterClient } from 'motion-master-client';\nimport { map, mergeMap } from 'rxjs';\n\n// Ensure that Node.js has the global WebSocket object available.\nObject.assign(globalThis, { WebSocket: require('ws') });\n\nconst client = createMotionMasterClient('192.168.200.253');\n\nconst subscription = client.onceReady$\n  .pipe(\n    mergeMap(() =>\n      client.startMonitoring(\n        [\n          [0, 0x2030, 1], // Core temperature\n          [0, 0x2031, 1], // Drive temperature\n        ],\n        1000000, // microseconds\n        { topic: 'temperatures-monitoring', distinct: true }\n      )\n    ),\n    map((values) => `core=${values[0]} drive=${values[1]}`)\n  )\n  .subscribe(console.log);\n\nprocess.on('SIGINT', function () {\n  console.log('\\nGracefully shutting down from SIGINT (Ctrl-C).\\nStopping monitoring and closing sockets.');\n  subscription?.unsubscribe();\n  client.closeSockets();\n  process.exit(0);\n});\n```\n","readmeFilename":"README.md"}