public
motorcortex-js

Repository

Node.js v7.10+
Node npm v5.3+
npm install @vectioneer/motorcortex-js
npm run build

Build library is in the ./dist folder.
motorcortex.statusToStr(0x2100);
if (parameterDataType === motorcortex.getDataType('UINT8')) {
   // do something
}
if (parameterFlag === motorcortex.getParameterFlag('OVERWRITE_IS_ACTIVE')) {
   // do something
}
if (parameterType === motorcortex.getParameterType('INPUT')) {
   // do something
}
if (parameterDataType | motorcortex.getPermission('USER_WRITE')) {
   // user has a write access
}
if (replyCode === motorcortex.getStatusCode('OK')) {
   // all good
   console.log(motorcortex.statusToStr(motorcortex.getStatusCode('OK')));
}
if (userGroup === motorcortex.getUserGroup('OPERATOR')) {
   // operator has an access
}
let motorcortex_types = new motorcortex.MessageTypes();
let type_load_done = motorcortex_types.load([{
     proto: 'msg/motorcortex.proto',
     hash: 'msg/motorcortex_hash.json'}, {
     proto: 'msg/motionJS.proto',
     hash: 'msg/motionJS_hash.json'}, {
     proto: 'msg/motionSL.proto',
     hash: 'msg/motionSL_hash.json'
}]);

type_load_done.then(() => {
     console.log('Loaded all data types');}).catch((reason) => {
     console.error('Failed to load data types: ' + reason);
});
let load_msg = motorcortex_types.createType('motorcortex.LoadMsg', { path: '', fileName: 'control.xml' });
let encoded_msg = this.encode(load_msg);
let ErrorList = motorcortex_types.getTypeByName('motorcortex.ErrorList');
let error_list = ErrorList.decode(encoded_msg);
console.log('Error list: ', error_list);
CONNECTING   0    The connection is not yet open
OPEN         1    The connection is open and ready to communicate
CLOSING      2    The connection is in the process of closing
CLOSED       3    The connection is closed or could not be opened
let req = new motorcortex.Request(motorcortex_types);
let req_conn_done = req.connect(`ws://${server}:5558`, 10000, 100);
req_conn_done
.then(() => {
      console.log('Request connection is established');
  })
.catch((reason) => {
      console.error('Failed to establish connection: ' + reason);
  });
let motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});
motion_script.script = `print('Hello world');`;
let encoded_msg = req.encode(motion_script);
req.send(encoded_msg);
let joint2cart = calcJointToCart({
     cartpose: [0, 0, 0, 0, 0, 0],
     jointpose: [0, 0, 1.57, 0, 1.57, 0] });
let reply = req.send(req.encode(joint2cart));
reply.then((msg) => {
     console.log('Got reply: ' + JSON.stringify(msg));
}).catch((msg) => {
     console.error('Failed: ' + JSON.stringify(msg));
});
let motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});
motion_script.script = `print('Hello world');`;
let reply = req.encodeAndSend(motion_script);
reply.then((msg) => {
     console.log('Got reply: ' + JSON.stringify(msg));
}).catch((msg) => {
     console.error('Failed: ' + JSON.stringify(msg));
});
let login_reply = req.login('operator', 'god123');
login_reply.then((reply) => {
     console.log('Logged-in successful: ' + motorcortex.statusToStr(reply.status));
}).catch((reply) => {
     console.log('Failed to login: ' + motorcortex.statusToStr(reply.status));
});
let logout_reply = req.logout();
logout_reply.then((reply) => {
     console.log('Logged-out successful: ' + motorcortex.statusToStr(reply.status));
}).catch((reply) => {
     console.log('Failed to logout: ' + motorcortex.statusToStr(reply.status));
});
let param_tree_reply = req.getParameterTree();
param_tree_reply.then((param_tree_manager) => {
     console.log('Got parameter tree msg: ' + JSON.stringify(param_tree_manager.getList()));
}).catch((param_tree) => {
     console.log('Failed to get parameter tree: ' + motorcortex.statusToStr(param_tree.status));
});
let tree_hash_reply = req.getParameterTreeHash();
tree_hash_reply.then((tree_hash) => {
     console.log('Got parameter tree hash: ' + tree_hash.hash);
}).catch((tree_hash) => {
     console.log('Failed to get tree hash: ' + motorcortex.statusToStr(tree_hash.status));
});
let param_reply = req.getParameter('root/Control/actualActuatorPositions');
param_reply.then((param) => {
     console.log('Got parameter: ' + JSON.stringify(param));
}).catch((param) => {
     console.log('Failed to get parameter: ' + motorcortexs.statusToStr(param.status));
});
// updates a value of a simple parameter
let reply_handle = req.setParameter('root/Motorcontroller/actualmode', 2);
reply_handle.catch((reply) => {
     console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));
});

// updates an array
req.setParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6]);
// updates single element of array with the offset 2 (index 3)
req.setParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});
// updates 2 elements of the arrays with the offset 4
req.setParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});
// overwrite and force to stay active a value of a simple parameter
let reply_handle = req.overwriteParameter('root/Motorcontroller/actualmode', 2, true);
reply_handle.catch((reply) => {
     console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));
});

// overwrite and force to stay active an array
req.overwriteParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6], true);
// overwrite and release force of a single element of the array with an offset 2 (index 3)
req.overwriteParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});
// overwrite and force to stay active 2 elements of the arrays with an offset 4
req.overwriteParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});
let reply_handle = releaseParameter('root/Motorcontroller/actualmode');
reply_handle.catch((reply) => {
     console.log('Failed to release overwrite of the parameter: ' + motorcortex.statusToStr(reply.status));
});
let reply_handle = req.setParameterList([{path: 'root/Motorcontroller/actualmode', value: 2},
     {path: 'root/Control/dummyDoubleArray6', value: [1.1,1.2,1.3,1.4,1.5,1.6]},
     {path: 'root/Control/dummyDoubleArray6', value: [10.0, 20.0], options:  {offset: 4, length: 2}}]);
reply_handle.catch((reply) => {
     console.log('Failed to set list of parameter: ' + motorcortex.statusToStr(reply.status));
});
let reply_handle = req.getParameterList(['root/Motorcontroller/actualmode, 'root/Control/dummyDoubleArray6']);
reply_handle.then((param_list) => {
     console.log('Got parameter list: ' + JSON.stringify(param_list));
}).catch((param_list) => {
     console.log('Failed to get parameter list: ' + motorcortex.statusToStr(param_list.status));
});
// creates a group with two signals, which is published every 10th cycle.
let group_handle = req.createGroup(['root/Motorcontroller/actualmode, 'root/Control/dummyDoubleArray6'],
     'myGroup1', 10);
reply_handle.then((group) => {
     console.log('Group layout: ' + JSON.stringify(group));
}).catch((group) => {
     console.log('Failed to create group: ' + motorcortex.statusToStr(group.status));
});
let group_handle = req.removeGroup('myGroup1');
group_handle.catch((group) => {
     console.log('Failed to remove group: ' + motorcortex.statusToStr(group.status));
});
let reply = req.save('controls.xml');
reply.catch((save) => {
     console.log('Failed to save parameters:' + motorcortex.statusToStr(save.status));
});
let reply = req.load('controls.xml');
reply.catch((load) => {
     console.log('Failed to load parameters:' + motorcortex.statusToStr(load.status));
});
CONNECTING   0    The connection is not yet open
OPEN         1    The connection is open and ready to communicate
CLOSING      2    The connection is in the process of closing
CLOSED       3    The connection is closed or could not be opened
let login_reply = req.login('operator', 'god123');
login_reply.then((reply) => {
     console.log('Logged-in successful: ' + motorcortex.statusToStr(reply.status));
}).catch((reply) => {
     console.log('Failed to login: ' + motorcortex.statusToStr(reply.status));
});
let logout_reply = req.logout();
logout_reply.then((reply) => {
     console.log('Logged-out successful: ' + motorcortex.statusToStr(reply.status));
}).catch((reply) => {
     console.log('Failed to logout: ' + motorcortex.statusToStr(reply.status));
});
let param_tree_reply = req.getParameterTree();
param_tree_reply.then((param_tree_manager) => {
     console.log('Got parameter tree msg: ' + JSON.stringify(param_tree_manager.getList()));
}).catch((param_tree) => {
     console.log('Failed to get parameter tree: ' + motorcortex.statusToStr(param_tree.status));
});
let tree_hash_reply = req.getParameterTreeHash();
tree_hash_reply.then((tree_hash) => {
     console.log('Got parameter tree hash: ' + tree_hash.hash);
}).catch((tree_hash) => {
     console.log('Failed to get tree hash: ' + motorcortex.statusToStr(tree_hash.status));
});
let param_reply = req.getParameter('root/Control/actualActuatorPositions');
param_reply.then((param) => {
     console.log('Got parameter: ' + JSON.stringify(param));
}).catch((param) => {
     console.log('Failed to get parameter: ' + motorcortex.statusToStr(param.status));
});
// updates a value of a simple parameter
let reply_handle = req.setParameter('root/Motorcontroller/actualmode', 2);
reply_handle.catch((reply) => {
     console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));
});

// updates an array
req.setParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6]);
// updates single element of array with the offset 2 (index 3)
req.setParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});
// updates 2 elements of the arrays with the offset 4
req.setParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});
// overwrite and force to stay active a value of a simple parameter
let reply_handle = req.overwriteParameter('root/Motorcontroller/actualmode', 2, true);
reply_handle.catch((reply) => {
     console.log('Failed to set parameter: ' + motorcortex.statusToStr(reply.status));
});

// overwrite and force to stay active an array
req.overwriteParameter('root/Control/dummyDoubleArray6', [1.1,1.2,1.3,1.4,1.5,1.6], true);
// overwrite and release force of a single element of the array with an offset 2 (index 3)
req.overwriteParameter('root/Control/dummyDoubleArray6', 1.0, {offset: 2});
// overwrite and force to stay active 2 elements of the arrays with an offset 4
req.overwriteParameter('root/Control/dummyDoubleArray6', [10.0, 20.0], {offset: 4, length: 2});
let reply_handle = releaseParameter('root/Motorcontroller/actualmode');
reply_handle.catch((reply) => {
     console.log('Failed to release overwrite of the parameter: ' + motorcortex.statusToStr(reply.status));
});
let reply_handle = req.setParameterList([{path: 'root/Motorcontroller/actualmode', value: 2},
     {path: 'root/Control/dummyDoubleArray6', value: [1.1,1.2,1.3,1.4,1.5,1.6]},
     {path: 'root/Control/dummyDoubleArray6', value: [10.0, 20.0], options:  {offset: 4, length: 2}}]);
reply_handle.catch((reply) => {
     console.log('Failed to set list of parameter: ' + motorcortex.statusToStr(reply.status));
});
let reply_handle = req.getParameterList(['root/Motorcontroller/actualmode, 'root/Control/dummyDoubleArray6']);
reply_handle.then((param_list) => {
     console.log('Got parameter list: ' + JSON.stringify(param_list));
}).catch((param_list) => {
     console.log('Failed to get parameter list: ' + motorcortex.statusToStr(param_list.status));
});
let reply = req.save('controls.xml');
reply.catch((save) => {
     console.log('Failed to save parameters:' + motorcortex.statusToStr(save.status));
});
let motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});
motion_script.script = `print('Hello world');`;
let encoded_msg = req.encode(motion_script);
req.send(encoded_msg);
let joint2cart = calcJointToCart({
     cartpose: [0, 0, 0, 0, 0, 0],
     jointpose: [0, 0, 1.57, 0, 1.57, 0] });
let reply = req.send(req.encode(joint2cart));
reply.then((msg) => {
     console.log('Got reply: ' + JSON.stringify(msg));
}).catch((msg) => {
     console.error('Failed: ' + JSON.stringify(msg));
});
let motion_script = motorcortex_types.createType('motion_spec.MotionScript', {.id = 1, name = 'Test script'});
motion_script.script = `print('Hello world');`;
let reply = req.encodeAndSend(motion_script);
reply.then((msg) => {
     console.log('Got reply: ' + JSON.stringify(msg));
}).catch((msg) => {
     console.error('Failed: ' + JSON.stringify(msg));
});
let reply = req.load('controls.xml');
reply.catch((load) => {
     console.log('Failed to load parameters:' + motorcortex.statusToStr(load.status));
});
let motorcortex_types = new motorcortex.MessageTypes();
let req = new motorcortex.RequestAsync(motorcortex_types);
let sub = new motorcortex.Subscribe(req);
let session = new motorcortex.SessionManager(req, sub);
let open_handle = session.open({
      host: '192.168.2.100',
      security: true,
      request_port: 5568,
      subscribe_port: 5567,
      timeout_ms: 1000,
      queue_length: 1000
  }, {
      login: 'test',
      password: 'test'
  });
open_handle.then({
      console.log('connection ready');
  }).catch(e => {
      console.log('connection failed:' + e.text);
  });
let motorcortex_types = new motorcortex.MessageTypes();
let req = new motorcortex.RequestAsync(motorcortex_types);
let sub = new motorcortex.Subscribe(req);
let session = new motorcortex.SessionManager(req, sub);
session.notify(data => {
  if (session.hasError()) {
      console.error('Session error: ' + motorcortex.SessionState.getInfo(data.state));
  } else {
      console.log('Session state: ' + motorcortex.SessionState.getInfo(data.state));
      if (session.ready()) {
          let tree = parameter_manager.getTree();
          console.log(tree);
    }
  }
let id = session.notify(data => {});
session.remove(id);
if (motorcortex.session.getState() == SessionState.OK) {
  // session is connected
}
// Reads latest update from the subscription
let parameters = subscription.read();
// Iterates through all the parameters
for (let parameter of parameters) {
     // Gets time and value
     let time_value_pair = parameter.get();
     console.log('Parameter timestamp: ' + time_value_pair.timestamp + ' value: ', time_value_pair.value);
}
// Reads latest update from the subscription
let parameters = subscription.read();
// Iterates through all the parameters
for (let parameter of parameters) {
     // Gets time
     console.log('Parameter timestamp: ' + parameter.getTimestamp());
}
Reads latest update from the subscription
let parameters = subscription.read();
// Iterates through all the parameters
for (let parameter of parameters) {
     // Gets value
     console.log('Parameter value: ', parameter.getValue());
}
Reads latest update from the subscription
let parameters = subscription.read();
// Iterates through all the parameters
for (let parameter of parameters) {
     // Gets value
     console.log('Parameter value: ', parameter.toString());
}
let data_sub = sub.subscribe(["root/Control/jointReferenceGenerator/enable",
     "root/Control/jointReferenceGenerator/signalGenerator01/amplitude",
     "root/Control/jointReferenceGenerator/signalGenerator02/amplitude"], "group1");

data_sub.then((subscription) => {
     console.log("Subscribed: " + subscription);
}).catch((subscription) => {
     console.log("Subscription failed: " + motorcortex.statusToStr(subscription.status));
});
let data_sub = sub.subscribe(["root/Control/jointReferenceGenerator/enable",
     "root/Control/jointReferenceGenerator/signalGenerator01/amplitude",
     "root/Control/jointReferenceGenerator/signalGenerator02/amplitude"], "group1");

data_sub.then((subscription) => {
     console.log("Subscribed: " + subscription);
}).catch((subscription) => {
     console.log("Subscription failed: " + motorcortex.statusToStr(subscription.status));
});
let data_sub = sub.subscribe(["root/Control/jointReferenceGenerator/enable",
     "root/Control/jointReferenceGenerator/signalGenerator01/amplitude",
     "root/Control/jointReferenceGenerator/signalGenerator02/amplitude"], "group1");

data_sub.then((subscription) => {
     let group_layout = data_sub.layout();
     console.log("Subscribed for: " + group_layout.toString());
});
let data_sub = sub.subscribe(["root/Control/jointReferenceGenerator/enable",
     "root/Control/jointReferenceGenerator/signalGenerator01/amplitude",
     "root/Control/jointReferenceGenerator/signalGenerator02/amplitude"], "group1");

data_sub.then((subscription) {
     data_sub.notify((parameters) => {
         console.log('Received group update');
         let layout = data_sub.layout();
         for(let i = 0; i < layout.length; i++) {
             console.log("Parameter: " + layout[i] + " value: " + parameters[i].toString());
         }
     }
});
CONNECTING   0    The connection is not yet open
OPEN         1    The connection is open and ready to communicate
CLOSING      2    The connection is in the process of closing
CLOSED       3    The connection is closed or could not be opened
let sub = new motorcortex.Subscribe(req);
let sub_conn_done = sub.connect(`ws://${server}:5557`);
sub_conn_done.then(() => {
     console.log('Subscribe connection is established');
})
.catch((reason) => {
     console.error('Failed to establish connection: ' + reason);
});
let data_sub = sub.subscribe(["root/Control/jointReferenceGenerator/enable",
     "root/Control/jointReferenceGenerator/signalGenerator01/amplitude",
     "root/Control/jointReferenceGenerator/signalGenerator02/amplitude"], "group1");

data_sub.then((subscription) => {
     console.log('Subscription is ready');
     // when subscription is ready, setting an update callback
     data_sub.notify((parameters) {
         console.log('Received group update');
         let layout = data_sub.layout();
         for(let i = 0; i < layout.length; i++) {
             console.log("Parameter: " + layout[i] + " value: " + parameters[i].toString());
         }
     }
}).catch((subscription) => {
     console.log('Failed to subscribe: ' + motorcortex.statusToStr(group.status));
});
let unsub_handle = req.unsubscribe('myGroup1');
unsub_handle.catch((unsubscribe) => {
     console.log('Failed to remove group: ' + motorcortex.statusToStr(unsubscribe.status));
});
console.log('Session state: ' + motorcortex.SessionState.getInfo(motorcortex.SessionState.CONNECTION_FAILED));