@synapticon/motion-master-client 6.0.0-alpha.35 → 6.0.0-alpha.36

package/dist/generated/Api.d.ts

@@ -1,4 +1,4 @@
-import { AlStatusCode, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, Monitoring, ObjectDataTypeInfo, OutputStageResult, ParameterCacheEntry, PdoMapping, PdoMappingRequest, ProcessDataWatchdog, ProcessImageObject, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
+import { AlStatusCode, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, GameLoopHealth, Monitoring, ObjectDataTypeInfo, OutputStageResult, ParameterCacheEntry, PdoMapping, PdoMappingRequest, ProcessDataWatchdog, ProcessImageObject, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
 import { HttpClient, RequestParams } from "./http-client.js";
 export declare class Api<SecurityDataType = unknown> extends HttpClient<SecurityDataType> {
     /**
@@ -32,7 +32,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         version: string;
     }, any>>;
     /**
-     * @description The effective configuration after merging the JSONC config file (if any) over the built-in defaults — the same `Config` the server booted with. Read-only; changing it requires editing the config file and restarting. The shape mirrors the config file (server, fieldbus, logLevel, tls, gameLoop, recorder).
+     * @description The effective configuration after merging the JSONC config file (if any) over the built-in defaults — the same `Config` the server booted with. Read-only; changing it requires editing the config file and restarting. The shape mirrors the config file (server, fieldbus, logLevel, tls, gameLoop, recorder, parameterCache, parameters).
      *
      * @name GetStartedConfig
      * @summary Get the configuration Motion Master was started with
@@ -923,6 +923,14 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         /** Input-mapped objects (TxPDO), in image order */
         inputs: ProcessImageObject[];
     }, any>>;
+    /**
+     * @description Returns a point-in-time snapshot of the RT cyclic loop: the configured period and target rate, the cumulative achieved rate since start, the executed- and skipped-cycle counters, per-cycle task-execution timing (last / worst / mean), and whether real-time scheduling was acquired. Skipped cycles accumulate whenever the loop cannot meet its period (common on non-RT hosts such as Windows userspace) — a steadily rising `skippedCycles`, or an `achievedHz` well below `targetHz`, means the configured period is too aggressive for the hardware. Poll this endpoint and diff `executedCycles`/`skippedCycles` against `timestampUs` to chart the instantaneous rate over time.
+     *
+     * @name GetGameLoop
+     * @summary Inspect real-time game-loop health
+     * @request GET:/api/game-loop
+     */
+    getGameLoop: (params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<GameLoopHealth, any>>;
     /**
      * @description Streams the same `.mmpd` serialisation as the POST variant (the recorder's current span, with the process image embedded as a header) directly in the response body instead of writing a file — for the client SDK / browser, which parses the bytes offline. Request with `Accept: application/octet-stream`. Same span semantics as the POST; works in any state.
      *
@@ -991,7 +999,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      */
     createMonitoring: (data: {
         /**
-         * URL-safe unique id; also the WebSocket topic. The name `pdos` is reserved.
+         * URL-safe unique id; also the WebSocket topic.
          * @pattern ^[A-Za-z0-9._-]{1,64}$
          * @example "left-leg"
          */

package/dist/generated/Api.js

@@ -38,7 +38,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description The effective configuration after merging the JSONC config file (if any) over the built-in defaults — the same `Config` the server booted with. Read-only; changing it requires editing the config file and restarting. The shape mirrors the config file (server, fieldbus, logLevel, tls, gameLoop, recorder).
+     * @description The effective configuration after merging the JSONC config file (if any) over the built-in defaults — the same `Config` the server booted with. Read-only; changing it requires editing the config file and restarting. The shape mirrors the config file (server, fieldbus, logLevel, tls, gameLoop, recorder, parameterCache, parameters).
      *
      * @name GetStartedConfig
      * @summary Get the configuration Motion Master was started with
@@ -539,6 +539,19 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description Returns a point-in-time snapshot of the RT cyclic loop: the configured period and target rate, the cumulative achieved rate since start, the executed- and skipped-cycle counters, per-cycle task-execution timing (last / worst / mean), and whether real-time scheduling was acquired. Skipped cycles accumulate whenever the loop cannot meet its period (common on non-RT hosts such as Windows userspace) — a steadily rising `skippedCycles`, or an `achievedHz` well below `targetHz`, means the configured period is too aggressive for the hardware. Poll this endpoint and diff `executedCycles`/`skippedCycles` against `timestampUs` to chart the instantaneous rate over time.
+     *
+     * @name GetGameLoop
+     * @summary Inspect real-time game-loop health
+     * @request GET:/api/game-loop
+     */
+    getGameLoop = (params = {}) => this.request({
+        path: `/api/game-loop`,
+        method: "GET",
+        format: "json",
+        ...params,
+    });
     /**
      * @description Streams the same `.mmpd` serialisation as the POST variant (the recorder's current span, with the process image embedded as a header) directly in the response body instead of writing a file — for the client SDK / browser, which parses the bytes offline. Request with `Accept: application/octet-stream`. Same span semantics as the POST; works in any state.
      *

package/dist/generated/data-contracts.d.ts

@@ -1,3 +1,68 @@
+/** Point-in-time health of the real-time game loop. Times are nanoseconds; rates are hertz. All fields are diagnostic (relaxed reads), not synchronised. */
+export interface GameLoopHealth {
+    /**
+     * Configured target cycle period, in microseconds
+     * @format int64
+     * @example 1000
+     */
+    periodUs: number;
+    /**
+     * Target cycle rate (1e6 / periodUs), in hertz
+     * @example 1000
+     */
+    targetHz: number;
+    /**
+     * Cumulative average rate since the loop started (executedCycles / uptime), in hertz; 0 before the loop starts. Below targetHz means the host cannot sustain the configured period.
+     * @example 999.56
+     */
+    achievedHz: number;
+    /**
+     * Loop iterations actually executed since start
+     * @format int64
+     * @example 2023
+     */
+    executedCycles: number;
+    /**
+     * Cycles skipped to catch up after overruns/stalls since start. A rising value means the loop is not meeting its period.
+     * @format int64
+     * @example 0
+     */
+    skippedCycles: number;
+    /**
+     * Task-execution time of the most recent cycle, in nanoseconds
+     * @format int64
+     * @example 104
+     */
+    lastExecNs: number;
+    /**
+     * Worst task-execution time since start, in nanoseconds
+     * @format int64
+     * @example 4009
+     */
+    maxExecNs: number;
+    /**
+     * Mean task-execution time since start, in nanoseconds
+     * @format int64
+     * @example 338
+     */
+    avgExecNs: number;
+    /**
+     * Whether SCHED_FIFO real-time priority was acquired (false on Windows, which never attempts it, and on Linux/macOS when the privilege is missing).
+     * @example false
+     */
+    schedFifo: boolean;
+    /**
+     * Whether mlockall succeeded to pin memory (Linux only; false elsewhere or when the privilege is missing).
+     * @example false
+     */
+    memLocked: boolean;
+    /**
+     * Server wall-clock timestamp (epoch microseconds) when sampled
+     * @format int64
+     * @example 1783968687738680
+     */
+    timestampUs: number;
+}
 /** Summary of one on-disk parameter-cache file (its identity, size, and count). */
 export interface ParameterCacheEntry {
     /**

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@synapticon/motion-master-client",
-  "version": "6.0.0-alpha.35",
+  "version": "6.0.0-alpha.36",
   "description": "Isomorphic TypeScript client for Motion Master: the generated HTTP API client, the WebSocket connection, and helpers.",
   "license": "MIT",
   "repository": {