motion-master-client 0.0.212 → 0.0.214
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
package/package.json
CHANGED
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@@ -10,7 +10,7 @@ const util_1 = require("./util");
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const product_1 = require("./product");
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const parameter_1 = require("./parameter");
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12
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function hex(value) {
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13
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-
return `0x${value.toString(16).toUpperCase()}`;
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13
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return `0x${value === null || value === void 0 ? void 0 : value.toString(16).toUpperCase()}`;
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}
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function parseIntegroEncoderFirmwareVersion(value) {
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const str = String(value).padStart(10, '0');
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@@ -71,13 +71,13 @@ class IntegroEncoderCalibration {
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}
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// The calibration procedure should be performed after the drive is fully commissioned, and thus, the drive should be fully operational in Velocity mode.
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// Tuning of the control loop should be done by the user.
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-
this.notifications$.next(`Validating the device (${this.deviceRef}) before starting the
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74
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this.notifications$.next(`Validating the device (${this.deviceRef}) before starting the encoder calibration.`);
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yield this.validateDevice();
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yield this.updateVelocityParameterValues();
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// Retrieve the encoder firmware version and display it.
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let osCommandResponse = yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x04, 4, 0, 10000, 1000, false));
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const encoderFirmwareVersion = parseIntegroEncoderFirmwareVersion(osCommandResponse.kublerRegisterValue);
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-
this.notifications$.next(`The firmware version of the
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80
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this.notifications$.next(`The firmware version of the integrated encoder (register 0x04) is: Major=${encoderFirmwareVersion.major}, Minor=${encoderFirmwareVersion.minor}, Date=${encoderFirmwareVersion.datestamp}, Value=${encoderFirmwareVersion.value}.`);
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try {
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yield this.client.request.resetFault(this.deviceRef);
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}
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@@ -224,9 +224,10 @@ class IntegroEncoderCalibration {
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}
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}
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yield (0, util_1.resolveAfter)(500);
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227
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-
this.notifications$.next('
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227
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this.notifications$.next('Sending a Quick Stop request to the device.');
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this.client.request.quickStop(this.deviceRef).catch();
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229
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-
this.revertVelocityParameterValues();
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229
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yield this.revertVelocityParameterValues();
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this.notifications$.next('The encoder calibration has been successfully completed.');
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});
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}
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/**
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@@ -238,7 +239,7 @@ class IntegroEncoderCalibration {
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const device = yield (0, rxjs_1.lastValueFrom)(this.client.request.resolveDevice(this.deviceRef));
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// The device must exist.
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if (!device) {
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-
throw new Error('No device was found when starting the
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throw new Error('No device was found when starting the encoder calibration.');
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}
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// The device must be Integro.
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const productId = (_b = (_a = device.hardwareDescription) === null || _a === void 0 ? void 0 : _a.device) === null || _b === void 0 ? void 0 : _b.id;
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@@ -280,12 +281,12 @@ class IntegroEncoderCalibration {
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// The commutation offset must be set.
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const commutationOffsetState = yield this.client.request.upload(this.deviceRef, 0x2009, 1);
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if (commutationOffsetState !== 2) {
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-
throw new Error('The commutation offset state must be valid before starting the
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throw new Error('The commutation offset state must be valid before starting the encoder calibration.');
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}
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// The velocity controller must be tuned.
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const velocityControllerKp = yield this.client.request.upload(this.deviceRef, 0x2011, 1);
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if (velocityControllerKp <= 0) {
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-
throw new Error('Velocity controller must be tuned before starting the
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throw new Error('Velocity controller must be tuned before starting the encoder calibration.');
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}
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});
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}
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@@ -1 +1 @@
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1
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-
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|
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1
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+
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@@ -1,3 +1,22 @@
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1
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+
import { UnitConverters } from "./units";
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2
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/**
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3
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+
* Configuration interface for unit formatting of a single data point in the monitoring data.
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+
*/
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5
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+
export interface MonitoringConfigUnitFormatter {
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/**
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7
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+
* The ID of the converter to use for formatting the data point.
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*/
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9
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+
converterId: keyof UnitConverters;
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/**
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+
* The target unit for the formatted value.
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+
*/
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13
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+
unit: string;
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14
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+
/**
|
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15
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+
* Optional additional data required for formatting.
|
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16
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+
* This varies depending on the converter type (e.g., an object with resolution and feed for a position converter).
|
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17
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+
*/
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18
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+
data?: any;
|
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19
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+
}
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1
20
|
/**
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2
21
|
* Configuration interface for monitoring settings.
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3
22
|
*/
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@@ -30,4 +49,11 @@ export interface MonitoringConfig {
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30
49
|
* It should be prefixed with the client ID and context to ensure a unique topic.
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31
50
|
*/
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32
51
|
readonly topic: string;
|
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52
|
+
/**
|
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53
|
+
* Optional unit formatters for the monitoring data.
|
|
54
|
+
* The length of this array must match the length of the monitoring data array.
|
|
55
|
+
* Each element corresponds to a unit formatter for the respective monitoring data point.
|
|
56
|
+
* If a formatter is not required for a particular data point, the element can be `undefined` or `null`.
|
|
57
|
+
*/
|
|
58
|
+
readonly unitFormatters?: Array<MonitoringConfigUnitFormatter | undefined | null>;
|
|
33
59
|
}
|
|
@@ -7,6 +7,7 @@ const uuid_1 = require("uuid");
|
|
|
7
7
|
const operators_1 = require("./operators");
|
|
8
8
|
const fast_deep_equal_1 = tslib_1.__importDefault(require("fast-deep-equal"));
|
|
9
9
|
const motion_master_pub_sub_worker_socket_1 = require("./motion-master-pub-sub-worker-socket");
|
|
10
|
+
const units_1 = require("./units");
|
|
10
11
|
class MotionMasterPubSubClient {
|
|
11
12
|
constructor(socket) {
|
|
12
13
|
this.socket = socket;
|
|
@@ -41,6 +42,38 @@ class MotionMasterPubSubClient {
|
|
|
41
42
|
return false;
|
|
42
43
|
}));
|
|
43
44
|
}
|
|
45
|
+
if (config.unitFormatters) {
|
|
46
|
+
observable = observable.pipe((0, rxjs_1.map)((message) => {
|
|
47
|
+
var _a, _b, _c;
|
|
48
|
+
if (config.unitFormatters) {
|
|
49
|
+
const values = (_c = (_b = (_a = message.status) === null || _a === void 0 ? void 0 : _a.monitoringParameterValues) === null || _b === void 0 ? void 0 : _b.deviceParameterValues) === null || _c === void 0 ? void 0 : _c.parameterValues;
|
|
50
|
+
if (values && config.unitFormatters) {
|
|
51
|
+
if (values.length > 0 && values.length !== config.unitFormatters.length) {
|
|
52
|
+
console.warn('The number of unit formatters does not match the number of values. Unit formatting will not be applied.');
|
|
53
|
+
return message;
|
|
54
|
+
}
|
|
55
|
+
for (let i = 0; i < values.length; i++) {
|
|
56
|
+
const formatter = config.unitFormatters[i];
|
|
57
|
+
if (formatter) {
|
|
58
|
+
const converter = units_1.unitConverters[formatter.converterId];
|
|
59
|
+
if (converter) {
|
|
60
|
+
if (values[i].intValue !== undefined) {
|
|
61
|
+
values[i].intValue = parseInt(converter.formatter(formatter.unit, values[i].intValue, formatter.data), 10);
|
|
62
|
+
}
|
|
63
|
+
else if (values[i].uintValue !== undefined) {
|
|
64
|
+
values[i].uintValue = parseInt(converter.formatter(formatter.unit, values[i].uintValue, formatter.data), 10);
|
|
65
|
+
}
|
|
66
|
+
else if (values[i].floatValue !== undefined) {
|
|
67
|
+
values[i].floatValue = parseFloat(converter.formatter(formatter.unit, values[i].floatValue, formatter.data));
|
|
68
|
+
}
|
|
69
|
+
}
|
|
70
|
+
}
|
|
71
|
+
}
|
|
72
|
+
}
|
|
73
|
+
}
|
|
74
|
+
return message;
|
|
75
|
+
}));
|
|
76
|
+
}
|
|
44
77
|
const subscription = observable.pipe((0, rxjs_1.bufferCount)(bufferSize)).subscribe((data) => {
|
|
45
78
|
this.data$.next([topic, data]);
|
|
46
79
|
});
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"motion-master-pub-sub-client.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/motion-master-pub-sub-client.ts"],"names":[],"mappings":";;;;AAAA,+BAA+G;AAC/G,+BAA0B;AAG1B,2CAAqG;AAErG,8EAAoC;AACpC,+FAAuF;
|
|
1
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+
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