motion-master-client 0.0.298 → 0.0.300-hanging-load-tuner.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.298",
+  "version": "0.0.300-hanging-load-tuner.0",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -14,6 +14,7 @@ const package_json_1 = tslib_1.__importDefault(require("../package.json"));
 const motion_composer_1 = require("./lib/motion-composer");
 const integro_encoder_calibration_1 = require("./lib/integro-encoder-calibration");
 const os_command_1 = require("./lib/os-command");
+const hanging_load_tuner_1 = require("./lib/hanging-load-tuner");
 Object.assign(globalThis, { WebSocket: require('ws') });
 const log = (0, debug_1.default)('mmapi');
 const app = (0, express_1.default)();
@@ -731,6 +732,11 @@ app.get('/api/devices/:deviceRef/apply-set-point', asyncHandler((req, res) => ts
     yield client.request.applySetPoint(deviceRef);
     res.send();
 })));
+app.get('/api/devices/:deviceRef/force-on-demand-parameters-update', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    yield client.request.forceOnDemandParametersUpdate(deviceRef);
+    res.send();
+})));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     var _55, _56, _57;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
@@ -867,18 +873,59 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
         res.status(500).send(status);
     }
 })));
-app.put('/api/devices/start-sii-restore/:devicePosition', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _69;
-    const devicePosition = parseInt(req.params['devicePosition']);
+app.post('/api/devices/:deviceRef/configure-smm', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _69, _70;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const username = (_69 = req.query['username']) !== null && _69 !== void 0 ? _69 : 'Test';
+    const password = (_70 = req.query['password']) !== null && _70 !== void 0 ? _70 : 'SomanetSMM';
     const buffer = req.body;
-    const siiContent = new Uint8Array(buffer);
-    const requestTimeout = parseInt(((_69 = req.query['request-timeout']) !== null && _69 !== void 0 ? _69 : '3000'));
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startDeviceSiiRestore({ devicePosition, siiContent }, requestTimeout));
-    if (status.success) {
+    const configString = buffer.toString('utf-8');
+    const configurationResult = yield (0, rxjs_1.lastValueFrom)(client.request.configureSmmFromFile(deviceRef, username, password, configString));
+    if (configurationResult.request === 'succeeded') {
         res.send();
     }
     else {
-        res.status(500).send(status.error);
+        res.status(500).send(configurationResult.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/run-hanging-load-tuner', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _71, _72, _73, _74, _75;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const startFrequency = parseInt(((_71 = req.query['start-frequency']) !== null && _71 !== void 0 ? _71 : '1000'));
+    const targetFrequency = parseInt(((_72 = req.query['target-frequency']) !== null && _72 !== void 0 ? _72 : '100000'));
+    const targetAmplitude = parseInt(((_73 = req.query['target-amplitude']) !== null && _73 !== void 0 ? _73 : '100'));
+    const transitionTime = parseInt(((_74 = req.query['transition-time']) !== null && _74 !== void 0 ? _74 : '3000'));
+    const motionRangeLimit = parseInt(((_75 = req.query['motion-range-limit']) !== null && _75 !== void 0 ? _75 : '10000'));
+    const hangingLoadTuner = new hanging_load_tuner_1.HangingLoadTuner(client);
+    const result = yield hangingLoadTuner.runHangingLoadTuner(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, motionRangeLimit);
+    const data = hangingLoadTuner.monitoringCsvData;
+    if (result) {
+        res.send(data);
+    }
+    else {
+        res.status(500).send({ message: 'Hanging Load Tuner failed.' });
+    }
+})));
+app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _76, _77, _78, _79, _80, _81;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const startFrequency = parseInt(((_76 = req.query['start-frequency']) !== null && _76 !== void 0 ? _76 : '1000'));
+    const targetFrequency = parseInt(((_77 = req.query['target-frequency']) !== null && _77 !== void 0 ? _77 : '100000'));
+    const targetAmplitude = parseInt(((_78 = req.query['target-amplitude']) !== null && _78 !== void 0 ? _78 : '100'));
+    const transitionTime = parseInt(((_79 = req.query['transition-time']) !== null && _79 !== void 0 ? _79 : '3000'));
+    const signalType = parseInt(((_80 = req.query['signal-type']) !== null && _80 !== void 0 ? _80 : '0'));
+    const hrdStreamingDuration = parseInt(((_81 = req.query['transition-time']) !== null && _81 !== void 0 ? _81 : '3000'));
+    const result = yield (0, rxjs_1.lastValueFrom)(client.request.runChirpSignal(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, signalType, hrdStreamingDuration));
+    if (result) {
+        if (result.request === 'succeeded') {
+            res.send();
+        }
+        else {
+            res.status(500).send({ message: result.errorDescription });
+        }
+    }
+    else {
+        res.status(500).send({ message: 'Chirp signal failed.' });
     }
 })));
 let motionComposerRunner = null;

package/src/api.js.map

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package/src/index.d.ts

@@ -6,11 +6,13 @@ export * from './lib/device';
 export * from './lib/device-parameter';
 export * from './lib/device-log-line';
 export * from './lib/encoder';
+export * from './lib/encoder-configuration';
 export * from './lib/ethercat';
 export * from './lib/ethernet';
 export * from './lib/fetch';
 export * from './lib/firmware';
 export * from './lib/hardware-description';
+export * from './lib/hanging-load-tuner';
 export * from './lib/homing';
 export * from './lib/integro-encoder-calibration';
 export * from './lib/integro-variant';

package/src/index.js

@@ -9,11 +9,13 @@ tslib_1.__exportStar(require("./lib/device"), exports);
 tslib_1.__exportStar(require("./lib/device-parameter"), exports);
 tslib_1.__exportStar(require("./lib/device-log-line"), exports);
 tslib_1.__exportStar(require("./lib/encoder"), exports);
+tslib_1.__exportStar(require("./lib/encoder-configuration"), exports);
 tslib_1.__exportStar(require("./lib/ethercat"), exports);
 tslib_1.__exportStar(require("./lib/ethernet"), exports);
 tslib_1.__exportStar(require("./lib/fetch"), exports);
 tslib_1.__exportStar(require("./lib/firmware"), exports);
 tslib_1.__exportStar(require("./lib/hardware-description"), exports);
+tslib_1.__exportStar(require("./lib/hanging-load-tuner"), exports);
 tslib_1.__exportStar(require("./lib/homing"), exports);
 tslib_1.__exportStar(require("./lib/integro-encoder-calibration"), exports);
 tslib_1.__exportStar(require("./lib/integro-variant"), exports);

package/src/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,wDAA8B;AAC9B,4DAAkC;AAClC,gEAAsC;AACtC,uDAA6B;AAC7B,iEAAuC;AACvC,gEAAsC;AACtC,wDAA8B;AAC9B,sEAA4C;AAC5C,yDAA+B;AAC/B,yDAA+B;AAC/B,sDAA4B;AAC5B,yDAA+B;AAC/B,qEAA2C;AAC3C,mEAAyC;AACzC,uDAA6B;AAC7B,4EAAkD;AAClD,gEAAsC;AACtC,0DAAgC;AAChC,uDAA6B;AAC7B,kEAAwC;AACxC,iEAAuC;AACvC,gEAAsC;AACtC,qEAA2C;AAC3C,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,qEAA2C;AAC3C,uDAA6B;AAC7B,0DAAgC;AAChC,wDAA8B;AAC9B,2DAAiC;AACjC,0DAAgC;AAChC,wDAA8B;AAC9B,wEAA8C;AAC9C,oDAA0B;AAC1B,uDAA6B;AAC7B,oDAA0B;AAC1B,gEAAsC;AACtC,sDAA4B;AAC5B,sDAA4B;AAC5B,8DAAoC;AACpC,qDAA2B;AAC3B,kFAAwD"}

package/src/lib/data-monitoring.d.ts

@@ -47,11 +47,13 @@ export declare class DataMonitoring {
     /**
      * Starts monitoring and, if specified, collects data until `finalize$` emits a value.
      *
+     * If `normalizeTimestamp` is set to `true`, the timestamp parameter (0x20F0) will be normalized to start at zero.
+     * Throws an error if `normalizeTimestamp` is `true` but the timestamp parameter is not included in `ids`.
+     *
      * NOTE: To receive and collect data, you must subscribe to the returned observable.
+     *
+     * @param normalizeTimestamp - Whether to normalize the timestamp to zero on first message. Defaults to `false`.
      */
-    start(): Observable<ParameterValueType[]>;
-    /**
-     * Emits a value on `finalize$` to properly stop monitoring and complete the observable.
-     */
+    start(normalizeTimestamp?: boolean): Observable<ParameterValueType[]>;
     stop(): void;
 }

package/src/lib/data-monitoring.js

@@ -4,6 +4,7 @@ exports.DataMonitoring = void 0;
 const rxjs_1 = require("rxjs");
 const device_parameter_1 = require("./device-parameter");
 const parameter_1 = require("./parameter");
+const util_1 = require("./util"); // adjust import to your project
 /**
  * The DataMonitoring class tracks and collects device parameter values.
  *
@@ -67,21 +68,53 @@ class DataMonitoring {
     /**
      * Starts monitoring and, if specified, collects data until `finalize$` emits a value.
      *
+     * If `normalizeTimestamp` is set to `true`, the timestamp parameter (0x20F0) will be normalized to start at zero.
+     * Throws an error if `normalizeTimestamp` is `true` but the timestamp parameter is not included in `ids`.
+     *
      * NOTE: To receive and collect data, you must subscribe to the returned observable.
+     *
+     * @param normalizeTimestamp - Whether to normalize the timestamp to zero on first message. Defaults to `false`.
      */
-    start() {
-        if (this.collect) {
-            return this.client.startMonitoring(this.ids, this.monitoringInterval, this.config, 5000).pipe((0, rxjs_1.tap)((values) => this.data.push(values)), (0, rxjs_1.takeUntil)(this.finalize$));
-        }
-        else {
-            return this.client
-                .startMonitoring(this.ids, this.monitoringInterval, this.config, 5000)
-                .pipe((0, rxjs_1.takeUntil)(this.finalize$));
+    start(normalizeTimestamp = false) {
+        let pristine = true;
+        let normalizeTimestampFn;
+        let timestampIndex;
+        if (normalizeTimestamp) {
+            timestampIndex = this.ids.findIndex((id) => {
+                if (typeof id === 'string') {
+                    const [, index] = (0, device_parameter_1.splitDeviceParameterId)(id);
+                    return index === 0x20f0;
+                }
+                else {
+                    return id[1] === 0x20f0;
+                }
+            });
+            if (timestampIndex === -1) {
+                throw new Error('Timestamp parameter not found in ids for normalization');
+            }
         }
+        return this.client.startMonitoring(this.ids, this.monitoringInterval, this.config, 5000).pipe((0, rxjs_1.map)((values) => {
+            if (normalizeTimestamp && timestampIndex !== undefined) {
+                const timestamp = values[timestampIndex];
+                if (pristine) {
+                    normalizeTimestampFn = (0, util_1.makeNormalizeTimestampFn)(timestamp);
+                    pristine = false;
+                }
+                // Create a shallow copy to avoid mutating the underlying shared buffer
+                const normalizedValues = [...values];
+                normalizedValues[0] = normalizeTimestampFn(timestamp);
+                return normalizedValues;
+            }
+            else {
+                // If no normalization is needed, return the values as is
+                return values;
+            }
+        }), (0, rxjs_1.tap)((values) => {
+            if (this.collect) {
+                this.data.push(values);
+            }
+        }), (0, rxjs_1.takeUntil)(this.finalize$));
     }
-    /**
-     * Emits a value on `finalize$` to properly stop monitoring and complete the observable.
-     */
     stop() {
         this.finalize$.next();
     }

package/src/lib/data-monitoring.js.map

@@ -1 +1 @@
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package/src/lib/encoder-configuration.d.ts

@@ -0,0 +1,102 @@
+import { EncoderConfigurationExceptionCase } from './encoder';
+import { ProductGroup } from './product';
+/** Encoder type: 1 */
+declare class Hall {
+    /** Subindex: 3 */
+    static getResolution(polePairs: number): number;
+}
+/** Encoder type: 2 */
+declare class Incremental {
+    /** Subindex: 4 */
+    static getZeroVelocityThreshold(inputValue: number): number;
+    /** Subindex: 23 */
+    static hasSameHallSensorPort(sensorPort: number, HALLSensorPort: number): boolean;
+    /** Subindex: 23 */
+    static supportsHallSensor(supportedEncoderTypes: number[]): boolean;
+}
+/** Encoder type: 3 */
+declare class NikonA {
+    /** Subindex: 3 */
+    static getResolution(singleTurnBits: number): number;
+    /** Subindex: 8 */
+    static getClockFrequency(inputValue: number): number;
+    /** Subindex: 10 */
+    static getMultiturnBits(inputValue: number): 0 | 16;
+    /** Subindex: 12 */
+    static getSingleturnBits(inputValue: number): number;
+    /** Subindex: 28 */
+    static getSamplingFrequency(): number;
+}
+/** Encoder type: 4 */
+declare class Biss {
+    /** Subindex: 8 */
+    static getClockFrequency(inputValue: number): number;
+}
+/** Encoder type: 6 */
+declare class Rem16Mt {
+    /** Subindex: 3 */
+    static getResolution(inputValue: number, firmwareVersion: string): number;
+    /** Subindex: 28 */
+    static getSamplingFrequency(inputValue: number, firmwareVersion: string): number;
+}
+/** Encoder type: 7 */
+declare class Ssi {
+    /** Subindex: 8 */
+    static getClockFrequency(inputValue: number): number;
+}
+/** Encoder type: 9 */
+declare class SinCos {
+    /** Subindex: 3 */
+    static getResolution(sinewaveResolution: number, sinewaveCyclesPerRevolution: number): number;
+}
+declare class Case1 {
+    static getResolution(resolution: number, productGroup: ProductGroup): number;
+    static getClockFrequency(): number;
+    static getFrameSize(singleturnBits: number, multiturnBits: number): number;
+    static getMultiturnBits(multiturnBits: number, sensorPort: number): number;
+    static getMultiturnFirstBitPosition(): number;
+    static getSingleturnBits(singleturnBits: number, productGroup: ProductGroup): number;
+    static getSingleturnFirstBitPosition(multiturnBits: number): number;
+    static getTimeout(): number;
+    static getCrcPolynomial(): number;
+    static getMaximumTBusy(): number;
+    static getSamplingFrequency(multiturnBits: number): 2 | 1;
+}
+declare class Case2 {
+    static getClockFrequency(clockFrequency: number): number;
+    static getSamplingFrequency(): number;
+}
+declare class Case3 {
+    static getResolution(integratedEncoderStBitsUsed: number): number;
+}
+/**
+ * Modify the encoder configuration types subitem values based on the encoder type and firmware version.
+ *
+ * @example
+ * * `When encoder type is SinCos (9), apply function 'getResolution' to its subindex 3 value.`
+ * @link https://docs.google.com/spreadsheets/d/1tTGNMyg-40l4YxmDnXHrvVyIIyTcFc2ZauoABtgxPMA/edit?usp=sharing
+ * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
+ */
+export declare class EncoderConfigurationException {
+    static Hall: typeof Hall;
+    static Incremental: typeof Incremental;
+    static NikonA: typeof NikonA;
+    static BiSS: typeof Biss;
+    static Rem16MT: typeof Rem16Mt;
+    static Ssi: typeof Ssi;
+    static SinCos: typeof SinCos;
+    static Case1: typeof Case1;
+    static Case2: typeof Case2;
+    static Case3: typeof Case3;
+}
+/**
+ * Selects the encoder configuration exception case based on the encoder ordinal, type, and product ID
+ *
+ * @param productId - The product ID to check against.
+ * @param encoderOrdinal - The encoder ordinal to check.
+ * @param encoderType - The encoder type to check.
+ * @returns The selected exception case or undefined if no case matches.
+ * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
+ */
+export declare function getEncoderConfigurationExceptionCase(productId: number, encoderOrdinal: number, encoderType: number, firwareVersion: string): EncoderConfigurationExceptionCase | undefined;
+export {};