npm - motion-master-client - Versions diffs - 0.0.300-hanging-load-tuner.2 → 0.0.301 - Mend

motion-master-client 0.0.300-hanging-load-tuner.2 → 0.0.301

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.

Files changed (23) hide show

package/package.json +1 -1
package/src/api.js +0 -41
package/src/api.js.map +1 -1
package/src/index.d.ts +0 -1
package/src/index.js +0 -1
package/src/index.js.map +1 -1
package/src/lib/data-monitoring.d.ts +4 -6
package/src/lib/data-monitoring.js +11 -44
package/src/lib/data-monitoring.js.map +1 -1
package/src/lib/encoder-configuration.d.ts +3 -2
package/src/lib/encoder-configuration.js +15 -14
package/src/lib/encoder-configuration.js.map +1 -1
package/src/lib/motion-master-req-res-client.d.ts +0 -32
package/src/lib/motion-master-req-res-client.js +0 -34
package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/lib/os-command.js +0 -2
package/src/lib/os-command.js.map +1 -1
package/src/lib/util.d.ts +0 -11
package/src/lib/util.js +1 -25
package/src/lib/util.js.map +1 -1
package/src/lib/hanging-load-tuner.d.ts +0 -40
package/src/lib/hanging-load-tuner.js +0 -236
package/src/lib/hanging-load-tuner.js.map +0 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.300-hanging-load-tuner.2",
+  "version": "0.0.301",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js CHANGED Viewed

@@ -14,7 +14,6 @@ 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)();
@@ -888,46 +887,6 @@ app.post('/api/devices/:deviceRef/configure-smm', asyncHandler((req, res) => tsl
         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;
 app.post('/api/motion-composer/run', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     motionComposerRunner = new motion_composer_1.MotionComposerRunner(client);

package/src/api.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/src/index.d.ts CHANGED Viewed

@@ -12,7 +12,6 @@ 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 CHANGED Viewed

@@ -15,7 +15,6 @@ 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 CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"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,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 CHANGED Viewed

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

package/src/lib/data-monitoring.js CHANGED Viewed

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

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

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

@@ -93,10 +93,11 @@ export declare class EncoderConfigurationException {
  * 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 encoderPort - The encoder port to check.
  * @param encoderType - The encoder type to check.
+ * @param firmwareMajorMinorVersion - The firmware version in major.minor format.
  * @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 declare function getEncoderConfigurationExceptionCase(productId: number, encoderPort: number, encoderType: number, firmwareMajorMinorVersion: string): EncoderConfigurationExceptionCase | undefined;
 export {};

package/src/lib/encoder-configuration.js CHANGED Viewed

@@ -186,35 +186,36 @@ EncoderConfigurationException.Case3 = 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 encoderPort - The encoder port to check.
  * @param encoderType - The encoder type to check.
+ * @param firmwareMajorMinorVersion - The firmware version in major.minor format.
  * @returns The selected exception case or undefined if no case matches.
  * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
  */
-function getEncoderConfigurationExceptionCase(productId, encoderOrdinal, encoderType, firwareVersion) {
-    const firmwareVersionFull = `${firwareVersion}.0`;
+function getEncoderConfigurationExceptionCase(productId, encoderPort, encoderType, firmwareMajorMinorVersion) {
+    const firmwareVersion = `${firmwareMajorMinorVersion}.0`;
     // Case 1
-    const case1EncoderTypes = (0, semver_1.satisfies)(firmwareVersionFull, '>=5.0 <5.1') ? [4] : [4, 5];
-    if ((0, semver_1.satisfies)(firmwareVersionFull, '>=5.0') &&
-        (0, product_1.isSomanetProductIdInRange)(productId, 'Circulo') &&
-        (0, product_1.isEncoderPortUsable)(encoderOrdinal, productId) &&
-        (0, product_1.isEncoderPortInternal)(encoderOrdinal, productId) &&
+    const case1EncoderTypes = (0, semver_1.satisfies)(firmwareVersion, '>=5.0 <5.1') ? [4] : [4, 5];
+    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.0') &&
+        (0, product_1.isSomanetProductIdInRange)(productId, 'Circulo All') &&
+        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
+        (0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
         case1EncoderTypes.includes(encoderType)) {
         return 'case1';
     }
     // Case 2
-    if ((0, semver_1.satisfies)(firmwareVersionFull, '>=5.1') &&
+    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.1') &&
         (0, product_1.isSomanetProductIdInRange)(productId, 'Circulo Safe Motion') &&
-        (0, product_1.isEncoderPortUsable)(encoderOrdinal, productId) &&
-        !(0, product_1.isEncoderPortInternal)(encoderOrdinal, productId) &&
+        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
+        !(0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
         encoderType === 4) {
         return 'case2';
     }
     // Case 3
-    if ((0, semver_1.satisfies)(firmwareVersionFull, '>=5.2') &&
+    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.2') &&
         (0, product_1.isSomanetProductIdInRange)(productId, 'Integro') &&
-        (0, product_1.isEncoderPortUsable)(encoderOrdinal, productId) &&
-        (0, product_1.isEncoderPortInternal)(encoderOrdinal, productId) &&
+        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
+        (0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
         encoderType === 5) {
         return 'case3';
     }

package/src/lib/encoder-configuration.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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1	+ 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package/src/lib/motion-master-req-res-client.d.ts CHANGED Viewed

@@ -1910,36 +1910,4 @@ export declare class MotionMasterReqResClient {
             message?: string;
         };
     }>;
-    /**
-     * Executes a sequential system identification chirp signal workflow on the specified device.
-     *
-     * This method performs the following steps in strict sequence:
-     * 1. Sets the device's mode of operation to CYCLIC_SYNC_POSITION_MODE.
-     * 2. Transitions the device to the OPERATION_ENABLED state.
-     * 3. Configures the chirp signal parameters:
-     *    - Start frequency
-     *    - Target frequency
-     *    - Target amplitude
-     *    - Transition time
-     *    - Signal type
-     *    - Start the procedure
-     * 4. Sends start commands for system identification.
-     * 5. Configures HRD streaming for system identification data with the specified streaming duration.
-     * 6. Starts HRD streaming for data collection.
-     *
-     * This ensures the device is fully prepared and triggered for executing a chirp signal for system identification,
-     * while strictly maintaining the required execution order to prevent device misconfiguration.
-     *
-     * @param deviceRef - Reference to the device on which the chirp signal should be executed.
-     * @param startFrequency - The starting frequency of the chirp signal (mHz).
-     * @param targetFrequency - The target frequency of the chirp signal (mHz).
-     * @param targetAmplitude - The target amplitude of the chirp signal (permils of rated torque).
-     * @param transitionTime - The time in milliseconds for the signal to transition from start to target frequency (ms).
-     * @param signalType - The type of signal to use for the chirp (e.g., logarithmic, linear).
-     * @param hrdStreamingDuration - The duration in milliseconds for HRD streaming during system identification.
-     *
-     * @returns An Observable that emits the last emitted `SystemIdentificationOsCommandResponse` or `HrdStreamingOsCommandResponse`
-     *          from the sequence, or `void` if the underlying command emits no payload.
-     */
-    runChirpSignal(deviceRef: DeviceRef, startFrequency: number, targetFrequency: number, targetAmplitude: number, transitionTime: number, signalType: number, hrdStreamingDuration: number): Observable<void | SystemIdentificationOsCommandResponse | HrdStreamingOsCommandResponse>;
 }

package/src/lib/motion-master-req-res-client.js CHANGED Viewed

@@ -3723,40 +3723,6 @@ class MotionMasterReqResClient {
             this.logoutFromSmm(deviceRef).subscribe();
         }));
     }
-    /**
-     * Executes a sequential system identification chirp signal workflow on the specified device.
-     *
-     * This method performs the following steps in strict sequence:
-     * 1. Sets the device's mode of operation to CYCLIC_SYNC_POSITION_MODE.
-     * 2. Transitions the device to the OPERATION_ENABLED state.
-     * 3. Configures the chirp signal parameters:
-     *    - Start frequency
-     *    - Target frequency
-     *    - Target amplitude
-     *    - Transition time
-     *    - Signal type
-     *    - Start the procedure
-     * 4. Sends start commands for system identification.
-     * 5. Configures HRD streaming for system identification data with the specified streaming duration.
-     * 6. Starts HRD streaming for data collection.
-     *
-     * This ensures the device is fully prepared and triggered for executing a chirp signal for system identification,
-     * while strictly maintaining the required execution order to prevent device misconfiguration.
-     *
-     * @param deviceRef - Reference to the device on which the chirp signal should be executed.
-     * @param startFrequency - The starting frequency of the chirp signal (mHz).
-     * @param targetFrequency - The target frequency of the chirp signal (mHz).
-     * @param targetAmplitude - The target amplitude of the chirp signal (permils of rated torque).
-     * @param transitionTime - The time in milliseconds for the signal to transition from start to target frequency (ms).
-     * @param signalType - The type of signal to use for the chirp (e.g., logarithmic, linear).
-     * @param hrdStreamingDuration - The duration in milliseconds for HRD streaming during system identification.
-     *
-     * @returns An Observable that emits the last emitted `SystemIdentificationOsCommandResponse` or `HrdStreamingOsCommandResponse`
-     *          from the sequence, or `void` if the underlying command emits no payload.
-     */
-    runChirpSignal(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, signalType, hrdStreamingDuration) {
-        return (0, rxjs_1.concat)(this.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE), this.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED), this.runSystemIdentificationOsCommand(deviceRef, 0, startFrequency, 30000), this.runSystemIdentificationOsCommand(deviceRef, 1, targetFrequency, 30000), this.runSystemIdentificationOsCommand(deviceRef, 2, targetAmplitude, 30000), this.runSystemIdentificationOsCommand(deviceRef, 3, transitionTime, 30000), this.runSystemIdentificationOsCommand(deviceRef, 4, signalType, 30000), this.runSystemIdentificationOsCommand(deviceRef, 5, 0, 30000), this.runSystemIdentificationOsCommand(deviceRef, 5, 2, 30000), this.runHrdStreamingOsCommand(deviceRef, os_command_1.HrdStreamingOsCommandAction.CONFIGURE_STREAM, os_command_1.HrdStreamingOsCommandDataIndex.SYSTEM_IDENTIFICATION_DATA, hrdStreamingDuration !== null && hrdStreamingDuration !== void 0 ? hrdStreamingDuration : 5000, 30000), this.runHrdStreamingOsCommand(deviceRef, os_command_1.HrdStreamingOsCommandAction.START_STREAM, os_command_1.HrdStreamingOsCommandDataIndex.SYSTEM_IDENTIFICATION_DATA, hrdStreamingDuration !== null && hrdStreamingDuration !== void 0 ? hrdStreamingDuration : 5000, 30000));
-    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 /**