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

package/src/lib/os-command.js.map

@@ -1 +1 @@
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package/src/lib/util.d.ts

@@ -418,14 +418,3 @@ export declare function convertValueToHexString(value: string | number | Uint8Ar
  * ```
  */
 export declare function convertIpv4(ipv4: Ipv4 | number): string | number;
-/**
- * Make normalizeTimestamp function given the initial timestamp used for correction.
- *
- * Timestamp parameter value (0x20F0: Timestamp VARIABLE UDINT 32 bits) is given in μs.
- * It can easily overflow (reset and start from 0 again) after 71.58 minutes.
- *
- * The plotting of data starts at 0 time, but the timestamp received from slaves can be any value when
- * UI starts monitoring. Normalize means: no matter what timestamp value is, start at 0 and while the
- * monitoring is running always increase the value and handle the potential overflow.
- */
-export declare function makeNormalizeTimestampFn(initial: number): (timestamp: number) => number;

package/src/lib/util.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.makeNormalizeTimestampFn = exports.convertIpv4 = exports.convertValueToHexString = exports.hexDecValueToNumber = exports.convertCTypeToStructFormatCharacter = exports.mapByProperty = exports.groupByProperty = exports.uniqueItems = exports.mergeUint8Arrays = exports.parseUnitValue = exports.isElectronApp = exports.convertBlobToBase64 = exports.toFixedFormat = exports.updateBit = exports.clearBit = exports.setBit = exports.isBitOn = exports.getBit = exports.setBitHigh = exports.setBitLow = exports.camelCaseToWords = exports.findDuplicates = exports.getMapKeyByValue = exports.createRandomColor = exports.convertRgbToLedColor = exports.resolveAfter = exports.decodeTextContent = exports.convertMotionMasterMessageToLoggerContext = exports.createPlainObjectFromMotionMasterMessage = exports.diffSystemLogContents = exports.parseSystemLogContent = exports.parseSystemLogLine = void 0;
+exports.convertIpv4 = exports.convertValueToHexString = exports.hexDecValueToNumber = exports.convertCTypeToStructFormatCharacter = exports.mapByProperty = exports.groupByProperty = exports.uniqueItems = exports.mergeUint8Arrays = exports.parseUnitValue = exports.isElectronApp = exports.convertBlobToBase64 = exports.toFixedFormat = exports.updateBit = exports.clearBit = exports.setBit = exports.isBitOn = exports.getBit = exports.setBitHigh = exports.setBitLow = exports.camelCaseToWords = exports.findDuplicates = exports.getMapKeyByValue = exports.createRandomColor = exports.convertRgbToLedColor = exports.resolveAfter = exports.decodeTextContent = exports.convertMotionMasterMessageToLoggerContext = exports.createPlainObjectFromMotionMasterMessage = exports.diffSystemLogContents = exports.parseSystemLogContent = exports.parseSystemLogLine = void 0;
 const tslib_1 = require("tslib");
 const types_1 = require("./types");
 /**
@@ -755,28 +755,4 @@ function convertIpv4(ipv4) {
     return octets.join('.');
 }
 exports.convertIpv4 = convertIpv4;
-/**
- * Make normalizeTimestamp function given the initial timestamp used for correction.
- *
- * Timestamp parameter value (0x20F0: Timestamp VARIABLE UDINT 32 bits) is given in μs.
- * It can easily overflow (reset and start from 0 again) after 71.58 minutes.
- *
- * The plotting of data starts at 0 time, but the timestamp received from slaves can be any value when
- * UI starts monitoring. Normalize means: no matter what timestamp value is, start at 0 and while the
- * monitoring is running always increase the value and handle the potential overflow.
- */
-function makeNormalizeTimestampFn(initial) {
-    let correction = -initial;
-    let lastNormalized;
-    return (timestamp) => {
-        let normalized = timestamp + correction;
-        if (normalized < lastNormalized) {
-            correction = lastNormalized + 1; // account for 0 timestamp
-            normalized = timestamp + correction;
-        }
-        lastNormalized = normalized;
-        return normalized;
-    };
-}
-exports.makeNormalizeTimestampFn = makeNormalizeTimestampFn;
 //# sourceMappingURL=util.js.map

package/src/lib/util.js.map

@@ -1 +1 @@
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package/src/lib/hanging-load-tuner.d.ts

@@ -1,40 +0,0 @@
-import { BehaviorSubject, Subject } from 'rxjs';
-import { MotionMasterClient } from './motion-master-client';
-import { DeviceRef } from './types';
-export declare class HangingLoadTuner {
-    readonly client: MotionMasterClient;
-    readonly notifications$: Subject<string>;
-    readonly isRunning$: BehaviorSubject<boolean>;
-    monitoringCsvData: string | null;
-    timePrePostTrigger: number;
-    controlGainUpdateTime: number;
-    constructor(client: MotionMasterClient);
-    /**
-     * Performs a hanging load tuning procedure on the specified device.
-     *
-     * The procedure:
-     * 1. Forces on-demand parameter update and disables the position feedback filter.
-     * 2. Checks and adjusts position encoder to match commutation encoder.
-     * 3. Reads commutation encoder resolution and feed constants to compute effective lambda.
-     * 4. Reads and stores initial controller parameters for restoration after the tuner is finished.
-     * 5. Calculates initial proportional gain (kpInit) based on torque limits, lambda, and encoder configuration.
-     * 6. Sets initial P-controller parameters on the device.
-     * 7. Starts monitoring the actual position during chirp signal injection.
-     * 8. Dynamically updates P-gain during execution based on actual error.
-     * 9. Executes a chirp signal.
-     * 10. Transitions device state back to SWITCH_ON_DISABLED.
-     * 11. Restores original encoder configuration, feedback filter, and controller parameters.
-     * 12. Returns the monitored data as a CSV string.
-     *
-     * @param deviceRef Target device reference (string | number).
-     * @param startFrequency Chirp signal start frequency (Hz).
-     * @param targetFrequency Chirp signal target frequency (Hz).
-     * @param targetAmplitude Chirp signal target amplitude.
-     * @param transitionTime Chirp signal transition time (ms).
-     * @param motionRangeLimit Chirp signal motion range limit (Inc or Feed).
-     * @returns Promise<boolean> indicating success or failure of the tuning procedure.
-     */
-    runHangingLoadTuner(deviceRef: DeviceRef, startFrequency: number, targetFrequency: number, targetAmplitude: number, transitionTime: number, motionRangeLimit: number): Promise<boolean>;
-    private handleAbortAndCleanup;
-    updateControlGain(calculateControlGain: () => void, stopFlag: () => any): void;
-}

package/src/lib/hanging-load-tuner.js

@@ -1,236 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.HangingLoadTuner = void 0;
-const tslib_1 = require("tslib");
-const rxjs_1 = require("rxjs");
-const cia402_1 = require("./cia402");
-class HangingLoadTuner {
-    constructor(client) {
-        this.client = client;
-        this.notifications$ = new rxjs_1.Subject();
-        this.isRunning$ = new rxjs_1.BehaviorSubject(false);
-        this.monitoringCsvData = null;
-        this.timePrePostTrigger = 500; // Pre and post trigger for chirp signal recording in ms
-        this.controlGainUpdateTime = 10; // Control gain update cycle time in ms
-    }
-    /**
-     * Performs a hanging load tuning procedure on the specified device.
-     *
-     * The procedure:
-     * 1. Forces on-demand parameter update and disables the position feedback filter.
-     * 2. Checks and adjusts position encoder to match commutation encoder.
-     * 3. Reads commutation encoder resolution and feed constants to compute effective lambda.
-     * 4. Reads and stores initial controller parameters for restoration after the tuner is finished.
-     * 5. Calculates initial proportional gain (kpInit) based on torque limits, lambda, and encoder configuration.
-     * 6. Sets initial P-controller parameters on the device.
-     * 7. Starts monitoring the actual position during chirp signal injection.
-     * 8. Dynamically updates P-gain during execution based on actual error.
-     * 9. Executes a chirp signal.
-     * 10. Transitions device state back to SWITCH_ON_DISABLED.
-     * 11. Restores original encoder configuration, feedback filter, and controller parameters.
-     * 12. Returns the monitored data as a CSV string.
-     *
-     * @param deviceRef Target device reference (string | number).
-     * @param startFrequency Chirp signal start frequency (Hz).
-     * @param targetFrequency Chirp signal target frequency (Hz).
-     * @param targetAmplitude Chirp signal target amplitude.
-     * @param transitionTime Chirp signal transition time (ms).
-     * @param motionRangeLimit Chirp signal motion range limit (Inc or Feed).
-     * @returns Promise<boolean> indicating success or failure of the tuning procedure.
-     */
-    runHangingLoadTuner(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, motionRangeLimit) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            this.isRunning$.next(true);
-            yield this.client.request.forceOnDemandParametersUpdate(deviceRef);
-            try {
-                yield this.client.request.download(deviceRef, 0x2022, 1, 0);
-                this.notifications$.next('Position feedback filter (0x2022:1) disabled.');
-            }
-            catch (error) {
-                this.handleAbortAndCleanup('Aborting: Unable to turn off position feedback filter (0x2022:1).');
-            }
-            const commutationEncoder = yield this.client.request.upload(deviceRef, 0x2010, 12);
-            const positionEncoder = yield this.client.request.upload(deviceRef, 0x2012, 9);
-            if (positionEncoder === 0) {
-                this.handleAbortAndCleanup('Aborting: No position encoder (0x2012:9) configured.');
-            }
-            if (positionEncoder !== commutationEncoder) {
-                yield this.client.request.download(deviceRef, 0x2012, 9, commutationEncoder);
-                yield this.client.request.forceOnDemandParametersUpdate(deviceRef);
-            }
-            else {
-                this.notifications$.next('Position feedback source already set to commutation encoder.');
-            }
-            let commutationEncoderResolution;
-            if (commutationEncoder === 1) {
-                commutationEncoderResolution = yield this.client.request.upload(deviceRef, 0x2110, 3);
-            }
-            else if (commutationEncoder === 2) {
-                commutationEncoderResolution = yield this.client.request.upload(deviceRef, 0x2112, 3);
-            }
-            else {
-                this.handleAbortAndCleanup('Invalid commutation encoder configuration detected.', false);
-                return false;
-            }
-            this.notifications$.next(`Commutation encoder resolution: ${commutationEncoderResolution}.`);
-            const lambdaMin = 1000; // Minimum permissable movement range
-            const feedConstantFeed = yield this.client.request.upload(deviceRef, 0x6092, 1);
-            const feedConstantShaftRevolutions = yield this.client.request.upload(deviceRef, 0x6092, 2);
-            let feedConstant = feedConstantFeed / feedConstantShaftRevolutions;
-            let lambdaMinEff;
-            if (feedConstant === 0 || feedConstant === 4294967295) {
-                this.notifications$.next('Feed constant is disabled.');
-                lambdaMinEff = lambdaMin;
-            }
-            else {
-                this.notifications$.next(`Feed constant: ${feedConstant}.`);
-                if (feedConstant / commutationEncoderResolution > 1) {
-                    lambdaMinEff = Math.round((lambdaMin * feedConstant) / commutationEncoderResolution);
-                }
-                else {
-                    lambdaMinEff = lambdaMin;
-                }
-            }
-            const initialControllerParameters = yield this.client.request.uploadMany([
-                [deviceRef, 0x2012, 1],
-                [deviceRef, 0x2012, 2],
-                [deviceRef, 0x2012, 3],
-                [deviceRef, 0x2002, 0],
-            ]);
-            const kpp = initialControllerParameters[0];
-            const kip = initialControllerParameters[1];
-            const kdp = initialControllerParameters[2];
-            const controlMode = initialControllerParameters[3];
-            const maxTorque = yield this.client.request.upload(deviceRef, 0x6072, 0);
-            const motorRevolutions = yield this.client.request.upload(deviceRef, 0x6091, 1);
-            const shaftRevolutions = yield this.client.request.upload(deviceRef, 0x6091, 2);
-            const gearRatio = motorRevolutions / shaftRevolutions;
-            const lambda = motionRangeLimit * gearRatio;
-            let kpInit;
-            let xiSquared;
-            if (feedConstant === 0 || feedConstant === 4294967295) {
-                xiSquared = Math.min(maxTorque, 1000 * Math.sqrt(lambda / lambdaMinEff)) * lambda;
-                kpInit = xiSquared / Math.pow(lambda, 2);
-            }
-            else {
-                xiSquared =
-                    ((Math.min(maxTorque, 1000 * Math.sqrt(lambda / lambdaMinEff)) * lambda) / feedConstant) *
-                        commutationEncoderResolution;
-                kpInit = xiSquared / Math.pow((lambda / feedConstant) * commutationEncoderResolution, 2);
-            }
-            this.notifications$.next(`Xi squared: ${xiSquared}`);
-            this.notifications$.next(`Initial P-gain: ${kpInit}`);
-            yield this.client.request.downloadMany([
-                [deviceRef, 0x2002, 0, 1],
-                [deviceRef, 0x2012, 1, kpInit],
-                [deviceRef, 0x2012, 2, 0],
-                [deviceRef, 0x2012, 3, 0],
-            ]);
-            this.notifications$.next(`Initial P-controller set with gain ${kpInit.toFixed(6)}.`);
-            let actualPosition;
-            const dataMonitoring = this.client.createDataMonitoring([
-                [deviceRef, 0x20f0, 0],
-                [deviceRef, 0x6064, 0], // Position actual value
-            ], 1);
-            dataMonitoring.start(true).subscribe((data) => {
-                actualPosition = data[1];
-            });
-            const positionActualValue = yield this.client.request.upload(deviceRef, 0x6064, 0);
-            this.updateControlGain(() => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                const e = positionActualValue - actualPosition;
-                let kp;
-                if (feedConstant === 0 || feedConstant === 4294967295) {
-                    kp = xiSquared / Math.pow(Math.max(lambda - Math.abs(e), 1), 2);
-                }
-                else {
-                    kp =
-                        xiSquared / Math.pow((Math.max(lambda - Math.abs(e), 1) / feedConstant) * commutationEncoderResolution, 2);
-                }
-                yield this.client.request.download(deviceRef, 0x2012, 1, kp);
-            }), () => this.isRunning$.getValue());
-            try {
-                yield this.client.request.download(deviceRef, 0x607a, 0, positionActualValue);
-                this.notifications$.next(`Target position set to actual position: ${positionActualValue}.`);
-            }
-            catch (_a) {
-                this.handleAbortAndCleanup('Aborting: Failed to set target position.', true, true, dataMonitoring);
-            }
-            let hrdStreamingDuration = transitionTime + this.timePrePostTrigger * 2;
-            if (hrdStreamingDuration > 10000) {
-                this.notifications$.next('Warning: HRD Streaming Duration exceeded 10000 ms, capping to 10000 ms.');
-                hrdStreamingDuration = 10000;
-            }
-            try {
-                this.notifications$.next('Running chirp signal...');
-                const chirpSignalResult = yield (0, rxjs_1.lastValueFrom)(this.client.request.runChirpSignal(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, 0, hrdStreamingDuration));
-                if (!chirpSignalResult) {
-                    this.handleAbortAndCleanup('Aborting: Chirp signal failed.', true, true, dataMonitoring);
-                }
-                else if ('request' in chirpSignalResult && chirpSignalResult.request === 'succeeded') {
-                    this.notifications$.next('Chirp signal executed successfully.');
-                }
-                else {
-                    const errorName = chirpSignalResult && 'errorName' in chirpSignalResult ? chirpSignalResult.errorName : 'Unknown';
-                    const errorDescription = chirpSignalResult && 'errorDescription' in chirpSignalResult
-                        ? chirpSignalResult.errorDescription
-                        : 'No description';
-                    this.handleAbortAndCleanup(`Aborting: ${errorName} - ${errorDescription}.`, true, true, dataMonitoring);
-                    return false;
-                }
-            }
-            catch (_b) {
-                this.handleAbortAndCleanup('Aborting: Failed to run chirp signal.', true, true, dataMonitoring);
-            }
-            try {
-                yield this.client.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
-                this.notifications$.next('Transitioned to SWITCH_ON_DISABLED state.');
-            }
-            catch (_c) {
-                this.handleAbortAndCleanup('Aborting: Failed to transition to SWITCH_ON_DISABLED state.', true, true, dataMonitoring);
-            }
-            dataMonitoring.stop();
-            if (positionEncoder !== commutationEncoder) {
-                yield this.client.request.download(deviceRef, 0x2012, 9, positionEncoder);
-                yield this.client.request.forceOnDemandParametersUpdate(deviceRef);
-                this.notifications$.next('Original position encoder configuration has been restored.');
-            }
-            yield this.client.request.download(deviceRef, 0x2022, 1, 1);
-            this.notifications$.next('Position feedback filter has been turned on again.');
-            yield this.client.request.downloadMany([
-                [deviceRef, 0x2002, 0, controlMode],
-                [deviceRef, 0x2012, 1, kpp],
-                [deviceRef, 0x2012, 2, kip],
-                [deviceRef, 0x2012, 3, kdp],
-            ]);
-            this.notifications$.next('Original controller parameters have been restored.');
-            this.isRunning$.next(false);
-            this.monitoringCsvData = dataMonitoring.csv;
-            return true;
-        });
-    }
-    handleAbortAndCleanup(notificationEntry, stopTheFunction = true, isMonitoringRunning, dataMonitoring) {
-        this.isRunning$.next(false);
-        this.notifications$.next(notificationEntry);
-        if (isMonitoringRunning) {
-            this.monitoringCsvData = (dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.csv) || null;
-            dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.stop();
-        }
-        if (stopTheFunction) {
-            return false;
-        }
-        else {
-            return true;
-        }
-    }
-    updateControlGain(calculateControlGain, stopFlag) {
-        const intervalId = setInterval(() => {
-            if (stopFlag()) {
-                clearInterval(intervalId);
-                return;
-            }
-            calculateControlGain();
-        }, 100);
-    }
-}
-exports.HangingLoadTuner = HangingLoadTuner;
-//# sourceMappingURL=hanging-load-tuner.js.map

package/src/lib/hanging-load-tuner.js.map

@@ -1 +0,0 @@
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