motion-master-client 0.0.302 → 0.0.303

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.302",
+  "version": "0.0.303",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {
@@ -8,6 +8,7 @@
     "buffer": "^6.0.3",
     "commander": "^11.1.0",
     "cors": "^2.8.5",
+    "d3": "^7.8.4",
     "debug": "^4.3.5",
     "ecatmod": "^2.2.6",
     "express": "^4.19.2",

package/src/lib/motion-master-req-res-client.d.ts

@@ -6,7 +6,7 @@ import { HardwareDescription, StackInfo } from './hardware-description';
 import { MotionMasterReqResSocket } from './motion-master-req-res-socket';
 import { UIFeaturesConfig } from './parameter';
 import { SystemLogLine } from './system-log-line';
-import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo, RequestStatusMessage, UiPdoMapping, UiConfig, RequestStatus } from './types';
+import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo, RequestStatusMessage, UiPdoMapping, UiConfig, RequestStatus, ExecuteForwardCallRequest, ForwardCallStatus, PlantModel } from './types';
 import { Cia402State, ModesOfOperation } from './cia402';
 import { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse, IcMuCalibrationModeOsCommandResponse, OpenLoopFieldModeOsCommandResponse, HrdStreamingOsCommandResponse, TorqueConstantMeasurementOsCommandResponse, SkippedCyclesCounterOsCommandResponse, IgnoreBissStatusBitsOsCommandResponse, SystemIdentificationOsCommandResponse, KublerEncoderCommandOsCommandResponse, UseInternalEncoderVelocityOsCommandResponse, KublerEncoderRegisterCommunicationOsCommandResponse, SmmAcyclicHandlerOsCommandResponse, HrdStreamingOsCommandAction, HrdStreamingOsCommandDataIndex, SmmAcyclicHandlerLoadParametersForVerificationOsCommandResponse } from './os-command';
 import { IntegroVariant } from './integro-variant';
@@ -16,6 +16,7 @@ import { SmmParameter } from './smm';
 import { DataType } from 'python-struct';
 import { CirculoIntegratedEncoderI2CDeviceId } from './circulo';
 import { EncoderRegisterError } from './encoder';
+import { BodePlotOptions } from './vizualization';
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
  *
@@ -778,6 +779,12 @@ export declare class MotionMasterReqResClient {
      * The OS command can timeout if it takes longer than the provided timeout in milliseconds, in which case Motion Master will return an error.
      */
     startOsCommand(props: StartOsCommandRequest, requestTimeout: number, messageId?: string): Observable<OsCommandStatus>;
+    /**
+     * Execute the forward call request.
+     *
+     * This request is used to execute any function provided by the Standalone Auto-tuning Service which is started by the Motion Master.
+     */
+    executeForwardCall(props: ExecuteForwardCallRequest, requestTimeout: number, messageId?: string): Observable<ForwardCallStatus>;
     /**
      * Send request.
      *
@@ -890,6 +897,19 @@ export declare class MotionMasterReqResClient {
      * This functions tries to decode the content as a text in utf-8 character encoding.
      */
     getDecodedFile(deviceRef: DeviceRef, name: string, requestTimeout?: number, messageId?: string): Observable<string>;
+    /**
+     * Retrieves the plant model data for a given device.
+     *
+     * Reads and parses the 'plant_model.csv' file associated with the device reference,
+     * extracting numerator and denominator coefficients as arrays of numbers,
+     * along with friction and inertia parameters.
+     *
+     * @param deviceRef - Reference to the device to retrieve the model from.
+     * @param requestTimeout - Optional timeout in milliseconds for the request. Defaults to 10000 ms.
+     * @param messageId - Optional message identifier for tracking or logging purposes.
+     * @returns An Observable that emits the parsed PlantModel object or undefined if no content is available.
+     */
+    getPlantModel(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<PlantModel | undefined>;
     /**
      * Unlock protected files.
      *
@@ -1382,7 +1402,7 @@ export declare class MotionMasterReqResClient {
      *
      * @returns An observable that emits a tuple of two numbers, representing the byte values of the firmware version.
      */
-    readSmmFirmareVersion(deviceRef: DeviceRef): Observable<[number, number]>;
+    readSmmFirmwareVersion(deviceRef: DeviceRef): Observable<[number, number]>;
     /**
      * Reads the SMM firmware version from a device as a number.
      *
@@ -1392,7 +1412,7 @@ export declare class MotionMasterReqResClient {
      * @param deviceRef - A reference to the target device.
      * @returns An `Observable<number>` emitting the firmware version, represented as an integer.
      */
-    readSmmFirmareVersionAsNumber(deviceRef: DeviceRef): Observable<number>;
+    readSmmFirmwareVersionAsNumber(deviceRef: DeviceRef): Observable<number>;
     /**
      * Resolves the SMM parameter structure version for the specified device based on its firmware version.
      *
@@ -1910,4 +1930,55 @@ export declare class MotionMasterReqResClient {
             message?: string;
         };
     }>;
+    /**
+     * Executes a forward call by sending the provided data, then parses the JSON response.
+     *
+     * @param data - The data to send. Can be a Uint8Array, an object (which will be JSON-stringified), or a string.
+     * @param requestTimeout - Optional timeout for the request in milliseconds. Defaults to 5000 ms.
+     * @param messageId - Optional message identifier.
+     *
+     * @returns An Observable that emits the parsed JSON response object upon a successful call.
+     *
+     * @throws Will throw an error if:
+     * - `data` is not a Uint8Array, string, or object.
+     * - The forward call fails.
+     * - The response cannot be parsed as valid JSON.
+     *
+     * @example
+     * ```ts
+     * const data = { command: 'status' };
+     * this.executeForwardCallAndParseResponse(data)
+     *   .subscribe({
+     *     next: (response) => console.log('Parsed response:', response),
+     *     error: (err) => console.error('Error:', err),
+     *   });
+     * ```
+     */
+    executeForwardCallAndParseResponse(data: Uint8Array | string | object, requestTimeout?: number, messageId?: string): Observable<any>;
+    /**
+     * Retrieves the plant model for the specified device, generates the Bode plot data CSV,
+     * parses it, and returns an Observable that emits the corresponding SVG string representing the Bode plot.
+     *
+     * The process involves:
+     * 1. Requesting the plant model parameters (numerator and denominator).
+     * 2. Requesting the Bode plot CSV file content based on the plant model.
+     * 3. Parsing the CSV content into numeric data points.
+     * 4. Generating an SVG string of the Bode plot using the parsed data.
+     *
+     * @param deviceRef - Reference to the target device for which the Bode plot is generated.
+     * @param requestTimeout - Optional timeout in milliseconds for all requests. Default is 10000 ms.
+     * @param messageId - Optional message ID for correlating requests and responses.
+     *
+     * @returns An Observable that emits the SVG string of the Bode plot or `void` if data is unavailable.
+     *
+     * @example
+     * getBodePlotSvg(deviceRef).subscribe(svg => {
+     *   if (svg) {
+     *     document.body.innerHTML = svg;
+     *   } else {
+     *     console.warn('Bode plot data unavailable');
+     *   }
+     * });
+     */
+    getBodePlotSvg(deviceRef: DeviceRef, options?: BodePlotOptions, requestTimeout?: number, messageId?: string): Observable<string | void>;
 }

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

@@ -28,6 +28,7 @@ const firmware_1 = require("./firmware");
 const fetch_1 = require("./fetch");
 const circulo_1 = require("./circulo");
 const encoder_1 = require("./encoder");
+const vizualization_1 = require("./vizualization");
 const { xmlToEsi } = require('ecatmod');
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
@@ -1153,6 +1154,16 @@ class MotionMasterReqResClient {
             return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('osCommand', requestTimeout, id));
         }));
     }
+    /**
+     * Execute the forward call request.
+     *
+     * This request is used to execute any function provided by the Standalone Auto-tuning Service which is started by the Motion Master.
+     */
+    executeForwardCall(props, requestTimeout, messageId) {
+        const executeForwardCall = types_1.MotionMasterMessage.Request.ExecuteForwardCall.create(props);
+        const id = this.sendRequest({ executeForwardCall }, messageId);
+        return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('forwardCall', requestTimeout, id));
+    }
     /**
      * Send request.
      *
@@ -1710,6 +1721,33 @@ class MotionMasterReqResClient {
             throw new Error(`The content for the device file '${name}' for device ${deviceRef} is undefined. The file is most likely missing.`);
         }));
     }
+    /**
+     * Retrieves the plant model data for a given device.
+     *
+     * Reads and parses the 'plant_model.csv' file associated with the device reference,
+     * extracting numerator and denominator coefficients as arrays of numbers,
+     * along with friction and inertia parameters.
+     *
+     * @param deviceRef - Reference to the device to retrieve the model from.
+     * @param requestTimeout - Optional timeout in milliseconds for the request. Defaults to 10000 ms.
+     * @param messageId - Optional message identifier for tracking or logging purposes.
+     * @returns An Observable that emits the parsed PlantModel object or undefined if no content is available.
+     */
+    getPlantModel(deviceRef, requestTimeout = 10000, messageId) {
+        return this.getDecodedFile(deviceRef, 'plant_model.csv', requestTimeout, messageId).pipe((0, operators_1.map)((content) => {
+            if (!content) {
+                return;
+            }
+            const [numerator, denominator] = content.split('\n');
+            const [friction, inertia] = denominator.split(',').reverse();
+            return {
+                numerator: [...numerator.split(',').map((v) => parseFloat(v))],
+                denominator: [...denominator.split(',').map((v) => parseFloat(v))],
+                friction: parseFloat(friction),
+                inertia: parseFloat(inertia),
+            };
+        }));
+    }
     /**
      * Unlock protected files.
      *
@@ -2778,7 +2816,7 @@ class MotionMasterReqResClient {
      *
      * @returns An observable that emits a tuple of two numbers, representing the byte values of the firmware version.
      */
-    readSmmFirmareVersion(deviceRef) {
+    readSmmFirmwareVersion(deviceRef) {
         return this.readSmmParameterArrayValue(deviceRef, 0x0001, 0).pipe((0, operators_1.map)((bytes) => [bytes[0], bytes[1]]));
     }
     /**
@@ -2790,8 +2828,8 @@ class MotionMasterReqResClient {
      * @param deviceRef - A reference to the target device.
      * @returns An `Observable<number>` emitting the firmware version, represented as an integer.
      */
-    readSmmFirmareVersionAsNumber(deviceRef) {
-        return this.readSmmFirmareVersion(deviceRef).pipe((0, operators_1.map)((bytes) => (bytes[1] << 8) | bytes[0]));
+    readSmmFirmwareVersionAsNumber(deviceRef) {
+        return this.readSmmFirmwareVersion(deviceRef).pipe((0, operators_1.map)((bytes) => (bytes[1] << 8) | bytes[0]));
     }
     /**
      * Resolves the SMM parameter structure version for the specified device based on its firmware version.
@@ -2809,7 +2847,7 @@ class MotionMasterReqResClient {
      *   - If the firmware version is 0x0203 or greater, the parameter structure version is 0x0203.
      */
     resolveSmmParameterStructureVersion(deviceRef) {
-        return this.readSmmFirmareVersionAsNumber(deviceRef).pipe((0, operators_1.map)((version) => {
+        return this.readSmmFirmwareVersionAsNumber(deviceRef).pipe((0, operators_1.map)((version) => {
             if (version < 0x0203) {
                 return 0x0041;
             }
@@ -3723,6 +3761,112 @@ class MotionMasterReqResClient {
             this.logoutFromSmm(deviceRef).subscribe();
         }));
     }
+    /**
+     * Executes a forward call by sending the provided data, then parses the JSON response.
+     *
+     * @param data - The data to send. Can be a Uint8Array, an object (which will be JSON-stringified), or a string.
+     * @param requestTimeout - Optional timeout for the request in milliseconds. Defaults to 5000 ms.
+     * @param messageId - Optional message identifier.
+     *
+     * @returns An Observable that emits the parsed JSON response object upon a successful call.
+     *
+     * @throws Will throw an error if:
+     * - `data` is not a Uint8Array, string, or object.
+     * - The forward call fails.
+     * - The response cannot be parsed as valid JSON.
+     *
+     * @example
+     * ```ts
+     * const data = { command: 'status' };
+     * this.executeForwardCallAndParseResponse(data)
+     *   .subscribe({
+     *     next: (response) => console.log('Parsed response:', response),
+     *     error: (err) => console.error('Error:', err),
+     *   });
+     * ```
+     */
+    executeForwardCallAndParseResponse(data, requestTimeout = 5000, messageId) {
+        const props = {};
+        if (data instanceof Uint8Array) {
+            props.message = data;
+        }
+        else {
+            let message;
+            if (typeof data === 'object') {
+                message = JSON.stringify(data);
+            }
+            else if (typeof data === 'string') {
+                message = data;
+            }
+            else {
+                throw new Error('Data must be a string, object, or Uint8Array.');
+            }
+            const encoder = new TextEncoder();
+            props.message = encoder.encode(message);
+        }
+        return this.executeForwardCall(props, requestTimeout, messageId).pipe((0, operators_1.map)((status) => {
+            var _a;
+            if (status.request === 'succeeded') {
+                const bytes = status.response;
+                const uint8array = Array.isArray(bytes) ? new Uint8Array(bytes) : bytes;
+                if (uint8array) {
+                    try {
+                        const decoder = new TextDecoder('utf-8');
+                        const jsonString = decoder.decode(uint8array);
+                        return JSON.parse(jsonString);
+                    }
+                    catch (parseError) {
+                        throw new Error(`Failed to parse JSON response: ${parseError instanceof Error ? parseError.message : parseError}`);
+                    }
+                }
+            }
+            throw new Error(`Failed to execute forward call: ${((_a = status.error) === null || _a === void 0 ? void 0 : _a.message) || 'Unknown error'}`);
+        }));
+    }
+    /**
+     * Retrieves the plant model for the specified device, generates the Bode plot data CSV,
+     * parses it, and returns an Observable that emits the corresponding SVG string representing the Bode plot.
+     *
+     * The process involves:
+     * 1. Requesting the plant model parameters (numerator and denominator).
+     * 2. Requesting the Bode plot CSV file content based on the plant model.
+     * 3. Parsing the CSV content into numeric data points.
+     * 4. Generating an SVG string of the Bode plot using the parsed data.
+     *
+     * @param deviceRef - Reference to the target device for which the Bode plot is generated.
+     * @param requestTimeout - Optional timeout in milliseconds for all requests. Default is 10000 ms.
+     * @param messageId - Optional message ID for correlating requests and responses.
+     *
+     * @returns An Observable that emits the SVG string of the Bode plot or `void` if data is unavailable.
+     *
+     * @example
+     * getBodePlotSvg(deviceRef).subscribe(svg => {
+     *   if (svg) {
+     *     document.body.innerHTML = svg;
+     *   } else {
+     *     console.warn('Bode plot data unavailable');
+     *   }
+     * });
+     */
+    getBodePlotSvg(deviceRef, options = {}, requestTimeout = 10000, messageId) {
+        return this.getPlantModel(deviceRef, requestTimeout, messageId).pipe((0, operators_1.mergeMap)((plantModel) => {
+            if (!plantModel) {
+                return (0, rxjs_1.of)(undefined);
+            }
+            const data = {
+                run: 'generate_plant_bode_file',
+                data: { plant_model: { numerator: plantModel.numerator, denominator: plantModel.denominator } },
+            };
+            return this.executeForwardCallAndParseResponse(data, requestTimeout, messageId).pipe((0, operators_1.mergeMap)((response) => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                const csvText = response === null || response === void 0 ? void 0 : response['bode_file_content'];
+                if (!csvText) {
+                    return;
+                }
+                const parsedData = (0, vizualization_1.parseBodePlotCsv)(csvText);
+                return yield (0, vizualization_1.createBodePlotSvg)(parsedData, options);
+            })));
+        }));
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 /**