motion-master-client 0.0.302 → 0.0.304

package/src/lib/request-status-resolver.js

@@ -343,5 +343,11 @@ exports.requestStatusResolver = {
         }
         return 'running';
     },
+    forwardCall: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
 };
 //# sourceMappingURL=request-status-resolver.js.map

package/src/lib/request-status-resolver.js.map

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

@@ -125,6 +125,7 @@ export type StopFullAutoTuningRequest = MotionMasterMessage.Request.IStopFullAut
 export type StartCirculoEncoderConfigurationRequest = MotionMasterMessage.Request.IStartCirculoEncoderConfiguration & DeviceRefObj;
 export type StopCirculoEncoderNarrowAngleCalibrationProcedureRequest = MotionMasterMessage.Request.IStopCirculoEncoderNarrowAngleCalibrationProcedure & DeviceRefObj;
 export type StartOsCommandRequest = MotionMasterMessage.Request.IStartOsCommand & DeviceRefObj;
+export type ExecuteForwardCallRequest = MotionMasterMessage.Request.IExecuteForwardCall & DeviceRefObj;
 export type SystemVersionStatus = MotionMasterMessage.Status.ISystemVersion & RequestStatusMessage;
 export type DeviceInfoStatus = MotionMasterMessage.Status.IDeviceInfo & RequestStatusMessage;
 export type DeviceParameterInfoStatus = MotionMasterMessage.Status.IDeviceParameterInfo & RequestStatusMessage;
@@ -156,6 +157,7 @@ export type OpenLoopFieldControlStatus = MotionMasterMessage.Status.IOpenLoopFie
 export type FullAutoTuningStatus = MotionMasterMessage.Status.IFullAutoTuning & RequestStatusMessage;
 export type CirculoEncoderConfigurationStatus = MotionMasterMessage.Status.ICirculoEncoderConfiguration & RequestStatusMessage;
 export type OsCommandStatus = MotionMasterMessage.Status.IOsCommand & RequestStatusMessage;
+export type ForwardCallStatus = MotionMasterMessage.Status.IForwardCall & RequestStatusMessage;
 export import ValueType = MotionMasterMessage.Status.DeviceParameterInfo.Parameter.ValueType;
 export declare function isArrayOfDeviceSerialNumbers(ids: DeviceParameterIds): ids is string[];
 export declare function isObjectOfDeviceSerialNumberToValues(ids: {
@@ -440,4 +442,27 @@ export interface UiConfig {
      */
     pdoMapping?: UiPdoMapping;
 }
+/**
+ * Represents a string formatted as an IPv4 address.
+ *
+ * The format is four decimal numbers (0–255) separated by dots, e.g. "192.168.0.1".
+ * Note: This type only enforces the general string pattern and does not validate
+ * the numeric ranges of each segment.
+ */
 export type Ipv4 = `${number}.${number}.${number}.${number}`;
+/**
+ * Represents a dynamic plant model characterized by a transfer function and mechanical parameters.
+ *
+ * The model is defined by the numerator and denominator coefficients of its transfer function,
+ * as well as physical parameters such as friction and inertia.
+ */
+export type PlantModel = {
+    /** Coefficients of the transfer function numerator polynomial */
+    numerator: number[];
+    /** Coefficients of the transfer function denominator polynomial */
+    denominator: number[];
+    /** Friction coefficient of the plant */
+    friction: number;
+    /** Inertia value of the plant */
+    inertia: number;
+};

package/src/lib/types.js.map

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

@@ -0,0 +1,62 @@
+/// <reference lib="dom" />
+/**
+ * Represents a single row of Bode plot data as a fixed-length tuple array.
+ *
+ * Indexes:
+ * - `0`: Frequency in Hertz (Hz)
+ * - `1`: Magnitude in decibels (dB)
+ * - `2`: Phase in degrees (°)
+ *
+ * This interface extends a numeric array with exactly three elements,
+ * each with a specific meaning and unit.
+ */
+export interface BodePlotRow extends Array<number> {
+    0: number;
+    1: number;
+    2: number;
+}
+/**
+ * Parses a CSV string representing Bode plot data into an array of `BodePlotRow` entries.
+ *
+ * The CSV is expected to have a header row followed by rows of numeric data with
+ * the following columns: Frequency (Hz), Magnitude (dB), and Phase (°).
+ *
+ * @param csvText - The CSV-formatted string input.
+ *
+ * @returns An array of `BodePlotRow` tuples, where each tuple contains:
+ *  - Frequency in Hertz (Hz) at index 0,
+ *  - Magnitude in decibels (dB) at index 1,
+ *  - Phase in degrees (°) at index 2.
+ *
+ * @remarks
+ * - The first line of the CSV is assumed to be a header and is skipped.
+ * - The last line is also removed, assuming it is empty or invalid.
+ * - Each remaining line is split by commas and parsed into floating-point numbers.
+ */
+export declare function parseBodePlotCsv(csvText: string): BodePlotRow[];
+/**
+ * Configuration options for the Bode plot.
+ */
+export interface BodePlotOptions {
+    /**
+     * Width of the SVG canvas in pixels.
+     * @default 800
+     */
+    width?: number;
+    /**
+     * Height of each plot section in pixels.
+     * The total SVG height is roughly twice this plus margins.
+     * @default 400
+     */
+    height?: number;
+}
+/**
+ * Generates an SVG string containing two stacked Bode plots (magnitude and phase).
+ *
+ * @param data - Array of BodeDataRow tuples [frequency (Hz), magnitude (dB), phase (deg)].
+ * @param options - Optional plot settings including width and height.
+ * @returns Promise resolving to the SVG markup string representing the Bode plots.
+ *
+ * @throws Error if run in a non-browser environment (Node.js) because DOM is required.
+ */
+export declare function createBodePlotSvg(data: BodePlotRow[], options?: BodePlotOptions): Promise<string>;

package/src/lib/vizualization.js

@@ -0,0 +1,156 @@
+"use strict";
+/// <reference lib="dom" />
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.createBodePlotSvg = exports.parseBodePlotCsv = void 0;
+const tslib_1 = require("tslib");
+const d3 = tslib_1.__importStar(require("d3"));
+/**
+ * Parses a CSV string representing Bode plot data into an array of `BodePlotRow` entries.
+ *
+ * The CSV is expected to have a header row followed by rows of numeric data with
+ * the following columns: Frequency (Hz), Magnitude (dB), and Phase (°).
+ *
+ * @param csvText - The CSV-formatted string input.
+ *
+ * @returns An array of `BodePlotRow` tuples, where each tuple contains:
+ *  - Frequency in Hertz (Hz) at index 0,
+ *  - Magnitude in decibels (dB) at index 1,
+ *  - Phase in degrees (°) at index 2.
+ *
+ * @remarks
+ * - The first line of the CSV is assumed to be a header and is skipped.
+ * - The last line is also removed, assuming it is empty or invalid.
+ * - Each remaining line is split by commas and parsed into floating-point numbers.
+ */
+function parseBodePlotCsv(csvText) {
+    return csvText
+        .split('\n')
+        .slice(1, -1) // skip header row and remove last line
+        .map((line) => line.split(',').map((value) => parseFloat(value)));
+}
+exports.parseBodePlotCsv = parseBodePlotCsv;
+/**
+ * Generates an SVG string containing two stacked Bode plots (magnitude and phase).
+ *
+ * @param data - Array of BodeDataRow tuples [frequency (Hz), magnitude (dB), phase (deg)].
+ * @param options - Optional plot settings including width and height.
+ * @returns Promise resolving to the SVG markup string representing the Bode plots.
+ *
+ * @throws Error if run in a non-browser environment (Node.js) because DOM is required.
+ */
+function createBodePlotSvg(data, options = {}) {
+    var _a, _b, _c, _d;
+    return tslib_1.__awaiter(this, void 0, void 0, function* () {
+        const WIDTH = (_a = options.width) !== null && _a !== void 0 ? _a : 800; // Default width of the SVG canvas
+        const HEIGHT = (_b = options.height) !== null && _b !== void 0 ? _b : 400; // Default height of each plot section
+        const MARGIN = { top: 40, right: 60, bottom: 50, left: 60 }; // Margins for the SVG canvas
+        const TOTAL_HEIGHT = HEIGHT * 2 + MARGIN.top + MARGIN.bottom; // Total height for both plots plus margins
+        const isNode = typeof window === 'undefined'; // Check if running in a Node.js environment
+        let document;
+        let d3Lib;
+        if (isNode) {
+            throw new Error('Node.js environment detected. Please use a browser environment to generate SVG plots.');
+        }
+        else {
+            d3Lib = d3;
+            document = window.document;
+        }
+        // Accessor functions to extract frequency, magnitude, and phase from BodePlotRow
+        const freqAccessor = (d) => d[0]; // Frequency in Hz
+        const magAccessor = (d) => d[1]; // Magnitude in dB
+        const phaseAccessor = (d) => d[2]; // Phase in degrees
+        // Create the SVG element with the specified width and height using D3.js
+        // Note: This must be done in a browser environment to use the DOM API.
+        if (!document) {
+            throw new Error('Document is not available. Ensure this code runs in a browser context.');
+        }
+        const svg = d3Lib
+            .select(document.createElementNS('http://www.w3.org/2000/svg', 'svg'))
+            .attr('xmlns', 'http://www.w3.org/2000/svg')
+            .attr('width', WIDTH)
+            .attr('height', TOTAL_HEIGHT);
+        /**
+         * Draws a Bode plot section (either magnitude or phase) within the given SVG group.
+         *
+         * @param group - The D3 selection of an SVG group element where the plot will be rendered.
+         * @param yAccessor - Function to extract the Y-axis value (magnitude or phase) from a BodeDataRow.
+         * @param yLabel - Label for the Y-axis.
+         * @param color - Stroke color for the plot line.
+         * @param yRange - Tuple specifying the [min, max] domain for the Y-axis scale.
+         * @param yOffset - Vertical offset in pixels to position this plot section inside the SVG.
+         */
+        const plotSection = (group, yAccessor, yLabel, color, yRange, yOffset) => {
+            const width = WIDTH - MARGIN.left - MARGIN.right;
+            const height = HEIGHT - MARGIN.top - MARGIN.bottom;
+            const g = group.append('g').attr('transform', `translate(${MARGIN.left},${MARGIN.top + yOffset})`);
+            // Set up the X and Y scales
+            // X-axis is logarithmic for frequency, Y-axis is linear for magnitude/phase
+            // Use d3.extent to get the min and max frequency values for the X-axis
+            const x = d3Lib
+                .scaleLog()
+                .domain(d3Lib.extent(data, freqAccessor))
+                .range([0, width]);
+            const y = d3Lib.scaleLinear().domain(yRange).nice().range([height, 0]); // Invert Y-axis to have 0 at the bottom
+            const xAxis = d3Lib.axisBottom(x).ticks(10, '~s'); // Use scientific notation for ticks
+            const yAxis = d3Lib.axisLeft(y); // Default linear scale for Y-axis
+            // X grid lines
+            g.append('g')
+                .attr('class', 'grid x-grid')
+                .attr('transform', `translate(0,${height})`)
+                .call(d3Lib
+                .axisBottom(x)
+                .ticks(10, '~s')
+                .tickSize(-height)
+                .tickFormat(() => ''))
+                .selectAll('line')
+                .attr('stroke', '#ccc')
+                .attr('stroke-opacity', 0.6);
+            // Y grid lines
+            g.append('g')
+                .attr('class', 'grid y-grid')
+                .call(d3Lib
+                .axisLeft(y)
+                .tickSize(-width)
+                .tickFormat(() => ''))
+                .selectAll('line')
+                .attr('stroke', '#ccc')
+                .attr('stroke-opacity', 0.6);
+            // Actual axes
+            g.append('g').attr('transform', `translate(0,${height})`).call(xAxis);
+            g.append('g').call(yAxis);
+            // Axis labels
+            g.append('text')
+                .attr('x', width / 2)
+                .attr('y', height + 40)
+                .attr('text-anchor', 'middle')
+                .attr('font-size', '12px')
+                .text('Frequency (Hz)');
+            g.append('text')
+                .attr('transform', 'rotate(-90)')
+                .attr('x', -height / 2)
+                .attr('y', -45)
+                .attr('text-anchor', 'middle')
+                .attr('font-size', '12px')
+                .text(yLabel);
+            // Plot the line for the Bode data
+            // Use d3.line to create a line generator function
+            // The line is drawn using the frequency for the X-axis and the Y accessor for the Y-axis
+            const line = d3Lib
+                .line()
+                .x((d) => x(freqAccessor(d)))
+                .y((d) => y(yAccessor(d)));
+            // Append the path to the group, binding the data and setting attributes
+            g.append('path').datum(data).attr('fill', 'none').attr('stroke', color).attr('stroke-width', 2).attr('d', line);
+        };
+        // Create the magnitude plot section
+        const magGroup = svg.append('g');
+        plotSection(magGroup, magAccessor, 'Magnitude (dB)', 'steelblue', [0, (_c = d3Lib.max(data, magAccessor)) !== null && _c !== void 0 ? _c : 100], 0);
+        // Create the phase plot section
+        const phaseGroup = svg.append('g');
+        plotSection(phaseGroup, phaseAccessor, 'Phase (deg)', 'steelblue', [(_d = d3Lib.min(data, phaseAccessor)) !== null && _d !== void 0 ? _d : -180, 0], HEIGHT);
+        // Return the SVG as a string
+        return svg.node().outerHTML;
+    });
+}
+exports.createBodePlotSvg = createBodePlotSvg;
+//# sourceMappingURL=vizualization.js.map

package/src/lib/vizualization.js.map

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