motion-master-client 0.0.315 → 0.0.316

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.315",
+  "version": "0.0.316",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -462,7 +462,7 @@ app.get('/api/devices/:deviceRef/start-system-identification', asyncHandler((req
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startSystemIdentification(props, requestTimeout));
     if (status.request === 'succeeded') {
         const plantModelFileContent = yield (0, rxjs_1.lastValueFrom)(client.request.getDecodedFile(deviceRef, 'plant_model.csv'));
-        res.send(plantModelFileContent);
+        res.type('text/csv').send(plantModelFileContent);
     }
     else {
         res.status(500).send(status.error);
@@ -652,7 +652,7 @@ app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) =>
             window,
             windowTime,
         });
-        res.send(dataMonitoring.csv);
+        res.type('text/csv').send(dataMonitoring.csv);
     }
     finally {
         dataMonitoring.stop();
@@ -685,7 +685,7 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
             window,
             windowTime,
         });
-        res.send(dataMonitoring.csv);
+        res.type('text/csv').send(dataMonitoring.csv);
     }
     finally {
         dataMonitoring.stop();
@@ -722,7 +722,7 @@ app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res)
             window,
             windowTime,
         });
-        res.send(dataMonitoring.csv);
+        res.type('text/csv').send(dataMonitoring.csv);
     }
     finally {
         dataMonitoring.stop();
@@ -895,6 +895,45 @@ app.get('/api/devices/:deviceRef/write-circulo-integrated-encoder-config-bin-fil
         res.status(500).send(status.error);
     }
 })));
+app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _72, _73, _74, _75, _76, _77, _78;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const modesOfOperation = parseInt(((_72 = req.query['modes-of-operation']) !== null && _72 !== void 0 ? _72 : '10'));
+    const startFrequency = parseInt(((_73 = req.query['start-frequency']) !== null && _73 !== void 0 ? _73 : '2000'));
+    const targetFrequency = parseInt(((_74 = req.query['target-frequency']) !== null && _74 !== void 0 ? _74 : '100000'));
+    const targetAmplitude = parseInt(((_75 = req.query['target-amplitude']) !== null && _75 !== void 0 ? _75 : '300'));
+    const transitionTime = parseInt(((_76 = req.query['transition-time']) !== null && _76 !== void 0 ? _76 : '3000'));
+    const signalType = parseInt(((_77 = req.query['signal-type']) !== null && _77 !== void 0 ? _77 : '0'));
+    const startProcedure = parseInt(((_78 = req.query['start-procedure']) !== null && _78 !== void 0 ? _78 : '2'));
+    const options = {
+        modesOfOperation,
+        startFrequency,
+        targetFrequency,
+        targetAmplitude,
+        transitionTime,
+        signalType,
+        startProcedure,
+    };
+    try {
+        const samples = yield (0, rxjs_1.lastValueFrom)(client.request.runChirpSignal(deviceRef, options));
+        if (samples.length === 0) {
+            res.type('text/csv').send('');
+        }
+        else {
+            const csv = (0, os_command_1.convertHrdSamplesToCsv)(samples);
+            res.type('text/csv').send(csv);
+        }
+    }
+    catch (error) {
+        res.status(500);
+        if (error instanceof Error) {
+            res.send(error.message);
+        }
+        else {
+            res.send('An unknown error occurred.');
+        }
+    }
+})));
 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

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package/src/lib/device-parameter.d.ts

@@ -1,10 +1,51 @@
 import { Parameter } from './parameter';
+/**
+ * Represents a device-specific parameter with optional metadata flags.
+ *
+ * Extends the base {@link Parameter} interface with additional fields
+ * used to describe access, category, and mapping information.
+ */
 export interface DeviceParameter extends Parameter {
+    /**
+     * Unique identifier of the parameter.
+     */
     id: string;
+    /**
+     * Optional set of flags defining parameter characteristics.
+     */
     flags?: {
+        /**
+         * Access level of the parameter.
+         *
+         * - `'ro'` — Read-only (default)
+         * - `'rw'` — Read/write
+         * - `'wo'` — Write-only
+         */
         access?: 'ro' | 'rw' | 'wo';
+        /**
+         * Category of the parameter.
+         *
+         * - `'m'` — Mandatory
+         * - `'o'` — Optional (default)
+         * - `'c'` — Conditional
+         */
         category?: 'm' | 'o' | 'c';
+        /**
+         * PDO (Process Data Object) mapping type.
+         *
+         * - `'t'` — Transmit PDO (Inputs)
+         * - `'r'` — Receive PDO (Outputs)
+         * - `'tr'` — Transmit or Receive PDO
+         */
         pdoMapping?: 't' | 'r' | 'tr';
+        /**
+         * Safety-related mapping type.
+         *
+         * - `'si'` — Safe Inputs
+         * - `'so'` — Safe Outputs
+         * - `'sio'` — Safe Input or Output
+         * - `'sp'` — Safety Parameter Set
+         */
         safetyMapping?: 'si' | 'so' | 'sio' | 'sp';
     };
 }
@@ -53,7 +94,22 @@ export declare const deviceParameterIdRegExp: RegExp;
  * @returns tuple of device serial number, index, and subindex
  */
 export declare function splitDeviceParameterId(id: string): [string, number, number];
-export declare function isDeviceParameterId(id: string): boolean;
+/**
+ * Parses a 32-bit encoded PDO subitem value into its components.
+ *
+ * The 32-bit value is structured as follows:
+ * ```
+ * Bits  | Field
+ * ------|--------
+ *  0–7  | Bit length (bitlen)
+ *  8–15 | Subindex
+ * 16–31 | Index
+ * ```
+ *
+ * @param value - The 32-bit encoded PDO subitem value.
+ * @returns A tuple `[index, subindex, bitlen]` where:
+ * - `index` — The 16-bit parameter index.
+ * - `subindex` — The 8-bit parameter subindex.
+ * - `bitlen` — The bit length of the mapped item.
+ */
 export declare function parsePdoSubItemValue(value: number): [number, number, number];
-export declare const defaultRxPdoGroupedValues: number[][];
-export declare const defaultTxPdoGroupedValues: number[][];

package/src/lib/device-parameter.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.defaultTxPdoGroupedValues = exports.defaultRxPdoGroupedValues = exports.parsePdoSubItemValue = exports.isDeviceParameterId = exports.splitDeviceParameterId = exports.deviceParameterIdRegExp = exports.makeDeviceParameterId = void 0;
+exports.parsePdoSubItemValue = exports.splitDeviceParameterId = exports.deviceParameterIdRegExp = exports.makeDeviceParameterId = void 0;
 const parameter_1 = require("./parameter");
 function makeDeviceParameterId(serialNumber, a, b) {
     const parameterId = (0, parameter_1.makeParameterId)(a, b);
@@ -32,10 +32,24 @@ function splitDeviceParameterId(id) {
     ];
 }
 exports.splitDeviceParameterId = splitDeviceParameterId;
-function isDeviceParameterId(id) {
-    return exports.deviceParameterIdRegExp.test(id);
-}
-exports.isDeviceParameterId = isDeviceParameterId;
+/**
+ * Parses a 32-bit encoded PDO subitem value into its components.
+ *
+ * The 32-bit value is structured as follows:
+ * ```
+ * Bits  | Field
+ * ------|--------
+ *  0–7  | Bit length (bitlen)
+ *  8–15 | Subindex
+ * 16–31 | Index
+ * ```
+ *
+ * @param value - The 32-bit encoded PDO subitem value.
+ * @returns A tuple `[index, subindex, bitlen]` where:
+ * - `index` — The 16-bit parameter index.
+ * - `subindex` — The 8-bit parameter subindex.
+ * - `bitlen` — The bit length of the mapped item.
+ */
 function parsePdoSubItemValue(value) {
     const b0 = value & 0xff;
     const b1 = (value >> 8) & 0xff;
@@ -47,24 +61,4 @@ function parsePdoSubItemValue(value) {
     return [index, subindex, bitlen];
 }
 exports.parsePdoSubItemValue = parsePdoSubItemValue;
-exports.defaultRxPdoGroupedValues = [
-    [0x7, 0x60400010, 0x60600008, 0x60710010, 0x607a0020, 0x60ff0020, 0x60b20010, 0x27010020],
-    [0x2, 0x60fe0120, 0x60fe0220],
-    [0x2, 0x27030020, 0x60b10020],
-    [],
-];
-exports.defaultTxPdoGroupedValues = [
-    [
-        0x6,
-        0x60410010,
-        0x60610008,
-        0x60640020,
-        0x606c0020,
-        0x60770010,
-        0x60f40020, // Following error actual value (0x60F4:00) is added in additon to the default values
-    ],
-    [0x5, 0x24010010, 0x24020010, 0x24030010, 0x24040010, 0x27020020],
-    [0x1, 0x60fd0020],
-    [0x5, 0x27040020, 0x20f00020, 0x60fc0020, 0x606b0020, 0x60740010],
-];
 //# sourceMappingURL=device-parameter.js.map

package/src/lib/device-parameter.js.map

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

@@ -8,7 +8,7 @@ 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, ExecuteForwardCallRequest, ForwardCallStatus, PlantModel, NotchFilter, LoadConfigStrategy, SystemInformationStatus, SetPdoModeRequest, PdoModeStatus } 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 { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse, IcMuCalibrationModeOsCommandResponse, OpenLoopFieldModeOsCommandResponse, HrdStreamingOsCommandResponse, TorqueConstantMeasurementOsCommandResponse, SkippedCyclesCounterOsCommandResponse, IgnoreBissStatusBitsOsCommandResponse, SystemIdentificationOsCommandResponse, KublerEncoderCommandOsCommandResponse, UseInternalEncoderVelocityOsCommandResponse, KublerEncoderRegisterCommunicationOsCommandResponse, SmmAcyclicHandlerOsCommandResponse, HrdStreamingOsCommandAction, HrdStreamingOsCommandDataIndex, SmmAcyclicHandlerLoadParametersForVerificationOsCommandResponse, ChirpSignalOptions } from './os-command';
 import { IntegroVariant } from './integro-variant';
 import { ConfigParameter } from './config-file';
 import { MotionMasterClientIndexedDB } from './mmcidb';
@@ -2019,4 +2019,86 @@ export declare class MotionMasterReqResClient {
      *
      */
     setNotchFilterParameterValues(deviceRef: DeviceRef, notchFilter: NotchFilter, requestTimeout?: number): Observable<void>;
+    /**
+     * Deletes all HRD data files (`hr_data0.bin` to `hr_data4.bin`) from the device.
+     *
+     * The operation attempts to remove each file sequentially, regardless of whether
+     * it exists or not. Missing files do not cause the sequence to stop or fail.
+     *
+     * @param deviceRef - Reference to the target device.
+     * @returns An observable that completes once all delete operations have finished.
+     */
+    removeAllHrdFiles(deviceRef: DeviceRef): Observable<void>;
+    /**
+     * Reads a sequence of HRD files (`hr_data0.bin` to `hr_data4.bin`) from a device,
+     * combines their contents into a single `Uint8Array`, and returns it as an Observable.
+     *
+     * Each file is read sequentially. If a file is missing or its content is `null`/`undefined`,
+     * it is treated as an empty `Uint8Array`, so the sequence continues without errors.
+     *
+     * @param deviceRef - Reference to the device from which the files are read.
+     * @returns An `Observable<Uint8Array>` that emits a single `Uint8Array` containing
+     *          the combined contents of all read files.
+     */
+    readAllHrdFiles(deviceRef: DeviceRef): Observable<Uint8Array>;
+    /**
+     * Runs HRD streaming on the device.
+     *
+     * The procedure performs the following steps:
+     * 1. Removes all existing HRD data files from the device to ensure a clean start.
+     * 2. Configures HRD streaming with the specified data index and duration.
+     * 3. Starts the streaming process.
+     * 4. Reads and combines all HRD files once streaming completes.
+     *
+     * @param deviceRef - Device to stream from.
+     * @param dataIndex - Index of the HRD streaming data (default is 0).
+     * @param duration - Streaming duration in milliseconds (default is 1000).
+     * @returns Observable that emits a combined `Uint8Array` containing all HRD file data.
+     */
+    runHrdStreaming(deviceRef: DeviceRef, dataIndex?: HrdStreamingOsCommandDataIndex, duration?: number): Observable<number[][]>;
+    /**
+     * Executes a chirp signal on the drive for system identification purposes.
+     *
+     * This method sends a sequence of system identification commands to the drive, configuring
+     * the necessary parameters and optionally starting HRD streaming if requested.
+     *
+     * Key points:
+     * - By executing the chirp signal on the drive, the firmware provides a very clean signal
+     *   to the motion controller without communication jitter.
+     * - The sine profile is used for system identification purposes.
+     * - This profile is not available as a standard Motion Profile type (0x6086).
+     *
+     * Requirements for the drive to correctly follow the trajectory:
+     * - The drive must have the correct commutation offset angle configured.
+     * - The encoder for the selected control method must be functional.
+     * - The controller must be tuned appropriately.
+     *
+     * Limitations:
+     * - The statusword cannot report the status of the profiler for this sine profile type.
+     *   It does not differentiate between different motion profile types.
+     * - If any parameter is out of range or the start frequency is greater than the target
+     *   frequency, the drive will report an "Invalid Parameter" error.
+     * - If the start and target frequencies are equal, the output wave frequency will be constant (static sine).
+     *
+     * Implementation notes:
+     * - The generated chirp signal is added to the control loop as an additional demanded torque,
+     *   just after the notch filter.
+     * - This allows system identification in CST, CSV, or CSP modes (or other profile modes).
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param options - Configuration options for the chirp signal, including:
+     *   - `modesOfOperation` (optional): Modes of operation to configure before starting.
+     *   - `startFrequency`: Frequency at which the chirp begins.
+     *   - `targetFrequency`: Frequency at which the chirp ends.
+     *   - `targetAmplitude`: Amplitude of the chirp signal.
+     *   - `transitionTime`: Time for frequency/amplitude transition.
+     *   - `signalType`: Type of signal to generate.
+     *   - `startProcedure`: If set to `WAIT_FOR_HRD_STREAMING_TO_START`, the OS command for executing
+     *     the chirp signal will wait for HRD streaming to start before running the chirp.
+     *
+     * @returns An observable that completes after the chirp signal sequence is finished.
+     *          If `startProcedure` is set to `WAIT_FOR_HRD_STREAMING_TO_START`, HRD streaming
+     *          will also be executed.
+     */
+    runChirpSignal(deviceRef: DeviceRef, options: ChirpSignalOptions): Observable<number[][]>;
 }