motion-master-client 0.0.324 → 0.0.325

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.324",
+  "version": "0.0.325",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -8,11 +8,13 @@ const cors_1 = tslib_1.__importDefault(require("cors"));
 const rxjs_1 = require("rxjs");
 const device_1 = require("./lib/device");
 const motion_master_client_1 = require("./lib/motion-master-client");
+const cia402_1 = require("./lib/cia402");
 const parameter_1 = require("./lib/parameter");
 const types_1 = require("./lib/types");
 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 limited_range_system_identification_1 = require("./lib/limited-range-system-identification");
 const os_command_1 = require("./lib/os-command");
 Object.assign(globalThis, { WebSocket: require('ws') });
 const log = (0, debug_1.default)('mmapi');
@@ -959,6 +961,34 @@ app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => t
         res.type('text/csv').send(csv);
     }
 })));
+app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _87, _88, _89, _90, _91, _92, _93;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const hrdStreamingDuration = parseInt(((_87 = req.query['hrd-streaming-duration']) !== null && _87 !== void 0 ? _87 : '4000'));
+    const modesOfOperation = cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE;
+    const rangeLimitEff = parseInt(((_88 = req.query['lambda-eff']) !== null && _88 !== void 0 ? _88 : '10000'));
+    const rangeLimitMin = parseInt(((_89 = req.query['lambda-min']) !== null && _89 !== void 0 ? _89 : '1000'));
+    const signalType = os_command_1.SystemIdentificationOsCommandSignalType.LINEAR_WITH_CONSTANT_AMPLITUDE;
+    const startFrequency = parseInt(((_90 = req.query['start-frequency']) !== null && _90 !== void 0 ? _90 : '1000'));
+    const startProcedure = os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START;
+    const targetAmplitude = parseInt(((_91 = req.query['target-amplitude']) !== null && _91 !== void 0 ? _91 : '300'));
+    const targetFrequency = parseInt(((_92 = req.query['target-frequency']) !== null && _92 !== void 0 ? _92 : '10000'));
+    const transitionTime = parseInt(((_93 = req.query['transition-time']) !== null && _93 !== void 0 ? _93 : '3000'));
+    const options = {
+        hrdStreamingDuration,
+        modesOfOperation,
+        rangeLimitEff,
+        rangeLimitMin,
+        signalType,
+        startFrequency,
+        startProcedure,
+        targetAmplitude,
+        targetFrequency,
+        transitionTime,
+    };
+    yield new limited_range_system_identification_1.LimitedRangeSystemIdentification(client, deviceRef, options).start();
+    res.send();
+})));
 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

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

@@ -15,6 +15,7 @@ export * from './lib/homing';
 export * from './lib/integro-encoder-calibration';
 export * from './lib/integro-variant';
 export * from './lib/is-online';
+export * from './lib/limited-range-system-identification';
 export * from './lib/mmcidb';
 export * from './lib/monitoring-config';
 export * from './lib/monitoring-entry';

package/src/index.js

@@ -18,6 +18,7 @@ tslib_1.__exportStar(require("./lib/homing"), exports);
 tslib_1.__exportStar(require("./lib/integro-encoder-calibration"), exports);
 tslib_1.__exportStar(require("./lib/integro-variant"), exports);
 tslib_1.__exportStar(require("./lib/is-online"), exports);
+tslib_1.__exportStar(require("./lib/limited-range-system-identification"), exports);
 tslib_1.__exportStar(require("./lib/mmcidb"), exports);
 tslib_1.__exportStar(require("./lib/monitoring-config"), exports);
 tslib_1.__exportStar(require("./lib/monitoring-entry"), exports);

package/src/index.js.map

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package/src/lib/limited-range-system-identification.d.ts

@@ -0,0 +1,80 @@
+import { Subject } from 'rxjs';
+import { MotionMasterClient } from './motion-master-client';
+import { ChirpSignalOptions } from './os-command';
+import { DeviceRef } from './types';
+/**
+ * Options for executing the Limited Range System Identification procedure.
+ *
+ * Extends {@link ChirpSignalOptions} with additional parameters that bound the
+ * allowed position excursion during the chirp excitation. These limits ensure the
+ * joint remains within a safe ±position window while the controller dynamically
+ * adjusts the position-loop gain.
+ */
+export interface LimitedRangeSystemIdentificationOptions extends ChirpSignalOptions {
+    /**
+     * The effective symmetric position excursion limit (±value), expressed in
+     * position units. This defines the maximum allowable deviation from the
+     * reference position during chirp excitation. As the position error approaches
+     * this limit, the adaptive algorithm reduces the position-loop Kp to keep the
+     * joint within the bounded range.
+     */
+    rangeLimitEff: number;
+    /**
+     * The minimum admissible excursion limit used as a lower bound in internal
+     * scaling calculations. This value prevents division by very small ranges and
+     * stabilizes gain computation during the identification sequence.
+     */
+    rangeLimitMin: number;
+    /**
+     * Duration of high-rate data streaming (in milliseconds) that runs in parallel
+     * with the chirp excitation. This streaming window is used to collect
+     * high-resolution measurement data required for plant model computation.
+     */
+    hrdStreamingDuration: number;
+}
+/**
+ * Performs a limited-range system identification procedure on a device.
+ *
+ * This class safely executes the system identification process while preserving
+ * the device's original configuration (PID parameters, encoder settings, position
+ * feedback filter). It emits notifications about progress and status updates, which
+ * can be displayed in a UI or logged for debugging.
+ */
+export declare class LimitedRangeSystemIdentification {
+    readonly client: MotionMasterClient;
+    readonly deviceRef: DeviceRef;
+    readonly options: LimitedRangeSystemIdentificationOptions;
+    /**
+     * Emits status and progress messages during the procedure.
+     * Subscribers can display these messages in a UI or log them.
+     */
+    readonly notifications$: Subject<string>;
+    /**
+     * Indicates whether the system identification procedure is currently running.
+     */
+    isRunning: boolean;
+    /**
+     * Creates a new instance of the limited-range system identification routine.
+     *
+     * @param client - The Motion Master client used for communication with the device.
+     * @param deviceRef - A reference to the target device.
+     * @param options - Configuration options for the procedure.
+     */
+    constructor(client: MotionMasterClient, deviceRef: DeviceRef, options?: LimitedRangeSystemIdentificationOptions);
+    /**
+     * Starts the limited-range system identification procedure.
+     *
+     * This method:
+     * - Ensures the device is in a safe state.
+     * - Computes and sets initial PID values.
+     * - Starts data monitoring for position feedback.
+     * - Runs the chirp signal on the device.
+     * - Computes the plant model without the chirp signal.
+     * - Restores all device settings to their original values.
+     *
+     * Emits notifications to `notifications$` for each major step and error.
+     *
+     * @throws Will throw an error if any of the device requests fail.
+     */
+    start(): Promise<void>;
+}