motion-master-client 0.0.327 → 0.0.329

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Files changed (7) hide show
  1. package/package.json +1 -1
  2. package/src/api.js +4 -4
  3. package/src/api.js.map +1 -1
  4. package/src/lib/limited-range-system-identification.js +1 -1
  5. package/src/lib/motion-master-client.d.ts +37 -13
  6. package/src/lib/motion-master-client.js +44 -13
  7. package/src/lib/motion-master-client.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.327",
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+ "version": "0.0.329",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/api.js CHANGED
@@ -517,7 +517,7 @@ app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/velocity', asyncHandl
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  var _20, _21, _22;
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  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
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  const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
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- const velocityLoopBandwidth = parseInt(((_20 = req.query['velocity-loop-bandwidth']) !== null && _20 !== void 0 ? _20 : '5'));
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+ const velocityLoopBandwidth = parseFloat(((_20 = req.query['velocity-loop-bandwidth']) !== null && _20 !== void 0 ? _20 : '5'));
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  const velocityDamping = parseFloat(((_21 = req.query['velocity-damping']) !== null && _21 !== void 0 ? _21 : '0.7'));
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  const requestTimeout = parseInt(((_22 = req.query['request-timeout']) !== null && _22 !== void 0 ? _22 : '120000'));
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  const velocityParameters = { velocityLoopBandwidth, velocityDamping };
@@ -534,8 +534,8 @@ app.get('/api/devices/:deviceRef/compute-auto-tuning-gains/position', asyncHandl
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  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
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  const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
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  const controllerType = (_24 = types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType[((_23 = req.query['controller-type']) !== null && _23 !== void 0 ? _23 : 'UNSPECIFIED')]) !== null && _24 !== void 0 ? _24 : types_1.MotionMasterMessage.Request.ComputeAutoTuningGains.PositionParameters.ControllerType.UNSPECIFIED;
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- const settlingTime = parseInt(((_25 = req.query['settling-time']) !== null && _25 !== void 0 ? _25 : '200'));
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- const positionDamping = parseInt(((_26 = req.query['position-damping']) !== null && _26 !== void 0 ? _26 : '1'));
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+ const settlingTime = parseFloat(((_25 = req.query['settling-time']) !== null && _25 !== void 0 ? _25 : '0.2'));
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+ const positionDamping = parseFloat(((_26 = req.query['position-damping']) !== null && _26 !== void 0 ? _26 : '1'));
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  const alphaMult = parseInt(((_27 = req.query['alpha-mult']) !== null && _27 !== void 0 ? _27 : '1'));
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  const order = parseInt(((_28 = req.query['order']) !== null && _28 !== void 0 ? _28 : '0'));
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  const lb = parseInt(((_29 = req.query['lb']) !== null && _29 !== void 0 ? _29 : '1'));
@@ -966,7 +966,7 @@ app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => t
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  app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
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  var _88, _89, _90, _91, _92, _93, _94;
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  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
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- const hrdStreamingDuration = parseInt(((_88 = req.query['hrd-streaming-duration']) !== null && _88 !== void 0 ? _88 : '4000'));
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+ const hrdStreamingDuration = parseInt(((_88 = req.query['hrd-streaming-duration']) !== null && _88 !== void 0 ? _88 : '3200'));
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  const modesOfOperation = cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE;
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  const rangeLimitEff = parseInt(((_89 = req.query['lambda-eff']) !== null && _89 !== void 0 ? _89 : '10000'));
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  const rangeLimitMin = parseInt(((_90 = req.query['lambda-min']) !== null && _90 !== void 0 ? _90 : '1000'));
package/src/api.js.map CHANGED
@@ -1 +1 @@
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package/src/lib/limited-range-system-identification.js CHANGED
@@ -33,7 +33,7 @@ class LimitedRangeSystemIdentification {
33
33
  * @param options - Configuration options for the procedure.
34
34
  */
35
35
  constructor(client, deviceRef, options = {
36
- hrdStreamingDuration: 4000,
36
+ hrdStreamingDuration: 3200,
37
37
  modesOfOperation: cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE,
38
38
  rangeLimitEff: 10000,
39
39
  rangeLimitMin: 1000,
package/src/lib/motion-master-client.d.ts CHANGED
@@ -23,27 +23,51 @@ export declare class MotionMasterClient {
23
23
  private systemEventSubscription?;
24
24
  constructor(reqResSocket: MotionMasterReqResSocket, pubSubSocket: MotionMasterPubSubSocket);
25
25
  /**
26
- * This observable will emit true when both req/res and pub/sub sockets are opened.
27
- * If any socket gets closed, this observable will emit false.
28
- * This is a hot observable that will on subscription emit the last value of sockets opened.
26
+ * Emits true when both req/res and pub/sub sockets are opened.
27
+ * Emits false if any socket closes.
28
+ * This is a hot observable and always replays the latest opened state on subscription.
29
29
  */
30
30
  socketsOpened$: Observable<boolean>;
31
31
  /**
32
- * Client is ready when both req/res and pub/sub sockets are opened.
33
- * This observable will emit whenever the sockets opened property changes to true.
32
+ * Emits `true` **only when the client transitions into the ready state**,
33
+ * meaning both sockets have become opened.
34
+ *
35
+ * `distinctUntilChanged()` guarantees that repeated `true` values are suppressed.
36
+ * However, new subscribers will still immediately receive the last replayed `true`
37
+ * if the client is already ready.
38
+ */
39
+ ready$: Observable<boolean>;
40
+ /**
41
+ * Emits a single time when the client becomes ready for the first time.
42
+ *
43
+ * - Emits immediately if both sockets are already open.
44
+ * - Completes after emitting once.
45
+ * - If the client never becomes ready, this observable never emits.
34
46
  */
35
- ready$: Observable<true>;
47
+ onceReady$: Observable<boolean>;
36
48
  /**
37
- * This observable will emit only once when both req/res and pub/sub sockets are opened.
38
- * NOTE: This observable might never emit and it doesn't timeout.
49
+ * Returns an Observable that emits once when both req/res and pub/sub sockets are opened, then completes.
50
+ *
51
+ * - Emits immediately if both sockets are already open.
52
+ * - Completes after emitting once.
53
+ * - Errors with a TimeoutError if the specified timeout is reached before both sockets are open.
54
+ *
55
+ * @param requestTimeout The maximum time (in milliseconds) to wait for both sockets to open. Default is 5000 ms.
56
+ * @returns Observable<void> that emits once when ready and then completes.
39
57
  */
40
- onceReady$: Observable<true>;
58
+ onceReady(requestTimeout?: number): Observable<void>;
41
59
  /**
42
- * Client is ready when both req/res and pub/sub sockets are opened.
43
- * If both sockets are already opened, this function will immediately resolve to true.
44
- * Otherwise, it will wait up to requestTimeout for both sockets to open, or throw an error.
60
+ * Waits until both req/res and pub/sub sockets are opened.
61
+ *
62
+ * - Resolves immediately if both sockets are already open.
63
+ * - Otherwise, waits up to `requestTimeout` milliseconds for both sockets to open.
64
+ * - Throws a TimeoutError if the timeout is reached before both sockets are open.
65
+ * - Returns a Promise that resolves when the client is ready.
66
+ *
67
+ * @param requestTimeout Maximum time in milliseconds to wait for both sockets to open. Default is 5000 ms.
68
+ * @returns Promise<void> that resolves when both sockets are open or rejects on timeout.
45
69
  */
46
- whenReady(requestTimeout?: number): Promise<true>;
70
+ whenReady(requestTimeout?: number): Promise<void>;
47
71
  /**
48
72
  * Creates and returns and instance of {@link DataMonitoring} class.
49
73
  */
package/src/lib/motion-master-client.js CHANGED
@@ -39,8 +39,13 @@ function createMotionMasterClient(configOrHostname, pingSystemInterval = 250, sy
39
39
  reqResSocket.open(`${protocol}://${hostname}:${reqResPort}?clientId=${clientId}`, pingSystemInterval, systemAliveTimeout);
40
40
  pubSubSocket.open(`${protocol}://${hostname}:${pubSubPort}?clientId=${clientId}`);
41
41
  if (clientAliveTimeout) {
42
- client.whenReady(5000).then(() => {
42
+ client
43
+ .whenReady(5000)
44
+ .then(() => {
43
45
  client.request.setSystemClientTimeout({ timeoutMs: clientAliveTimeout });
46
+ })
47
+ .catch((err) => {
48
+ console.error('MotionMasterClient failed to set client alive timeout:', err.message);
44
49
  });
45
50
  }
46
51
  return client;
@@ -51,19 +56,26 @@ class MotionMasterClient {
51
56
  this.reqResSocket = reqResSocket;
52
57
  this.pubSubSocket = pubSubSocket;
53
58
  /**
54
- * This observable will emit true when both req/res and pub/sub sockets are opened.
55
- * If any socket gets closed, this observable will emit false.
56
- * This is a hot observable that will on subscription emit the last value of sockets opened.
59
+ * Emits true when both req/res and pub/sub sockets are opened.
60
+ * Emits false if any socket closes.
61
+ * This is a hot observable and always replays the latest opened state on subscription.
57
62
  */
58
63
  this.socketsOpened$ = (0, rxjs_1.combineLatest)([this.reqResSocket.opened$, this.pubSubSocket.opened$]).pipe((0, rxjs_1.map)(([reqResSocketOpened, pubSubSocketOpened]) => reqResSocketOpened && pubSubSocketOpened));
59
64
  /**
60
- * Client is ready when both req/res and pub/sub sockets are opened.
61
- * This observable will emit whenever the sockets opened property changes to true.
65
+ * Emits `true` **only when the client transitions into the ready state**,
66
+ * meaning both sockets have become opened.
67
+ *
68
+ * `distinctUntilChanged()` guarantees that repeated `true` values are suppressed.
69
+ * However, new subscribers will still immediately receive the last replayed `true`
70
+ * if the client is already ready.
62
71
  */
63
- this.ready$ = this.socketsOpened$.pipe((0, rxjs_1.filter)(Boolean));
72
+ this.ready$ = this.socketsOpened$.pipe((0, rxjs_1.distinctUntilChanged)(), (0, rxjs_1.filter)((opened) => opened === true));
64
73
  /**
65
- * This observable will emit only once when both req/res and pub/sub sockets are opened.
66
- * NOTE: This observable might never emit and it doesn't timeout.
74
+ * Emits a single time when the client becomes ready for the first time.
75
+ *
76
+ * - Emits immediately if both sockets are already open.
77
+ * - Completes after emitting once.
78
+ * - If the client never becomes ready, this observable never emits.
67
79
  */
68
80
  this.onceReady$ = this.ready$.pipe((0, rxjs_1.first)());
69
81
  this.request = new motion_master_req_res_client_1.MotionMasterReqResClient(this.reqResSocket);
@@ -71,12 +83,31 @@ class MotionMasterClient {
71
83
  this.subscribeToSystemEvent();
72
84
  }
73
85
  /**
74
- * Client is ready when both req/res and pub/sub sockets are opened.
75
- * If both sockets are already opened, this function will immediately resolve to true.
76
- * Otherwise, it will wait up to requestTimeout for both sockets to open, or throw an error.
86
+ * Returns an Observable that emits once when both req/res and pub/sub sockets are opened, then completes.
87
+ *
88
+ * - Emits immediately if both sockets are already open.
89
+ * - Completes after emitting once.
90
+ * - Errors with a TimeoutError if the specified timeout is reached before both sockets are open.
91
+ *
92
+ * @param requestTimeout The maximum time (in milliseconds) to wait for both sockets to open. Default is 5000 ms.
93
+ * @returns Observable<void> that emits once when ready and then completes.
94
+ */
95
+ onceReady(requestTimeout = 5000) {
96
+ return this.socketsOpened$.pipe((0, rxjs_1.distinctUntilChanged)(), (0, rxjs_1.filter)((opened) => opened === true), (0, rxjs_1.take)(1), (0, rxjs_1.timeout)(requestTimeout), (0, rxjs_1.map)(() => void 0));
97
+ }
98
+ /**
99
+ * Waits until both req/res and pub/sub sockets are opened.
100
+ *
101
+ * - Resolves immediately if both sockets are already open.
102
+ * - Otherwise, waits up to `requestTimeout` milliseconds for both sockets to open.
103
+ * - Throws a TimeoutError if the timeout is reached before both sockets are open.
104
+ * - Returns a Promise that resolves when the client is ready.
105
+ *
106
+ * @param requestTimeout Maximum time in milliseconds to wait for both sockets to open. Default is 5000 ms.
107
+ * @returns Promise<void> that resolves when both sockets are open or rejects on timeout.
77
108
  */
78
109
  whenReady(requestTimeout = 5000) {
79
- return (0, rxjs_1.firstValueFrom)(this.ready$.pipe((0, rxjs_1.timeout)(requestTimeout)));
110
+ return (0, rxjs_1.firstValueFrom)(this.socketsOpened$.pipe((0, rxjs_1.distinctUntilChanged)(), (0, rxjs_1.filter)((opened) => opened === true), (0, rxjs_1.take)(1), (0, rxjs_1.timeout)(requestTimeout), (0, rxjs_1.map)(() => void 0)));
80
111
  }
81
112
  /**
82
113
  * Creates and returns and instance of {@link DataMonitoring} class.
package/src/lib/motion-master-client.js.map CHANGED
@@ -1 +1 @@
1
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