npm - motion-master-client - Versions diffs - 0.0.329 → 0.0.331 - Mend

motion-master-client 0.0.329 → 0.0.331

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (10) hide show

package/package.json +1 -1
package/src/api.js +2 -2
package/src/api.js.map +1 -1
package/src/lib/data-monitoring.d.ts +49 -0
package/src/lib/data-monitoring.js +92 -0
package/src/lib/data-monitoring.js.map +1 -1
package/src/lib/limited-range-system-identification.js +37 -13
package/src/lib/limited-range-system-identification.js.map +1 -1
package/src/lib/motion-master.proto.d.ts +2 -0
package/src/lib/motion-master.proto.js +25 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.329",
+  "version": "0.0.331",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js CHANGED Viewed

@@ -968,8 +968,8 @@ app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asy
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const hrdStreamingDuration = parseInt(((_88 = req.query['hrd-streaming-duration']) !== null && _88 !== void 0 ? _88 : '3200'));
     const modesOfOperation = cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE;
-    const rangeLimitEff = parseInt(((_89 = req.query['lambda-eff']) !== null && _89 !== void 0 ? _89 : '10000'));
-    const rangeLimitMin = parseInt(((_90 = req.query['lambda-min']) !== null && _90 !== void 0 ? _90 : '1000'));
+    const rangeLimitEff = parseInt(((_89 = req.query['range-limit-eff']) !== null && _89 !== void 0 ? _89 : '100000'));
+    const rangeLimitMin = parseInt(((_90 = req.query['range-limit-min']) !== null && _90 !== void 0 ? _90 : '1000'));
     const signalType = os_command_1.SystemIdentificationOsCommandSignalType.LINEAR_WITH_CONSTANT_AMPLITUDE;
     const startFrequency = parseInt(((_91 = req.query['start-frequency']) !== null && _91 !== void 0 ? _91 : '1000'));
     const startProcedure = os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START;

package/src/api.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/src/lib/data-monitoring.d.ts CHANGED Viewed

@@ -40,6 +40,55 @@ export declare class DataMonitoring {
      * Converts the collected data to CSV format.
      */
     get csv(): string;
+    /**
+     * Finds the index of the timestamp field in the `ids` array.
+     *
+     * The timestamp field is identified by object 0x20F0 and subindex 0x00.
+     * IDs may be strings (parsed using `splitDeviceParameterId`) or tuples
+     * in the form `[deviceRef, index, subindex]`.
+     *
+     * @returns The zero-based index of the timestamp field in `ids`,
+     *          or `-1` if no timestamp entry exists.
+     */
+    get timestampIndex(): number;
+    /**
+     * Extracts the timestamp column from the monitoring data.
+     *
+     * Each entry of `data` contains an array of values aligned with `ids`.
+     * If no timestamp index exists, an empty array is returned.
+     *
+     * @returns An array of numeric timestamps extracted from the monitoring data.
+     */
+    get timestamps(): number[];
+    /**
+     * Computes differences between consecutive timestamps.
+     *
+     * The result contains `timestamps.length - 1` entries, where each value is:
+     *
+     * `timestamps[i] - timestamps[i - 1]`
+     *
+     * If fewer than two timestamps are available, an empty array is returned.
+     *
+     * @returns An array of time deltas between consecutive timestamps.
+     */
+    timestampDiffs(): number[];
+    /**
+     * Computes the average time difference between consecutive timestamps.
+     *
+     * Uses the values returned by {@link timestampDiffs}. If no diffs exist
+     * (e.g., fewer than two timestamps), returns `0`.
+     *
+     * @returns The average timestamp delta, or `0` if no diffs are available.
+     */
+    averageTimestampDiff(): number;
+    /**
+     * Computes the median time difference between consecutive timestamps.
+     *
+     * Uses the values returned by {@link timestampDiffs}. If no diffs exist, returns 0.
+     *
+     * @returns The median timestamp delta, or 0 if no diffs can be computed.
+     */
+    medianTimestampDiff(): number;
     /**
      * Clears the previously collected data.
      */

package/src/lib/data-monitoring.js CHANGED Viewed

@@ -58,6 +58,98 @@ class DataMonitoring {
         const rows = this.data.map((values) => values.join(','));
         return [this.header, ...rows].join('\n');
     }
+    /**
+     * Finds the index of the timestamp field in the `ids` array.
+     *
+     * The timestamp field is identified by object 0x20F0 and subindex 0x00.
+     * IDs may be strings (parsed using `splitDeviceParameterId`) or tuples
+     * in the form `[deviceRef, index, subindex]`.
+     *
+     * @returns The zero-based index of the timestamp field in `ids`,
+     *          or `-1` if no timestamp entry exists.
+     */
+    get timestampIndex() {
+        const indexOfTimestamp = this.ids.findIndex((id) => {
+            if (typeof id === 'string') {
+                const [, index, subindex] = (0, device_parameter_1.splitDeviceParameterId)(id);
+                return index === 0x20f0 && subindex === 0x00;
+            }
+            else {
+                return id[1] === 0x20f0 && id[2] === 0x00;
+            }
+        });
+        return indexOfTimestamp;
+    }
+    /**
+     * Extracts the timestamp column from the monitoring data.
+     *
+     * Each entry of `data` contains an array of values aligned with `ids`.
+     * If no timestamp index exists, an empty array is returned.
+     *
+     * @returns An array of numeric timestamps extracted from the monitoring data.
+     */
+    get timestamps() {
+        if (this.timestampIndex === -1) {
+            return [];
+        }
+        return this.data.map((values) => values[this.timestampIndex]);
+    }
+    /**
+     * Computes differences between consecutive timestamps.
+     *
+     * The result contains `timestamps.length - 1` entries, where each value is:
+     *
+     * `timestamps[i] - timestamps[i - 1]`
+     *
+     * If fewer than two timestamps are available, an empty array is returned.
+     *
+     * @returns An array of time deltas between consecutive timestamps.
+     */
+    timestampDiffs() {
+        if (this.timestamps.length < 2) {
+            return [];
+        }
+        const diffs = [];
+        for (let i = 1; i < this.timestamps.length; i++) {
+            diffs.push(this.timestamps[i] - this.timestamps[i - 1]);
+        }
+        return diffs;
+    }
+    /**
+     * Computes the average time difference between consecutive timestamps.
+     *
+     * Uses the values returned by {@link timestampDiffs}. If no diffs exist
+     * (e.g., fewer than two timestamps), returns `0`.
+     *
+     * @returns The average timestamp delta, or `0` if no diffs are available.
+     */
+    averageTimestampDiff() {
+        const diffs = this.timestampDiffs();
+        if (diffs.length === 0) {
+            return 0;
+        }
+        let sum = 0;
+        for (let i = 0; i < diffs.length; i++) {
+            sum += diffs[i];
+        }
+        return sum / diffs.length;
+    }
+    /**
+     * Computes the median time difference between consecutive timestamps.
+     *
+     * Uses the values returned by {@link timestampDiffs}. If no diffs exist, returns 0.
+     *
+     * @returns The median timestamp delta, or 0 if no diffs can be computed.
+     */
+    medianTimestampDiff() {
+        const diffs = this.timestampDiffs();
+        if (diffs.length === 0) {
+            return 0;
+        }
+        const sorted = [...diffs].sort((a, b) => a - b);
+        const mid = Math.floor(sorted.length / 2);
+        return sorted.length % 2 === 0 ? (sorted[mid - 1] + sorted[mid]) / 2 : sorted[mid];
+    }
     /**
      * Clears the previously collected data.
      */

package/src/lib/data-monitoring.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/src/lib/limited-range-system-identification.js CHANGED Viewed

@@ -35,9 +35,9 @@ class LimitedRangeSystemIdentification {
     constructor(client, deviceRef, options = {
         hrdStreamingDuration: 3200,
         modesOfOperation: cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE,
-        rangeLimitEff: 10000,
+        rangeLimitEff: 100000,
         rangeLimitMin: 1000,
-        signalType: os_command_1.SystemIdentificationOsCommandSignalType.LOGARITHMIC_WITH_AMPLITUDE_MODULATION,
+        signalType: os_command_1.SystemIdentificationOsCommandSignalType.LINEAR_WITH_CONSTANT_AMPLITUDE,
         startFrequency: 1000,
         startProcedure: os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START,
         targetAmplitude: 300,
@@ -101,7 +101,11 @@ class LimitedRangeSystemIdentification {
             // Variables to hold original configurations for restoration later
             let encCom;
             let encPos;
-            const dataMonitoring = this.client.createDataMonitoring([[this.deviceRef, 0x6064, 0x00]], 50000); // 50 ms interval
+            const dataMonitoring = this.client.createDataMonitoring([
+                [this.deviceRef, 0x20f0, 0x00],
+                [this.deviceRef, 0x6041, 0x00],
+                [this.deviceRef, 0x6064, 0x00], // Position actual value
+            ], 10000); // 10 ms interval
             let positionFeedbackFilterType;
             let pKp;
             let pKi;
@@ -185,6 +189,8 @@ class LimitedRangeSystemIdentification {
                 this.notifications$.next('Forcing on-demand parameters update...');
                 yield this.client.request.forceOnDemandParametersUpdate(this.deviceRef);
                 this.notifications$.next('On-demand parameters update forced.');
+                // Variable to track if a fault occurred during the procedure
+                let hasFault = false;
                 // Start data monitoring for position actual value (0x6064:00) and update Kp based on position error
                 this.notifications$.next('Starting data monitoring for position actual value...');
                 const posRef = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
@@ -193,17 +199,26 @@ class LimitedRangeSystemIdentification {
                     .pipe(
                 // Convert each emitted actual position into a download request to update the position loop Kp,
                 // ignoring new emissions until the previous request completes
-                (0, rxjs_1.exhaustMap)((data) => {
-                    const posAct = data[0];
-                    const e = posRef - posAct;
-                    let kp;
-                    if (feedConstant === 0xffffffff) {
-                        kp = xiSquared / Math.pow(Math.max(rangeLimitEff - Math.abs(e), 1), 2);
+                (0, rxjs_1.exhaustMap)((values) => {
+                    const statusword = values[1];
+                    const cia402State = (0, cia402_1.getCia402State)(statusword);
+                    if (cia402State === cia402_1.Cia402State.OPERATION_ENABLED) {
+                        const positionActualValue = values[2];
+                        const e = posRef - positionActualValue;
+                        let kp;
+                        if (feedConstant === 0xffffffff) {
+                            kp = xiSquared / Math.pow(Math.max(rangeLimitEff - Math.abs(e), 1), 2);
+                        }
+                        else {
+                            kp = xiSquared / Math.pow((Math.max(rangeLimitEff - Math.abs(e), 1) / feedConstant) * resolution, 2);
+                        }
+                        return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
                     }
-                    else {
-                        kp = xiSquared / Math.pow((Math.max(rangeLimitEff - Math.abs(e), 1) / feedConstant) * resolution, 2);
+                    else if ((0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT_REACTION_ACTIVE ||
+                        (0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT) {
+                        hasFault = true;
                     }
-                    return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
+                    return rxjs_1.EMPTY;
                 }))
                     .subscribe();
                 this.notifications$.next('Data monitoring started.');
@@ -216,10 +231,19 @@ class LimitedRangeSystemIdentification {
                 this.notifications$.next('Running the chirp signal...');
                 yield (0, rxjs_1.lastValueFrom)(this.client.request.runChirpSignal(this.deviceRef, this.options));
                 this.notifications$.next('Chirp signal procedure completed.');
+                if (hasFault) {
+                    throw new Error('Device entered FAULT state during chirp signal execution.');
+                }
                 // Stop data monitoring
                 this.notifications$.next('Stopping data monitoring...');
                 dataMonitoring.stop();
                 this.notifications$.next('Data monitoring stopped.');
+                // Compute and log the average timestamp difference from the collected data
+                const averageTimestampDiff = dataMonitoring.averageTimestampDiff();
+                this.notifications$.next(`Average data monitoring timestamp delta: ${averageTimestampDiff} μs`);
+                // Compute and log the median timestamp difference from the collected data
+                const medianTimestampDiff = dataMonitoring.medianTimestampDiff();
+                this.notifications$.next(`Median data monitoring timestamp delta: ${medianTimestampDiff} μs`);
                 // Start the system identification procedure without the chirp signal in order to only compute the plant model
                 this.notifications$.next('Starting system identification procedure on Motion Master to compute plant model...');
                 const deviceRefObj = (0, device_1.makeDeviceRefObj)(this.deviceRef);
@@ -228,7 +252,7 @@ class LimitedRangeSystemIdentification {
                 this.notifications$.next('Computing plant model completed.');
             }
             catch (error) {
-                this.notifications$.next(`Error during procedure: ${error instanceof Error ? error.message : error}`);
+                this.notifications$.next(`Error: ${error instanceof Error ? error.message : error}`);
                 throw error;
             }
             finally {

package/src/lib/limited-range-system-identification.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/src/lib/motion-master.proto.d.ts CHANGED Viewed

@@ -3503,6 +3503,7 @@ export namespace motionmaster {
                 success?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.ISuccess|null);
                 error?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IError|null);
                 warning?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IWarning|null);
+                bodeFileContent?: (string|null);
             }
             class SystemIdentification implements ISystemIdentification {
@@ -3511,6 +3512,7 @@ export namespace motionmaster {
                 public success?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.ISuccess|null);
                 public error?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IError|null);
                 public warning?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IWarning|null);
+                public bodeFileContent: string;
                 public status?: ("success"|"error"|"warning");
                 public static create(properties?: motionmaster.MotionMasterMessage.Status.ISystemIdentification): motionmaster.MotionMasterMessage.Status.SystemIdentification;
                 public static encode(message: motionmaster.MotionMasterMessage.Status.ISystemIdentification, writer?: $protobuf.Writer): $protobuf.Writer;

package/src/lib/motion-master.proto.js CHANGED Viewed

@@ -37424,6 +37424,7 @@ $root.motionmaster = (() => {
                  * @property {motionmaster.MotionMasterMessage.Status.SystemIdentification.ISuccess|null} [success] SystemIdentification success
                  * @property {motionmaster.MotionMasterMessage.Status.SystemIdentification.IError|null} [error] SystemIdentification error
                  * @property {motionmaster.MotionMasterMessage.Status.SystemIdentification.IWarning|null} [warning] SystemIdentification warning
+                 * @property {string|null} [bodeFileContent] SystemIdentification bodeFileContent
                  */
                 /**
@@ -37473,6 +37474,14 @@ $root.motionmaster = (() => {
                  */
                 SystemIdentification.prototype.warning = null;
+                /**
+                 * SystemIdentification bodeFileContent.
+                 * @member {string} bodeFileContent
+                 * @memberof motionmaster.MotionMasterMessage.Status.SystemIdentification
+                 * @instance
+                 */
+                SystemIdentification.prototype.bodeFileContent = "";
                 // OneOf field names bound to virtual getters and setters
                 let $oneOfFields;
@@ -37519,6 +37528,8 @@ $root.motionmaster = (() => {
                         $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Error.encode(message.error, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
                     if (message.warning != null && Object.hasOwnProperty.call(message, "warning"))
                         $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Warning.encode(message.warning, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
+                    if (message.bodeFileContent != null && Object.hasOwnProperty.call(message, "bodeFileContent"))
+                        writer.uint32(/* id 5, wireType 2 =*/42).string(message.bodeFileContent);
                     return writer;
                 };
@@ -37569,6 +37580,10 @@ $root.motionmaster = (() => {
                                 message.warning = $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Warning.decode(reader, reader.uint32());
                                 break;
                             }
+                        case 5: {
+                                message.bodeFileContent = reader.string();
+                                break;
+                            }
                         default:
                             reader.skipType(tag & 7);
                             break;
@@ -37636,6 +37651,9 @@ $root.motionmaster = (() => {
                                 return "warning." + error;
                         }
                     }
+                    if (message.bodeFileContent != null && message.hasOwnProperty("bodeFileContent"))
+                        if (!$util.isString(message.bodeFileContent))
+                            return "bodeFileContent: string expected";
                     return null;
                 };
@@ -37668,6 +37686,8 @@ $root.motionmaster = (() => {
                             throw TypeError(".motionmaster.MotionMasterMessage.Status.SystemIdentification.warning: object expected");
                         message.warning = $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Warning.fromObject(object.warning);
                     }
+                    if (object.bodeFileContent != null)
+                        message.bodeFileContent = String(object.bodeFileContent);
                     return message;
                 };
@@ -37684,8 +37704,10 @@ $root.motionmaster = (() => {
                     if (!options)
                         options = {};
                     let object = {};
-                    if (options.defaults)
+                    if (options.defaults) {
                         object.deviceAddress = 0;
+                        object.bodeFileContent = "";
+                    }
                     if (message.deviceAddress != null && message.hasOwnProperty("deviceAddress"))
                         object.deviceAddress = message.deviceAddress;
                     if (message.success != null && message.hasOwnProperty("success")) {
@@ -37703,6 +37725,8 @@ $root.motionmaster = (() => {
                         if (options.oneofs)
                             object.status = "warning";
                     }
+                    if (message.bodeFileContent != null && message.hasOwnProperty("bodeFileContent"))
+                        object.bodeFileContent = message.bodeFileContent;
                     return object;
                 };