motion-master-client 0.0.330 → 0.0.332

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Files changed (8) hide show
  1. package/package.json +1 -1
  2. package/src/lib/limited-range-system-identification.js +30 -10
  3. package/src/lib/limited-range-system-identification.js.map +1 -1
  4. package/src/lib/motion-master.proto.d.ts +2 -0
  5. package/src/lib/motion-master.proto.js +25 -1
  6. package/src/lib/util.d.ts +9 -0
  7. package/src/lib/util.js +24 -1
  8. package/src/lib/util.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": "0.0.330",
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+ "version": "0.0.332",
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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/lib/limited-range-system-identification.js CHANGED
@@ -105,7 +105,8 @@ class LimitedRangeSystemIdentification {
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  [this.deviceRef, 0x20f0, 0x00],
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  [this.deviceRef, 0x6041, 0x00],
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  [this.deviceRef, 0x6064, 0x00], // Position actual value
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- ], 10000); // 10 ms interval
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+ ], 1000 // 1 ms interval
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+ );
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  let positionFeedbackFilterType;
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  let pKp;
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  let pKi;
@@ -194,14 +195,23 @@ class LimitedRangeSystemIdentification {
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  // Start data monitoring for position actual value (0x6064:00) and update Kp based on position error
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  this.notifications$.next('Starting data monitoring for position actual value...');
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  const posRef = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
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- dataMonitoring
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- .start()
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- .pipe(
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- // Convert each emitted actual position into a download request to update the position loop Kp,
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- // ignoring new emissions until the previous request completes
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- (0, rxjs_1.exhaustMap)((values) => {
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+ dataMonitoring.start().subscribe();
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+ this.notifications$.next('Data monitoring started.');
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+ let prevKp = 0;
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+ (0, rxjs_1.interval)(1)
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+ .pipe((0, rxjs_1.takeWhile)(() => this.isRunning),
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+ // exhaustMap ignores new emissions until the previous observable completes
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+ (0, rxjs_1.exhaustMap)(() => {
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+ // If no data has been collected yet, skip this iteration
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+ if (dataMonitoring.data.length === 0) {
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+ return rxjs_1.EMPTY;
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+ }
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+ // Get the latest monitored values
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+ const values = dataMonitoring.data[dataMonitoring.data.length - 1];
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+ // Extract the statusword and determine the CiA 402 state
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  const statusword = values[1];
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  const cia402State = (0, cia402_1.getCia402State)(statusword);
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+ // Update Kp only if the drive is in OPERATION_ENABLED state
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  if (cia402State === cia402_1.Cia402State.OPERATION_ENABLED) {
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  const positionActualValue = values[2];
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  const e = posRef - positionActualValue;
@@ -212,7 +222,14 @@ class LimitedRangeSystemIdentification {
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  else {
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  kp = xiSquared / Math.pow((Math.max(rangeLimitEff - Math.abs(e), 1) / feedConstant) * resolution, 2);
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  }
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- return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
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+ // Update Kp only if it has changed to minimize downloads
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+ if (kp !== prevKp) {
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+ prevKp = kp;
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+ return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
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+ }
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+ else {
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+ return rxjs_1.EMPTY;
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+ }
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  }
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  else if ((0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT_REACTION_ACTIVE ||
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  (0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT) {
@@ -220,8 +237,11 @@ class LimitedRangeSystemIdentification {
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  }
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  return rxjs_1.EMPTY;
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  }))
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- .subscribe();
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- this.notifications$.next('Data monitoring started.');
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+ .subscribe({
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+ complete: () => {
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+ this.notifications$.next('Kp updates based on position error completed.');
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+ },
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+ });
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  // Read the current position and set it as the target position to prevent sudden movement
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  this.notifications$.next('Setting current position as target position...');
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  const positionActualValue = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
package/src/lib/limited-range-system-identification.js.map CHANGED
@@ -1 +1 @@
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package/src/lib/motion-master.proto.d.ts CHANGED
@@ -3503,6 +3503,7 @@ export namespace motionmaster {
3503
3503
  success?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.ISuccess|null);
3504
3504
  error?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IError|null);
3505
3505
  warning?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IWarning|null);
3506
+ bodeFileContent?: (string|null);
3506
3507
  }
3507
3508
 
3508
3509
  class SystemIdentification implements ISystemIdentification {
@@ -3511,6 +3512,7 @@ export namespace motionmaster {
3511
3512
  public success?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.ISuccess|null);
3512
3513
  public error?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IError|null);
3513
3514
  public warning?: (motionmaster.MotionMasterMessage.Status.SystemIdentification.IWarning|null);
3515
+ public bodeFileContent: string;
3514
3516
  public status?: ("success"|"error"|"warning");
3515
3517
  public static create(properties?: motionmaster.MotionMasterMessage.Status.ISystemIdentification): motionmaster.MotionMasterMessage.Status.SystemIdentification;
3516
3518
  public static encode(message: motionmaster.MotionMasterMessage.Status.ISystemIdentification, writer?: $protobuf.Writer): $protobuf.Writer;
package/src/lib/motion-master.proto.js CHANGED
@@ -37424,6 +37424,7 @@ $root.motionmaster = (() => {
37424
37424
  * @property {motionmaster.MotionMasterMessage.Status.SystemIdentification.ISuccess|null} [success] SystemIdentification success
37425
37425
  * @property {motionmaster.MotionMasterMessage.Status.SystemIdentification.IError|null} [error] SystemIdentification error
37426
37426
  * @property {motionmaster.MotionMasterMessage.Status.SystemIdentification.IWarning|null} [warning] SystemIdentification warning
37427
+ * @property {string|null} [bodeFileContent] SystemIdentification bodeFileContent
37427
37428
  */
37428
37429
 
37429
37430
  /**
@@ -37473,6 +37474,14 @@ $root.motionmaster = (() => {
37473
37474
  */
37474
37475
  SystemIdentification.prototype.warning = null;
37475
37476
 
37477
+ /**
37478
+ * SystemIdentification bodeFileContent.
37479
+ * @member {string} bodeFileContent
37480
+ * @memberof motionmaster.MotionMasterMessage.Status.SystemIdentification
37481
+ * @instance
37482
+ */
37483
+ SystemIdentification.prototype.bodeFileContent = "";
37484
+
37476
37485
  // OneOf field names bound to virtual getters and setters
37477
37486
  let $oneOfFields;
37478
37487
 
@@ -37519,6 +37528,8 @@ $root.motionmaster = (() => {
37519
37528
  $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Error.encode(message.error, writer.uint32(/* id 3, wireType 2 =*/26).fork()).ldelim();
37520
37529
  if (message.warning != null && Object.hasOwnProperty.call(message, "warning"))
37521
37530
  $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Warning.encode(message.warning, writer.uint32(/* id 4, wireType 2 =*/34).fork()).ldelim();
37531
+ if (message.bodeFileContent != null && Object.hasOwnProperty.call(message, "bodeFileContent"))
37532
+ writer.uint32(/* id 5, wireType 2 =*/42).string(message.bodeFileContent);
37522
37533
  return writer;
37523
37534
  };
37524
37535
 
@@ -37569,6 +37580,10 @@ $root.motionmaster = (() => {
37569
37580
  message.warning = $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Warning.decode(reader, reader.uint32());
37570
37581
  break;
37571
37582
  }
37583
+ case 5: {
37584
+ message.bodeFileContent = reader.string();
37585
+ break;
37586
+ }
37572
37587
  default:
37573
37588
  reader.skipType(tag & 7);
37574
37589
  break;
@@ -37636,6 +37651,9 @@ $root.motionmaster = (() => {
37636
37651
  return "warning." + error;
37637
37652
  }
37638
37653
  }
37654
+ if (message.bodeFileContent != null && message.hasOwnProperty("bodeFileContent"))
37655
+ if (!$util.isString(message.bodeFileContent))
37656
+ return "bodeFileContent: string expected";
37639
37657
  return null;
37640
37658
  };
37641
37659
 
@@ -37668,6 +37686,8 @@ $root.motionmaster = (() => {
37668
37686
  throw TypeError(".motionmaster.MotionMasterMessage.Status.SystemIdentification.warning: object expected");
37669
37687
  message.warning = $root.motionmaster.MotionMasterMessage.Status.SystemIdentification.Warning.fromObject(object.warning);
37670
37688
  }
37689
+ if (object.bodeFileContent != null)
37690
+ message.bodeFileContent = String(object.bodeFileContent);
37671
37691
  return message;
37672
37692
  };
37673
37693
 
@@ -37684,8 +37704,10 @@ $root.motionmaster = (() => {
37684
37704
  if (!options)
37685
37705
  options = {};
37686
37706
  let object = {};
37687
- if (options.defaults)
37707
+ if (options.defaults) {
37688
37708
  object.deviceAddress = 0;
37709
+ object.bodeFileContent = "";
37710
+ }
37689
37711
  if (message.deviceAddress != null && message.hasOwnProperty("deviceAddress"))
37690
37712
  object.deviceAddress = message.deviceAddress;
37691
37713
  if (message.success != null && message.hasOwnProperty("success")) {
@@ -37703,6 +37725,8 @@ $root.motionmaster = (() => {
37703
37725
  if (options.oneofs)
37704
37726
  object.status = "warning";
37705
37727
  }
37728
+ if (message.bodeFileContent != null && message.hasOwnProperty("bodeFileContent"))
37729
+ object.bodeFileContent = message.bodeFileContent;
37706
37730
  return object;
37707
37731
  };
37708
37732
 
package/src/lib/util.d.ts CHANGED
@@ -471,3 +471,12 @@ export interface NotificationEntry {
471
471
  * ```
472
472
  */
473
473
  export declare function withTimeDifference(startTime: number): OperatorFunction<string, NotificationEntry[]>;
474
+ /**
475
+ * Compute mean and median of consecutive time differences
476
+ * @param timestamps - Array of numbers (Date.now() style)
477
+ * @returns { mean: number, median: number }
478
+ */
479
+ export declare function analyzeTimeDiffs(timestamps: number[]): {
480
+ mean: number;
481
+ median: number;
482
+ };
package/src/lib/util.js CHANGED
@@ -1,6 +1,6 @@
1
1
  "use strict";
2
2
  Object.defineProperty(exports, "__esModule", { value: true });
3
- exports.withTimeDifference = exports.fromQ = exports.convertIpv4 = exports.convertValueToHexString = exports.hexDecValueToNumber = exports.convertCTypeToStructFormatCharacter = exports.mapByProperty = exports.groupByProperty = exports.uniqueItems = exports.mergeUint8Arrays = exports.parseUnitValue = exports.isElectronContext = exports.isElectronApp = exports.convertBlobToBase64 = exports.toFixedFormat = exports.updateBit = exports.clearBit = exports.setBit = exports.isBitOn = exports.getBit = exports.setBitHigh = exports.setBitLow = exports.camelCaseToWords = exports.findDuplicates = exports.getMapKeyByValue = exports.createRandomColor = exports.convertRgbToLedColor = exports.resolveAfter = exports.decodeTextContent = exports.convertMotionMasterMessageToLoggerContext = exports.createPlainObjectFromMotionMasterMessage = exports.diffSystemLogContents = exports.parseSystemLogContent = exports.parseSystemLogLine = void 0;
3
+ exports.analyzeTimeDiffs = exports.withTimeDifference = exports.fromQ = exports.convertIpv4 = exports.convertValueToHexString = exports.hexDecValueToNumber = exports.convertCTypeToStructFormatCharacter = exports.mapByProperty = exports.groupByProperty = exports.uniqueItems = exports.mergeUint8Arrays = exports.parseUnitValue = exports.isElectronContext = exports.isElectronApp = exports.convertBlobToBase64 = exports.toFixedFormat = exports.updateBit = exports.clearBit = exports.setBit = exports.isBitOn = exports.getBit = exports.setBitHigh = exports.setBitLow = exports.camelCaseToWords = exports.findDuplicates = exports.getMapKeyByValue = exports.createRandomColor = exports.convertRgbToLedColor = exports.resolveAfter = exports.decodeTextContent = exports.convertMotionMasterMessageToLoggerContext = exports.createPlainObjectFromMotionMasterMessage = exports.diffSystemLogContents = exports.parseSystemLogContent = exports.parseSystemLogLine = void 0;
4
4
  const tslib_1 = require("tslib");
5
5
  const rxjs_1 = require("rxjs");
6
6
  const types_1 = require("./types");
@@ -833,4 +833,27 @@ function withTimeDifference(startTime) {
833
833
  }, []));
834
834
  }
835
835
  exports.withTimeDifference = withTimeDifference;
836
+ /**
837
+ * Compute mean and median of consecutive time differences
838
+ * @param timestamps - Array of numbers (Date.now() style)
839
+ * @returns { mean: number, median: number }
840
+ */
841
+ function analyzeTimeDiffs(timestamps) {
842
+ const n = timestamps.length;
843
+ if (n < 2)
844
+ return { mean: 0, median: 0 };
845
+ // Compute consecutive differences
846
+ const diffs = [];
847
+ for (let i = 1; i < n; i++) {
848
+ diffs.push(timestamps[i] - timestamps[i - 1]);
849
+ }
850
+ // Mean of differences
851
+ const mean = diffs.reduce((sum, d) => sum + d, 0) / diffs.length;
852
+ // Median of differences
853
+ const sorted = diffs.slice().sort((a, b) => a - b);
854
+ const mid = Math.floor(sorted.length / 2);
855
+ const median = sorted.length % 2 === 0 ? (sorted[mid - 1] + sorted[mid]) / 2 : sorted[mid];
856
+ return { mean, median };
857
+ }
858
+ exports.analyzeTimeDiffs = analyzeTimeDiffs;
836
859
  //# sourceMappingURL=util.js.map
package/src/lib/util.js.map CHANGED
@@ -1 +1 @@
1
- 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