motion-master-client 0.0.331 → 0.0.333

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.331",
+  "version": "0.0.333",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/limited-range-system-identification.js

@@ -105,7 +105,8 @@ class LimitedRangeSystemIdentification {
                 [this.deviceRef, 0x20f0, 0x00],
                 [this.deviceRef, 0x6041, 0x00],
                 [this.deviceRef, 0x6064, 0x00], // Position actual value
-            ], 10000); // 10 ms interval
+            ], 1000 // 1 ms interval
+            );
             let positionFeedbackFilterType;
             let pKp;
             let pKi;
@@ -194,14 +195,23 @@ class LimitedRangeSystemIdentification {
                 // Start data monitoring for position actual value (0x6064:00) and update Kp based on position error
                 this.notifications$.next('Starting data monitoring for position actual value...');
                 const posRef = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
-                dataMonitoring
-                    .start()
-                    .pipe(
-                // Convert each emitted actual position into a download request to update the position loop Kp,
-                // ignoring new emissions until the previous request completes
-                (0, rxjs_1.exhaustMap)((values) => {
+                dataMonitoring.start().subscribe();
+                this.notifications$.next('Data monitoring started.');
+                let prevKp = 0;
+                (0, rxjs_1.interval)(1)
+                    .pipe((0, rxjs_1.takeWhile)(() => this.isRunning), 
+                // exhaustMap ignores new emissions until the previous observable completes
+                (0, rxjs_1.exhaustMap)(() => {
+                    // If no data has been collected yet, skip this iteration
+                    if (dataMonitoring.data.length === 0) {
+                        return rxjs_1.EMPTY;
+                    }
+                    // Get the latest monitored values
+                    const values = dataMonitoring.data[dataMonitoring.data.length - 1];
+                    // Extract the statusword and determine the CiA 402 state
                     const statusword = values[1];
                     const cia402State = (0, cia402_1.getCia402State)(statusword);
+                    // Update Kp only if the drive is in OPERATION_ENABLED state
                     if (cia402State === cia402_1.Cia402State.OPERATION_ENABLED) {
                         const positionActualValue = values[2];
                         const e = posRef - positionActualValue;
@@ -212,7 +222,14 @@ class LimitedRangeSystemIdentification {
                         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));
+                        // Update Kp only if it has changed to minimize downloads
+                        if (kp !== prevKp) {
+                            prevKp = kp;
+                            return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
+                        }
+                        else {
+                            return rxjs_1.EMPTY;
+                        }
                     }
                     else if ((0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT_REACTION_ACTIVE ||
                         (0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT) {
@@ -220,8 +237,11 @@ class LimitedRangeSystemIdentification {
                     }
                     return rxjs_1.EMPTY;
                 }))
-                    .subscribe();
-                this.notifications$.next('Data monitoring started.');
+                    .subscribe({
+                    complete: () => {
+                        this.notifications$.next('Kp updates based on position error completed.');
+                    },
+                });
                 // Read the current position and set it as the target position to prevent sudden movement
                 this.notifications$.next('Setting current position as target position...');
                 const positionActualValue = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);

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

@@ -1 +1 @@
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package/src/lib/util.d.ts

@@ -471,3 +471,12 @@ export interface NotificationEntry {
  * ```
  */
 export declare function withTimeDifference(startTime: number): OperatorFunction<string, NotificationEntry[]>;
+/**
+ * Compute mean and median of consecutive time differences
+ * @param timestamps - Array of numbers (Date.now() style)
+ * @returns { mean: number, median: number }
+ */
+export declare function analyzeTimeDiffs(timestamps: number[]): {
+    mean: number;
+    median: number;
+};

package/src/lib/util.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-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;
+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;
 const tslib_1 = require("tslib");
 const rxjs_1 = require("rxjs");
 const types_1 = require("./types");
@@ -833,4 +833,27 @@ function withTimeDifference(startTime) {
     }, []));
 }
 exports.withTimeDifference = withTimeDifference;
+/**
+ * Compute mean and median of consecutive time differences
+ * @param timestamps - Array of numbers (Date.now() style)
+ * @returns { mean: number, median: number }
+ */
+function analyzeTimeDiffs(timestamps) {
+    const n = timestamps.length;
+    if (n < 2)
+        return { mean: 0, median: 0 };
+    // Compute consecutive differences
+    const diffs = [];
+    for (let i = 1; i < n; i++) {
+        diffs.push(timestamps[i] - timestamps[i - 1]);
+    }
+    // Mean of differences
+    const mean = diffs.reduce((sum, d) => sum + d, 0) / diffs.length;
+    // Median of differences
+    const sorted = diffs.slice().sort((a, b) => a - b);
+    const mid = Math.floor(sorted.length / 2);
+    const median = sorted.length % 2 === 0 ? (sorted[mid - 1] + sorted[mid]) / 2 : sorted[mid];
+    return { mean, median };
+}
+exports.analyzeTimeDiffs = analyzeTimeDiffs;
 //# sourceMappingURL=util.js.map

package/src/lib/util.js.map

@@ -1 +1 @@
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