motion-master-client 0.0.334 → 0.0.336
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.
package/package.json
CHANGED
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@@ -61,34 +61,53 @@ export declare class DataMonitoring {
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*/
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get timestamps(): number[];
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/**
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*
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* Returns an array of durations (in milliseconds) between consecutive timestamps.
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*
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*
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* Each duration is calculated as:
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* timestamps[i] - timestamps[i - 1]
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*
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*
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*
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* If fewer than two timestamps are available, an empty array is returned.
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*
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* @returns An array of time deltas between consecutive timestamps.
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*/
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timestampDiffs(): number[];
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/**
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* Computes the average time difference between consecutive timestamps.
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*
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* Uses the values returned by {@link timestampDiffs}. If no diffs exist
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* (e.g., fewer than two timestamps), returns `0`.
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*
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* @returns The average timestamp delta, or `0` if no diffs are available.
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* If there are fewer than two timestamps, an empty array is returned.
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*/
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-
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get durations(): number[];
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/**
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*
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* Returns a full analysis of the durations between timestamps.
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*
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* Uses
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* Uses `analyzeTimeDurations` to compute statistics such as:
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* - min, max, mean, median, standard deviation
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* - percentiles (p95, q1, q3)
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* - interquartile range (IQR)
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* - filtered durations and filtered statistics (outlier removal via IQR rule)
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*
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* @returns
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* @returns An object containing both raw and filtered statistics for the measured durations.
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*/
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-
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get analysis(): {
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count: number;
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filteredCount: number;
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durations: number[];
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filtered: number[];
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fullStats: {
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min: number;
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max: number;
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mean: number;
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median: number;
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std: number;
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p95: number;
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q1: number;
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q3: number;
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iqr: number;
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};
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filteredStats: {
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min: number;
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max: number;
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mean: number;
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median: number;
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std: number;
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p95: number;
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q1: number;
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q3: number;
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iqr: number;
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};
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};
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/**
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* Clears the previously collected data.
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*/
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@@ -4,6 +4,7 @@ exports.DataMonitoring = void 0;
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const rxjs_1 = require("rxjs");
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const device_parameter_1 = require("./device-parameter");
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const parameter_1 = require("./parameter");
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const util_1 = require("./util");
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/**
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* The DataMonitoring class tracks and collects device parameter values.
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*
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@@ -95,60 +96,36 @@ class DataMonitoring {
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return this.data.map((values) => values[this.timestampIndex]);
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}
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/**
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*
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* Returns an array of durations (in milliseconds) between consecutive timestamps.
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*
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*
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* Each duration is calculated as:
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* timestamps[i] - timestamps[i - 1]
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*
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*
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*
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* If fewer than two timestamps are available, an empty array is returned.
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*
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* @returns An array of time deltas between consecutive timestamps.
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* If there are fewer than two timestamps, an empty array is returned.
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*/
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-
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get durations() {
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if (this.timestamps.length < 2) {
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return [];
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}
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const
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const durations = [];
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for (let i = 1; i < this.timestamps.length; i++) {
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}
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return diffs;
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}
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/**
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* Computes the average time difference between consecutive timestamps.
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*
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* Uses the values returned by {@link timestampDiffs}. If no diffs exist
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* (e.g., fewer than two timestamps), returns `0`.
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*
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* @returns The average timestamp delta, or `0` if no diffs are available.
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*/
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averageTimestampDiff() {
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const diffs = this.timestampDiffs();
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if (diffs.length === 0) {
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return 0;
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durations.push(this.timestamps[i] - this.timestamps[i - 1]);
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}
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-
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for (let i = 0; i < diffs.length; i++) {
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sum += diffs[i];
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}
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return sum / diffs.length;
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return durations;
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}
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/**
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*
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* Returns a full analysis of the durations between timestamps.
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*
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* Uses
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* Uses `analyzeTimeDurations` to compute statistics such as:
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* - min, max, mean, median, standard deviation
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* - percentiles (p95, q1, q3)
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* - interquartile range (IQR)
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* - filtered durations and filtered statistics (outlier removal via IQR rule)
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*
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* @returns
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* @returns An object containing both raw and filtered statistics for the measured durations.
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*/
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if (diffs.length === 0) {
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return 0;
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}
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const sorted = [...diffs].sort((a, b) => a - b);
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const mid = Math.floor(sorted.length / 2);
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return sorted.length % 2 === 0 ? (sorted[mid - 1] + sorted[mid]) / 2 : sorted[mid];
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get analysis() {
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return (0, util_1.analyzeTimeDurations)(this.durations);
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}
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/**
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* Clears the previously collected data.
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@@ -1 +1 @@
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1
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{"version":3,"file":"data-monitoring.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/data-monitoring.ts"],"names":[],"mappings":";;;AAAA,+BAA2D;AAI3D,yDAA4D;AAC5D,2CAA8C;AAE9C;;;;;GAKG;AACH,MAAa,cAAc;IAmBzB,YACkB,MAA0B,EAC1B,GAAuB,EACvB,kBAA0B,EAC1B,MAAyB;QAHzB,WAAM,GAAN,MAAM,CAAoB;QAC1B,QAAG,GAAH,GAAG,CAAoB;QACvB,uBAAkB,GAAlB,kBAAkB,CAAQ;QAC1B,WAAM,GAAN,MAAM,CAAmB;QAtB3C;;;;WAIG;QACa,SAAI,GAA2B,EAAE,CAAC;QAElD;;;WAGG;QACI,YAAO,GAAG,IAAI,CAAC;QAEtB;;WAEG;QACK,cAAS,GAAG,IAAI,cAAO,EAAQ,CAAC;IAOrC,CAAC;IAEJ;;;;;OAKG;IACH,IAAI,MAAM;QACR,OAAO,IAAI,CAAC,GAAG;aACZ,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE;YACb,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE;gBAC7B,MAAM,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,GAAG,IAAA,yCAAsB,EAAC,KAAK,CAAC,CAAC;gBAC1D,OAAO,IAAA,2BAAe,EAAC,KAAK,EAAE,QAAQ,CAAC,CAAC;aACzC;iBAAM;gBACL,OAAO,IAAA,2BAAe,EAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;aAC5C;QACH,CAAC,CAAC;aACD,IAAI,CAAC,GAAG,CAAC,CAAC;IACf,CAAC;IAED;;OAEG;IACH,IAAI,GAAG;QACL,MAAM,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC;QACzD,OAAO,CAAC,IAAI,CAAC,MAAM,EAAE,GAAG,IAAI,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC3C,CAAC;IAED;;;;;;;;;OASG;IACH,IAAI,cAAc;QAChB,MAAM,gBAAgB,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC,EAAE,EAAE,EAAE;YACjD,IAAI,OAAO,EAAE,KAAK,QAAQ,EAAE;gBAC1B,MAAM,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,GAAG,IAAA,yCAAsB,EAAC,EAAE,CAAC,CAAC;gBACvD,OAAO,KAAK,KAAK,MAAM,IAAI,QAAQ,KAAK,IAAI,CAAC;aAC9C;iBAAM;gBACL,OAAO,EAAE,CAAC,CAAC,CAAC,KAAK,MAAM,IAAI,EAAE,CAAC,CAAC,CAAC,KAAK,IAAI,CAAC;aAC3C;QACH,CAAC,CAAC,CAAC;QACH,OAAO,gBAAgB,CAAC;IAC1B,CAAC;IAED;;;;;;;OAOG;IACH,IAAI,UAAU;QACZ,IAAI,IAAI,CAAC,cAAc,KAAK,CAAC,CAAC,EAAE;YAC9B,OAAO,EAAE,CAAC;SACX;QACD,OAAO,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,CAAC,IAAI,CAAC,cAAc,CAAW,CAAC,CAAC;IAC1E,CAAC;IAED
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{"version":3,"file":"data-monitoring.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/data-monitoring.ts"],"names":[],"mappings":";;;AAAA,+BAA2D;AAI3D,yDAA4D;AAC5D,2CAA8C;AAC9C,iCAA8C;AAE9C;;;;;GAKG;AACH,MAAa,cAAc;IAmBzB,YACkB,MAA0B,EAC1B,GAAuB,EACvB,kBAA0B,EAC1B,MAAyB;QAHzB,WAAM,GAAN,MAAM,CAAoB;QAC1B,QAAG,GAAH,GAAG,CAAoB;QACvB,uBAAkB,GAAlB,kBAAkB,CAAQ;QAC1B,WAAM,GAAN,MAAM,CAAmB;QAtB3C;;;;WAIG;QACa,SAAI,GAA2B,EAAE,CAAC;QAElD;;;WAGG;QACI,YAAO,GAAG,IAAI,CAAC;QAEtB;;WAEG;QACK,cAAS,GAAG,IAAI,cAAO,EAAQ,CAAC;IAOrC,CAAC;IAEJ;;;;;OAKG;IACH,IAAI,MAAM;QACR,OAAO,IAAI,CAAC,GAAG;aACZ,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE;YACb,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE;gBAC7B,MAAM,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,GAAG,IAAA,yCAAsB,EAAC,KAAK,CAAC,CAAC;gBAC1D,OAAO,IAAA,2BAAe,EAAC,KAAK,EAAE,QAAQ,CAAC,CAAC;aACzC;iBAAM;gBACL,OAAO,IAAA,2BAAe,EAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;aAC5C;QACH,CAAC,CAAC;aACD,IAAI,CAAC,GAAG,CAAC,CAAC;IACf,CAAC;IAED;;OAEG;IACH,IAAI,GAAG;QACL,MAAM,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC;QACzD,OAAO,CAAC,IAAI,CAAC,MAAM,EAAE,GAAG,IAAI,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC3C,CAAC;IAED;;;;;;;;;OASG;IACH,IAAI,cAAc;QAChB,MAAM,gBAAgB,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC,EAAE,EAAE,EAAE;YACjD,IAAI,OAAO,EAAE,KAAK,QAAQ,EAAE;gBAC1B,MAAM,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,GAAG,IAAA,yCAAsB,EAAC,EAAE,CAAC,CAAC;gBACvD,OAAO,KAAK,KAAK,MAAM,IAAI,QAAQ,KAAK,IAAI,CAAC;aAC9C;iBAAM;gBACL,OAAO,EAAE,CAAC,CAAC,CAAC,KAAK,MAAM,IAAI,EAAE,CAAC,CAAC,CAAC,KAAK,IAAI,CAAC;aAC3C;QACH,CAAC,CAAC,CAAC;QACH,OAAO,gBAAgB,CAAC;IAC1B,CAAC;IAED;;;;;;;OAOG;IACH,IAAI,UAAU;QACZ,IAAI,IAAI,CAAC,cAAc,KAAK,CAAC,CAAC,EAAE;YAC9B,OAAO,EAAE,CAAC;SACX;QACD,OAAO,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,CAAC,IAAI,CAAC,cAAc,CAAW,CAAC,CAAC;IAC1E,CAAC;IAED;;;;;;;OAOG;IACH,IAAI,SAAS;QACX,IAAI,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE;YAC9B,OAAO,EAAE,CAAC;SACX;QAED,MAAM,SAAS,GAAG,EAAE,CAAC;QACrB,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE;YAC/C,SAAS,CAAC,IAAI,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,UAAU,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;SAC7D;QAED,OAAO,SAAS,CAAC;IACnB,CAAC;IAED;;;;;;;;;;OAUG;IACH,IAAI,QAAQ;QACV,OAAO,IAAA,2BAAoB,EAAC,IAAI,CAAC,SAAS,CAAC,CAAC;IAC9C,CAAC;IAED;;OAEG;IACH,KAAK;QACH,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IACvB,CAAC;IAED;;;;OAIG;IACH,KAAK;QACH,IAAI,IAAI,CAAC,OAAO,EAAE;YAChB,OAAO,IAAI,CAAC,MAAM,CAAC,eAAe,CAAC,IAAI,CAAC,GAAG,EAAE,IAAI,CAAC,kBAAkB,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC,IAAI,CAC3F,IAAA,UAAG,EAAC,CAAC,MAAM,EAAE,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,EACvC,IAAA,gBAAS,EAAC,IAAI,CAAC,SAAS,CAAC,CAC1B,CAAC;SACH;aAAM;YACL,OAAO,IAAI,CAAC,MAAM;iBACf,eAAe,CAAC,IAAI,CAAC,GAAG,EAAE,IAAI,CAAC,kBAAkB,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC;iBACrE,IAAI,CAAC,IAAA,gBAAS,EAAC,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;SACpC;IACH,CAAC;IAED;;OAEG;IACH,IAAI;QACF,IAAI,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC;IACxB,CAAC;CACF;AA7JD,wCA6JC"}
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@@ -192,26 +192,24 @@ class LimitedRangeSystemIdentification {
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this.notifications$.next('On-demand parameters update forced.');
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// Variable to track if a fault occurred during the procedure
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let hasFault = false;
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//
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this.notifications$.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.start().subscribe();
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this.notifications$.next('Data monitoring started.');
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// Previous Kp value to minimize downloads
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let prevKp = 0;
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// Get the reference position before starting data monitoring
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this.notifications$.next('Retrieving reference position...');
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const posRef = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
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this.notifications$.next(`Reference position: ${posRef}`);
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// Start data monitoring for position actual value (0x6064:00) and update Kp based on position error
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this.notifications$.next('Starting data monitoring and updating Kp based on position error...');
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dataMonitoring
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.start()
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.pipe(
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// Continue while the procedure is running and no fault has occurred
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(0, rxjs_1.takeWhile)(() => this.isRunning && !hasFault),
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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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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) {
|
|
216
214
|
const positionActualValue = values[2];
|
|
217
215
|
const e = posRef - positionActualValue;
|
|
@@ -227,9 +225,6 @@ class LimitedRangeSystemIdentification {
|
|
|
227
225
|
prevKp = kp;
|
|
228
226
|
return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
|
|
229
227
|
}
|
|
230
|
-
else {
|
|
231
|
-
return rxjs_1.EMPTY;
|
|
232
|
-
}
|
|
233
228
|
}
|
|
234
229
|
else if ((0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT_REACTION_ACTIVE ||
|
|
235
230
|
(0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT) {
|
|
@@ -239,9 +234,10 @@ class LimitedRangeSystemIdentification {
|
|
|
239
234
|
}))
|
|
240
235
|
.subscribe({
|
|
241
236
|
complete: () => {
|
|
242
|
-
this.notifications$.next('
|
|
237
|
+
this.notifications$.next('Data monitoring and Kp updating have stopped.');
|
|
243
238
|
},
|
|
244
239
|
});
|
|
240
|
+
this.notifications$.next('Data monitoring started.');
|
|
245
241
|
// Read the current position and set it as the target position to prevent sudden movement
|
|
246
242
|
this.notifications$.next('Setting current position as target position...');
|
|
247
243
|
const positionActualValue = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
|
|
@@ -258,12 +254,8 @@ class LimitedRangeSystemIdentification {
|
|
|
258
254
|
this.notifications$.next('Stopping data monitoring...');
|
|
259
255
|
dataMonitoring.stop();
|
|
260
256
|
this.notifications$.next('Data monitoring stopped.');
|
|
261
|
-
|
|
262
|
-
|
|
263
|
-
this.notifications$.next(`Average data monitoring timestamp delta: ${averageTimestampDiff} μs`);
|
|
264
|
-
// Compute and log the median timestamp difference from the collected data
|
|
265
|
-
const medianTimestampDiff = dataMonitoring.medianTimestampDiff();
|
|
266
|
-
this.notifications$.next(`Median data monitoring timestamp delta: ${medianTimestampDiff} μs`);
|
|
257
|
+
const analysis = dataMonitoring.analysis;
|
|
258
|
+
this.notifications$.next(`Data monitoring analysis: ${JSON.stringify(analysis.filteredStats, null, 2)}`);
|
|
267
259
|
// Start the system identification procedure without the chirp signal in order to only compute the plant model
|
|
268
260
|
this.notifications$.next('Starting system identification procedure on Motion Master to compute plant model...');
|
|
269
261
|
const deviceRefObj = (0, device_1.makeDeviceRefObj)(this.deviceRef);
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
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1
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+
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