motion-master-client 0.0.335 → 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.
Files changed (4) hide show
  1. package/package.json +1 -1
  2. package/src/lib/limited-range-system-identification.d.ts +1 -5
  3. package/src/lib/limited-range-system-identification.js +18 -32
  4. package/src/lib/limited-range-system-identification.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": "0.0.335",
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+ "version": "0.0.336",
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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.d.ts CHANGED
@@ -1,4 +1,4 @@
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- import { BehaviorSubject, Subject } from 'rxjs';
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+ import { Subject } from 'rxjs';
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  import { MotionMasterClient } from './motion-master-client';
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  import { ChirpSignalOptions } from './os-command';
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  import { DeviceRef } from './types';
@@ -47,10 +47,6 @@ export declare class LimitedRangeSystemIdentification {
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  * Indicates whether the system identification procedure is currently running.
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  */
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  isRunning: boolean;
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- /**
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- * Emits `true` when the chirp signal portion of the procedure has completed.
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- */
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- chirpSignalCompleted$: BehaviorSubject<boolean>;
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  /**
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  * Creates a new instance of the limited-range system identification routine.
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  *
package/src/lib/limited-range-system-identification.js CHANGED
@@ -56,10 +56,6 @@ class LimitedRangeSystemIdentification {
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  * Indicates whether the system identification procedure is currently running.
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  */
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  this.isRunning = false;
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- /**
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- * Emits `true` when the chirp signal portion of the procedure has completed.
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- */
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- this.chirpSignalCompleted$ = new rxjs_1.BehaviorSubject(false);
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  }
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  /**
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  * Starts the limited-range system identification procedure.
@@ -196,28 +192,24 @@ class LimitedRangeSystemIdentification {
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  this.notifications$.next('On-demand parameters update forced.');
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  // Variable to track if a fault occurred during the procedure
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  let hasFault = false;
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- // Start data monitoring for position actual value (0x6064:00) and update Kp based on position error
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- this.notifications$.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.start().subscribe();
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- this.notifications$.next('Data monitoring started.');
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+ // Previous Kp value to minimize downloads
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  let prevKp = 0;
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- // Reset chirp signal completion status
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- this.chirpSignalCompleted$.next(false);
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- (0, rxjs_1.interval)(1)
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- .pipe((0, rxjs_1.takeWhile)(() => this.isRunning && !hasFault && !this.chirpSignalCompleted$.getValue()),
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- // exhaustMap ignores new emissions until the previous observable completes
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- (0, rxjs_1.exhaustMap)(() => {
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- // If no data has been collected yet, skip this iteration
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- if (dataMonitoring.data.length === 0) {
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- return rxjs_1.EMPTY;
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- }
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- // Get the latest monitored values
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- const values = dataMonitoring.data[dataMonitoring.data.length - 1];
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- // Extract the statusword and determine the CiA 402 state
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+ // Get the reference position before starting data monitoring
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+ this.notifications$.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) {
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  const positionActualValue = values[2];
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  const e = posRef - positionActualValue;
@@ -231,11 +223,7 @@ class LimitedRangeSystemIdentification {
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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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- // NOTE: We're intentionally not awaiting this promise because the download
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- // call to receive the message can currently take ~10 ms, which would noticeably
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- // slow down the update rate. This is a temporary workaround until Motion Master
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- // improves the call performance.
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- this.client.request.download(this.deviceRef, 0x2012, 0x01, 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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  }
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  else if ((0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT_REACTION_ACTIVE ||
@@ -246,9 +234,10 @@ class LimitedRangeSystemIdentification {
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  }))
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  .subscribe({
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  complete: () => {
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- this.notifications$.next('Kp updates based on position error completed.');
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+ this.notifications$.next('Data monitoring and Kp updating have stopped.');
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  },
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  });
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+ this.notifications$.next('Data monitoring started.');
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  // Read the current position and set it as the target position to prevent sudden movement
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  this.notifications$.next('Setting current position as target position...');
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  const positionActualValue = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
@@ -257,7 +246,6 @@ class LimitedRangeSystemIdentification {
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  // Run the chirp signal on the device
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  this.notifications$.next('Running the chirp signal...');
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  yield (0, rxjs_1.lastValueFrom)(this.client.request.runChirpSignal(this.deviceRef, this.options));
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- this.chirpSignalCompleted$.next(true);
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  this.notifications$.next('Chirp signal procedure completed.');
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  if (hasFault) {
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  throw new Error('Device entered FAULT state during chirp signal execution.');
@@ -282,8 +270,6 @@ class LimitedRangeSystemIdentification {
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  finally {
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  // Mark the procedure as not running
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  this.isRunning = false;
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- // Notify that the chirp signal has completed (in case of early termination)
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- this.chirpSignalCompleted$.next(true);
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  // Stop data monitoring
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  this.notifications$.next('Stopping data monitoring...');
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  dataMonitoring.stop();
package/src/lib/limited-range-system-identification.js.map CHANGED
@@ -1 +1 @@
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1
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