motion-master-client 0.0.335 → 0.0.337

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.335",
+  "version": "0.0.337",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/data-monitoring.d.ts

@@ -3,10 +3,13 @@ import { MonitoringConfig } from './monitoring-config';
 import { MotionMasterClient } from './motion-master-client';
 import { DeviceParameterIds, ParameterValueType } from './types';
 /**
- * The DataMonitoring class tracks and collects device parameter values.
+ * Tracks and collects device parameter values over time.
  *
- * Unlike {@link MotionMasterClient#startMonitoring}, which returns an observable that never completes on its own,
- * this class provides a `stop()` method to complete the monitoring observable, enabling the use of operators like `toArray()` as intended.
+ * Unlike {@link MotionMasterClient#startMonitoring}, which returns an
+ * observable that does not complete on its own, this class provides
+ * explicit control over starting, stopping, and collecting monitoring
+ * data. It supports exporting the data in CSV format and provides
+ * statistical analysis of the sampling intervals.
  */
 export declare class DataMonitoring {
     readonly client: MotionMasterClient;
@@ -14,71 +17,136 @@ export declare class DataMonitoring {
     readonly monitoringInterval: number;
     readonly config?: MonitoringConfig | undefined;
     /**
-     * The collected data.
+     * Stores the collected monitoring data.
      *
-     * Use the `clear()` method before starting a new monitoring if you want to collect a fresh set of data.
+     * Each element of the outer array represents a single monitoring sample,
+     * which is an array of parameter values corresponding to {@link ids}.
+     * Use {@link clear} to reset this array before starting a new monitoring session.
      */
     readonly data: ParameterValueType[][];
     /**
-     * Besides emitting monitored data through the observable created by the {@link #start()} method,
-     * an instance of this class will also collect data as it arrives.
+     * Determines whether incoming monitoring data should be collected.
+     *
+     * When `true`, each emitted value from the monitoring observable is
+     * appended to the {@link data} array. Set to `false` to receive data
+     * without storing it.
      */
     collect: boolean;
     /**
-     * Emit a value to stop the ongoing monitoring.
+     * Internal flag indicating whether monitoring has been stopped.
+     *
+     * Used by {@link start} and {@link stop} to control the observable pipeline.
+     * When `true`, the observable returned by `start` completes on the next emission.
+     */
+    private stopped;
+    /**
+     * The internal RxJS subscription used to manage the monitoring stream
+     * started by {@link start}.
+     *
+     * This reference is used by {@link stop} to ensure a clean unsubscribe.
+     */
+    private subscription?;
+    /**
+     * Creates a new `DataMonitoring` instance for collecting device parameter values.
+     *
+     * @param client - The Motion Master client used to communicate with the device.
+     * @param ids - An array of device parameter IDs to monitor. Each ID can be a string
+     *              or a tuple `[deviceRef, index, subindex]`.
+     * @param monitoringInterval - The interval, in milliseconds, at which parameter
+     *                             values should be sampled.
+     * @param config - Optional monitoring configuration, such as filters or buffering
+     *                 options.
      */
-    private finalize$;
     constructor(client: MotionMasterClient, ids: DeviceParameterIds, monitoringInterval: number, config?: MonitoringConfig | undefined);
     /**
-     * Generates a CSV header string using the provided device parameter IDs.
+     * Indicates whether monitoring has been stopped.
+     *
+     * @returns `true` if {@link stop} has been called and the internal
+     *          stop flag is set, otherwise `false`.
+     */
+    get isStopped(): boolean;
+    /**
+     * Indicates whether monitoring is currently active.
+     *
+     * @returns `true` if monitoring has been started via {@link start} and
+     *          has not yet been stopped, otherwise `false`.
+     */
+    get isStarted(): boolean;
+    /**
+     * Generates a CSV header string from the monitored parameter IDs.
+     *
+     * Each parameter ID in {@link ids} is converted to a string representation
+     * using {@link makeParameterId}. String IDs are parsed with
+     * {@link splitDeviceParameterId}, while tuple IDs `[deviceRef, index, subindex]`
+     * are converted directly.
      *
      * @example
-     * 0x6040:00,0x6060:00,0x6071:00,0x607A:00,0x60FF:00
+     * // Possible output: "0x6040:00,0x6060:00,0x6071:00,0x607A:00,0x60FF:00"
+     *
+     * @returns A comma-separated string representing the header for CSV export.
      */
     get header(): string;
     /**
-     * Converts the collected data to CSV format.
+     * Converts the collected monitoring data into CSV (Comma-Separated Values) format.
+     *
+     * The first row contains the CSV header generated from {@link header},
+     * followed by one row per collected sample in {@link data}. Each row
+     * represents the parameter values at a given monitoring interval.
+     *
+     * @returns A string representing the collected data in CSV format,
+     *          ready for export or analysis.
      */
     get csv(): string;
     /**
-     * Finds the index of the timestamp field in the `ids` array.
+     * Finds the zero-based index of the timestamp field in the monitored parameters.
      *
-     * 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]`.
+     * The timestamp field is identified as object 0x20F0 with subindex 0x00.
+     * Parameter IDs in {@link ids} may be strings (parsed using
+     * {@link 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.
+     * @returns The index of the timestamp entry in {@link ids}, or `-1` if
+     *          no timestamp field exists.
      */
     get timestampIndex(): number;
     /**
-     * Extracts the timestamp column from the monitoring data.
+     * Extracts the timestamp values from the collected monitoring data.
      *
-     * Each entry of `data` contains an array of values aligned with `ids`.
-     * If no timestamp index exists, an empty array is returned.
+     * The timestamp column is determined by {@link timestampIndex}, which
+     * locates the entry corresponding to object 0x20F0:00 in the monitored
+     * parameter list. If no timestamp index is found, an empty array is
+     * returned.
      *
-     * @returns An array of numeric timestamps extracted from the monitoring data.
+     * @returns An array of numeric timestamps aligned with the collected
+     *          monitoring samples, or an empty array if no timestamp field
+     *          is configured.
      */
     get timestamps(): number[];
     /**
-     * Returns an array of durations (in milliseconds) between consecutive timestamps.
+     * Returns the time differences (in milliseconds) between consecutive
+     * timestamp values.
+     *
+     * Each duration is computed as:
+     *
+     *   `durations[i] = timestamps[i] - timestamps[i - 1]`
      *
-     * Each duration is calculated as:
-     *   timestamps[i] - timestamps[i - 1]
+     * If fewer than two timestamps are available, an empty array is
+     * returned.
      *
-     * If there are fewer than two timestamps, an empty array is returned.
+     * @returns An array of durations representing the time between
+     *          successive timestamp samples.
      */
     get durations(): number[];
     /**
-     * Returns a full analysis of the durations between timestamps.
+     * Returns a statistical analysis of the measured timestamp durations.
      *
-     * Uses `analyzeTimeDurations` to compute statistics such as:
-     *   - min, max, mean, median, standard deviation
-     *   - percentiles (p95, q1, q3)
-     *   - interquartile range (IQR)
-     *   - filtered durations and filtered statistics (outlier removal via IQR rule)
+     * The analysis is computed by {@link analyzeTimeDurations}, which
+     * includes a variety of metrics such as minimum, maximum, mean,
+     * median, standard deviation, percentiles, and interquartile range.
+     * It also provides filtered statistics based on outlier removal using
+     * the IQR method.
      *
-     * @returns An object containing both raw and filtered statistics for the measured durations.
+     * @returns An object containing both raw and filtered duration
+     *          statistics for the monitoring session.
      */
     get analysis(): {
         count: number;
@@ -109,17 +177,45 @@ export declare class DataMonitoring {
         };
     };
     /**
-     * Clears the previously collected data.
+     * Clears all previously collected monitoring data.
+     *
+     * This resets the {@link data} array to an empty state. Call this
+     * method before {@link start} if you want to begin a new monitoring
+     * session with no existing samples.
      */
     clear(): void;
     /**
-     * Starts monitoring and, if specified, collects data until `finalize$` emits a value.
+     * Starts a new monitoring session and returns an observable that emits
+     * device parameter values as they arrive.
+     *
+     * This method first calls {@link stop} to ensure any existing session is cleanly
+     * terminated. It then resets the internal state and, if `clear` is true,
+     * removes all previously collected data.
+     *
+     * The returned observable emits values until {@link stop} is called,
+     * at which point the internal {@link stopped} flag is set, causing the stream to
+     * complete on its next emission via `takeWhile()`. This mechanism ensures that
+     * all internal and external subscriptions are cleanly shut down, preventing
+     * resource leaks.
      *
-     * NOTE: To receive and collect data, you must subscribe to the returned observable.
+     * If {@link collect} is enabled, each emitted value is also appended to the
+     * {@link data} array for later retrieval or analysis.
+     *
+     * @param clear - Whether to clear previously collected data in {@link data} before
+     * starting the monitoring session. Defaults to `false`.
+     * @returns An observable that emits arrays of parameter values until
+     * the monitoring is stopped or the source observable completes.
      */
-    start(): Observable<ParameterValueType[]>;
+    start(clear?: boolean): Observable<ParameterValueType[]>;
     /**
-     * Emits a value on `finalize$` to properly stop monitoring and complete the observable.
+     * Stops the active monitoring session and unsubscribes from the source observable.
+     *
+     * This method sets the internal stop flag, causing the observable created in {@link start}
+     * to complete on its next emission. If a subscription was created during `start()`,
+     * it is explicitly unsubscribed and cleared. This ensures that no monitoring pipeline
+     * remains active and prevents resource leaks when creating new `DataMonitoring` instances.
+     *
+     * Calling this method has no effect if monitoring is not currently active.
      */
     stop(): void;
 }

package/src/lib/data-monitoring.js

@@ -6,38 +6,85 @@ const device_parameter_1 = require("./device-parameter");
 const parameter_1 = require("./parameter");
 const util_1 = require("./util");
 /**
- * The DataMonitoring class tracks and collects device parameter values.
+ * Tracks and collects device parameter values over time.
  *
- * Unlike {@link MotionMasterClient#startMonitoring}, which returns an observable that never completes on its own,
- * this class provides a `stop()` method to complete the monitoring observable, enabling the use of operators like `toArray()` as intended.
+ * Unlike {@link MotionMasterClient#startMonitoring}, which returns an
+ * observable that does not complete on its own, this class provides
+ * explicit control over starting, stopping, and collecting monitoring
+ * data. It supports exporting the data in CSV format and provides
+ * statistical analysis of the sampling intervals.
  */
 class DataMonitoring {
+    /**
+     * Creates a new `DataMonitoring` instance for collecting device parameter values.
+     *
+     * @param client - The Motion Master client used to communicate with the device.
+     * @param ids - An array of device parameter IDs to monitor. Each ID can be a string
+     *              or a tuple `[deviceRef, index, subindex]`.
+     * @param monitoringInterval - The interval, in milliseconds, at which parameter
+     *                             values should be sampled.
+     * @param config - Optional monitoring configuration, such as filters or buffering
+     *                 options.
+     */
     constructor(client, ids, monitoringInterval, config) {
         this.client = client;
         this.ids = ids;
         this.monitoringInterval = monitoringInterval;
         this.config = config;
         /**
-         * The collected data.
+         * Stores the collected monitoring data.
          *
-         * Use the `clear()` method before starting a new monitoring if you want to collect a fresh set of data.
+         * Each element of the outer array represents a single monitoring sample,
+         * which is an array of parameter values corresponding to {@link ids}.
+         * Use {@link clear} to reset this array before starting a new monitoring session.
          */
         this.data = [];
         /**
-         * Besides emitting monitored data through the observable created by the {@link #start()} method,
-         * an instance of this class will also collect data as it arrives.
+         * Determines whether incoming monitoring data should be collected.
+         *
+         * When `true`, each emitted value from the monitoring observable is
+         * appended to the {@link data} array. Set to `false` to receive data
+         * without storing it.
          */
         this.collect = true;
         /**
-         * Emit a value to stop the ongoing monitoring.
+         * Internal flag indicating whether monitoring has been stopped.
+         *
+         * Used by {@link start} and {@link stop} to control the observable pipeline.
+         * When `true`, the observable returned by `start` completes on the next emission.
          */
-        this.finalize$ = new rxjs_1.Subject();
+        this.stopped = false;
     }
     /**
-     * Generates a CSV header string using the provided device parameter IDs.
+     * Indicates whether monitoring has been stopped.
+     *
+     * @returns `true` if {@link stop} has been called and the internal
+     *          stop flag is set, otherwise `false`.
+     */
+    get isStopped() {
+        return this.stopped;
+    }
+    /**
+     * Indicates whether monitoring is currently active.
+     *
+     * @returns `true` if monitoring has been started via {@link start} and
+     *          has not yet been stopped, otherwise `false`.
+     */
+    get isStarted() {
+        return !this.stopped;
+    }
+    /**
+     * Generates a CSV header string from the monitored parameter IDs.
+     *
+     * Each parameter ID in {@link ids} is converted to a string representation
+     * using {@link makeParameterId}. String IDs are parsed with
+     * {@link splitDeviceParameterId}, while tuple IDs `[deviceRef, index, subindex]`
+     * are converted directly.
      *
      * @example
-     * 0x6040:00,0x6060:00,0x6071:00,0x607A:00,0x60FF:00
+     * // Possible output: "0x6040:00,0x6060:00,0x6071:00,0x607A:00,0x60FF:00"
+     *
+     * @returns A comma-separated string representing the header for CSV export.
      */
     get header() {
         return this.ids
@@ -53,21 +100,28 @@ class DataMonitoring {
             .join(',');
     }
     /**
-     * Converts the collected data to CSV format.
+     * Converts the collected monitoring data into CSV (Comma-Separated Values) format.
+     *
+     * The first row contains the CSV header generated from {@link header},
+     * followed by one row per collected sample in {@link data}. Each row
+     * represents the parameter values at a given monitoring interval.
+     *
+     * @returns A string representing the collected data in CSV format,
+     *          ready for export or analysis.
      */
     get csv() {
         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.
+     * Finds the zero-based index of the timestamp field in the monitored parameters.
      *
-     * 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]`.
+     * The timestamp field is identified as object 0x20F0 with subindex 0x00.
+     * Parameter IDs in {@link ids} may be strings (parsed using
+     * {@link 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.
+     * @returns The index of the timestamp entry in {@link ids}, or `-1` if
+     *          no timestamp field exists.
      */
     get timestampIndex() {
         const indexOfTimestamp = this.ids.findIndex((id) => {
@@ -82,12 +136,16 @@ class DataMonitoring {
         return indexOfTimestamp;
     }
     /**
-     * Extracts the timestamp column from the monitoring data.
+     * Extracts the timestamp values from the collected monitoring data.
      *
-     * Each entry of `data` contains an array of values aligned with `ids`.
-     * If no timestamp index exists, an empty array is returned.
+     * The timestamp column is determined by {@link timestampIndex}, which
+     * locates the entry corresponding to object 0x20F0:00 in the monitored
+     * parameter list. If no timestamp index is found, an empty array is
+     * returned.
      *
-     * @returns An array of numeric timestamps extracted from the monitoring data.
+     * @returns An array of numeric timestamps aligned with the collected
+     *          monitoring samples, or an empty array if no timestamp field
+     *          is configured.
      */
     get timestamps() {
         if (this.timestampIndex === -1) {
@@ -96,12 +154,18 @@ class DataMonitoring {
         return this.data.map((values) => values[this.timestampIndex]);
     }
     /**
-     * Returns an array of durations (in milliseconds) between consecutive timestamps.
+     * Returns the time differences (in milliseconds) between consecutive
+     * timestamp values.
+     *
+     * Each duration is computed as:
+     *
+     *   `durations[i] = timestamps[i] - timestamps[i - 1]`
      *
-     * Each duration is calculated as:
-     *   timestamps[i] - timestamps[i - 1]
+     * If fewer than two timestamps are available, an empty array is
+     * returned.
      *
-     * If there are fewer than two timestamps, an empty array is returned.
+     * @returns An array of durations representing the time between
+     *          successive timestamp samples.
      */
     get durations() {
         if (this.timestamps.length < 2) {
@@ -114,45 +178,98 @@ class DataMonitoring {
         return durations;
     }
     /**
-     * Returns a full analysis of the durations between timestamps.
+     * Returns a statistical analysis of the measured timestamp durations.
      *
-     * Uses `analyzeTimeDurations` to compute statistics such as:
-     *   - min, max, mean, median, standard deviation
-     *   - percentiles (p95, q1, q3)
-     *   - interquartile range (IQR)
-     *   - filtered durations and filtered statistics (outlier removal via IQR rule)
+     * The analysis is computed by {@link analyzeTimeDurations}, which
+     * includes a variety of metrics such as minimum, maximum, mean,
+     * median, standard deviation, percentiles, and interquartile range.
+     * It also provides filtered statistics based on outlier removal using
+     * the IQR method.
      *
-     * @returns An object containing both raw and filtered statistics for the measured durations.
+     * @returns An object containing both raw and filtered duration
+     *          statistics for the monitoring session.
      */
     get analysis() {
         return (0, util_1.analyzeTimeDurations)(this.durations);
     }
     /**
-     * Clears the previously collected data.
+     * Clears all previously collected monitoring data.
+     *
+     * This resets the {@link data} array to an empty state. Call this
+     * method before {@link start} if you want to begin a new monitoring
+     * session with no existing samples.
      */
     clear() {
         this.data.length = 0;
     }
     /**
-     * Starts monitoring and, if specified, collects data until `finalize$` emits a value.
+     * Starts a new monitoring session and returns an observable that emits
+     * device parameter values as they arrive.
+     *
+     * This method first calls {@link stop} to ensure any existing session is cleanly
+     * terminated. It then resets the internal state and, if `clear` is true,
+     * removes all previously collected data.
+     *
+     * The returned observable emits values until {@link stop} is called,
+     * at which point the internal {@link stopped} flag is set, causing the stream to
+     * complete on its next emission via `takeWhile()`. This mechanism ensures that
+     * all internal and external subscriptions are cleanly shut down, preventing
+     * resource leaks.
      *
-     * NOTE: To receive and collect data, you must subscribe to the returned observable.
+     * If {@link collect} is enabled, each emitted value is also appended to the
+     * {@link data} array for later retrieval or analysis.
+     *
+     * @param clear - Whether to clear previously collected data in {@link data} before
+     * starting the monitoring session. Defaults to `false`.
+     * @returns An observable that emits arrays of parameter values until
+     * the monitoring is stopped or the source observable completes.
      */
-    start() {
-        if (this.collect) {
-            return this.client.startMonitoring(this.ids, this.monitoringInterval, this.config, 5000).pipe((0, rxjs_1.tap)((values) => this.data.push(values)), (0, rxjs_1.takeUntil)(this.finalize$));
-        }
-        else {
-            return this.client
-                .startMonitoring(this.ids, this.monitoringInterval, this.config, 5000)
-                .pipe((0, rxjs_1.takeUntil)(this.finalize$));
-        }
+    start(clear = false) {
+        this.stop(); // Ensure any previous monitoring is stopped
+        this.stopped = false;
+        if (clear)
+            this.clear();
+        const source$ = this.client.startMonitoring(this.ids, this.monitoringInterval, this.config, 5000);
+        const monitored$ = this.collect
+            ? source$.pipe((0, rxjs_1.tap)((values) => this.data.push(values)), (0, rxjs_1.takeWhile)(() => !this.stopped))
+            : source$.pipe((0, rxjs_1.takeWhile)(() => !this.stopped));
+        // Defensive cleanup: Guarantees that the subscription reference is cleared
+        // and the state flag (this.stopped) is set to true on *any* stream
+        // completion, protecting against unexpected termination of the source observable.
+        this.subscription = monitored$.subscribe({
+            complete: () => {
+                var _a;
+                (_a = this.subscription) === null || _a === void 0 ? void 0 : _a.unsubscribe();
+                this.subscription = undefined;
+                this.stopped = true;
+            },
+            error: (err) => {
+                var _a;
+                console.error('DataMonitoring stream terminated by error:', err);
+                (_a = this.subscription) === null || _a === void 0 ? void 0 : _a.unsubscribe();
+                this.subscription = undefined;
+                this.stopped = true;
+            },
+        });
+        // Return observable for external subscription
+        return monitored$;
     }
     /**
-     * Emits a value on `finalize$` to properly stop monitoring and complete the observable.
+     * Stops the active monitoring session and unsubscribes from the source observable.
+     *
+     * This method sets the internal stop flag, causing the observable created in {@link start}
+     * to complete on its next emission. If a subscription was created during `start()`,
+     * it is explicitly unsubscribed and cleared. This ensures that no monitoring pipeline
+     * remains active and prevents resource leaks when creating new `DataMonitoring` instances.
+     *
+     * Calling this method has no effect if monitoring is not currently active.
      */
     stop() {
-        this.finalize$.next();
+        this.stopped = true;
+        if (this.subscription) {
+            this.subscription.unsubscribe();
+            this.subscription = undefined;
+        }
     }
 }
 exports.DataMonitoring = DataMonitoring;

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

@@ -1 +1 @@
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package/src/lib/limited-range-system-identification.d.ts

@@ -1,4 +1,4 @@
-import { BehaviorSubject, Subject } from 'rxjs';
+import { Subject, Subscription } from 'rxjs';
 import { MotionMasterClient } from './motion-master-client';
 import { ChirpSignalOptions } from './os-command';
 import { DeviceRef } from './types';
@@ -48,9 +48,9 @@ export declare class LimitedRangeSystemIdentification {
      */
     isRunning: boolean;
     /**
-     * Emits `true` when the chirp signal portion of the procedure has completed.
+     * Subscription for data monitoring during the procedure.
      */
-    chirpSignalCompleted$: BehaviorSubject<boolean>;
+    dataMonitoringSubscription?: Subscription;
     /**
      * Creates a new instance of the limited-range system identification routine.
      *

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

@@ -56,10 +56,6 @@ class LimitedRangeSystemIdentification {
          * Indicates whether the system identification procedure is currently running.
          */
         this.isRunning = false;
-        /**
-         * Emits `true` when the chirp signal portion of the procedure has completed.
-         */
-        this.chirpSignalCompleted$ = new rxjs_1.BehaviorSubject(false);
     }
     /**
      * Starts the limited-range system identification procedure.
@@ -77,6 +73,7 @@ class LimitedRangeSystemIdentification {
      * @throws Will throw an error if any of the device requests fail.
      */
     start() {
+        var _a, _b;
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             // Small delay to ensure subscribers to notifications$ are ready
             yield (0, util_1.resolveAfter)(1);
@@ -111,6 +108,7 @@ class LimitedRangeSystemIdentification {
                 [this.deviceRef, 0x6064, 0x00], // Position actual value
             ], 1000 // 1 ms interval
             );
+            dataMonitoring.collect = false;
             let positionFeedbackFilterType;
             let pKp;
             let pKi;
@@ -196,28 +194,24 @@ class LimitedRangeSystemIdentification {
                 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);
-                dataMonitoring.start().subscribe();
-                this.notifications$.next('Data monitoring started.');
+                // Previous Kp value to minimize downloads
                 let prevKp = 0;
-                // Reset chirp signal completion status
-                this.chirpSignalCompleted$.next(false);
-                (0, rxjs_1.interval)(1)
-                    .pipe((0, rxjs_1.takeWhile)(() => this.isRunning && !hasFault && !this.chirpSignalCompleted$.getValue()), 
-                // exhaustMap ignores new emissions until the previous observable completes
-                (0, rxjs_1.exhaustMap)(() => {
-                    // If no data has been collected yet, skip this iteration
-                    if (dataMonitoring.data.length === 0) {
-                        return rxjs_1.EMPTY;
-                    }
-                    // Get the latest monitored values
-                    const values = dataMonitoring.data[dataMonitoring.data.length - 1];
-                    // Extract the statusword and determine the CiA 402 state
+                // Get the reference position before starting data monitoring
+                this.notifications$.next('Retrieving reference position...');
+                const posRef = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
+                this.notifications$.next(`Reference position: ${posRef}`);
+                // Start data monitoring for position actual value (0x6064:00) and update Kp based on position error
+                this.notifications$.next('Starting data monitoring and updating Kp based on position error...');
+                dataMonitoring
+                    .start()
+                    .pipe(
+                // Continue while the procedure is running and no fault has occurred
+                (0, rxjs_1.takeWhile)(() => this.isRunning && !hasFault), 
+                // 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) => {
                     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;
@@ -231,11 +225,7 @@ class LimitedRangeSystemIdentification {
                         // Update Kp only if it has changed to minimize downloads
                         if (kp !== prevKp) {
                             prevKp = kp;
-                            // NOTE: We're intentionally not awaiting this promise because the download
-                            // call to receive the message can currently take ~10 ms, which would noticeably
-                            // slow down the update rate. This is a temporary workaround until Motion Master
-                            // improves the call performance.
-                            this.client.request.download(this.deviceRef, 0x2012, 0x01, kp);
+                            return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
                         }
                     }
                     else if ((0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.FAULT_REACTION_ACTIVE ||
@@ -246,9 +236,10 @@ class LimitedRangeSystemIdentification {
                 }))
                     .subscribe({
                     complete: () => {
-                        this.notifications$.next('Kp updates based on position error completed.');
+                        this.notifications$.next('Data monitoring and Kp updating have stopped.');
                     },
                 });
+                this.notifications$.next('Data monitoring started.');
                 // Read the current position and set it as the target position to prevent sudden movement
                 this.notifications$.next('Setting current position as target position...');
                 const positionActualValue = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
@@ -257,7 +248,6 @@ class LimitedRangeSystemIdentification {
                 // Run the chirp signal on the device
                 this.notifications$.next('Running the chirp signal...');
                 yield (0, rxjs_1.lastValueFrom)(this.client.request.runChirpSignal(this.deviceRef, this.options));
-                this.chirpSignalCompleted$.next(true);
                 this.notifications$.next('Chirp signal procedure completed.');
                 if (hasFault) {
                     throw new Error('Device entered FAULT state during chirp signal execution.');
@@ -265,9 +255,8 @@ class LimitedRangeSystemIdentification {
                 // Stop data monitoring
                 this.notifications$.next('Stopping data monitoring...');
                 dataMonitoring.stop();
+                (_a = this.dataMonitoringSubscription) === null || _a === void 0 ? void 0 : _a.unsubscribe();
                 this.notifications$.next('Data monitoring stopped.');
-                const analysis = dataMonitoring.analysis;
-                this.notifications$.next(`Data monitoring analysis: ${JSON.stringify(analysis.filteredStats, null, 2)}`);
                 // Start the system identification procedure without the chirp signal in order to only compute the plant model
                 this.notifications$.next('Starting system identification procedure on Motion Master to compute plant model...');
                 const deviceRefObj = (0, device_1.makeDeviceRefObj)(this.deviceRef);
@@ -282,11 +271,10 @@ class LimitedRangeSystemIdentification {
             finally {
                 // Mark the procedure as not running
                 this.isRunning = false;
-                // Notify that the chirp signal has completed (in case of early termination)
-                this.chirpSignalCompleted$.next(true);
                 // Stop data monitoring
                 this.notifications$.next('Stopping data monitoring...');
                 dataMonitoring.stop();
+                (_b = this.dataMonitoringSubscription) === null || _b === void 0 ? void 0 : _b.unsubscribe();
                 this.notifications$.next('Data monitoring stopped.');
                 // Ensure the drive is in the "Switch On Disabled" after the procedure
                 this.notifications$.next('Transitioning to "Switch On Disabled" state...');

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

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

@@ -1,4 +1,4 @@
-import { Observable, UnaryFunction } from 'rxjs';
+import { Observable, UnaryFunction, MonoTypeOperatorFunction } from 'rxjs';
 import { IMotionMasterMessage, MotionMasterMessage, ParameterValueType, StatusKey } from './types';
 import { DeviceParameter } from './device-parameter';
 import { MotionMasterReqResClient } from './motion-master-req-res-client';
@@ -18,3 +18,4 @@ export declare function selectMotionMasterMessageByTopic<T>(topic: string): Unar
 export declare function selectMotionMasterMessageStatusByKey<T>(key: keyof MotionMasterMessage.IStatus): UnaryFunction<Observable<IMotionMasterMessage>, Observable<T>>;
 export declare function mapMonitoringParameterValuesStatusMessageToParameterValues(): UnaryFunction<Observable<IMotionMasterMessage>, Observable<ParameterValueType[]>>;
 export declare function mapMonitoringParameterValuesStatusMessageToDeviceParameters(request: MotionMasterReqResClient): UnaryFunction<Observable<IMotionMasterMessage>, Observable<DeviceParameter[]>>;
+export declare function takeUntilCompleteOrError<T>(notifier$: Observable<any>): MonoTypeOperatorFunction<T>;

package/src/lib/operators.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.mapMonitoringParameterValuesStatusMessageToDeviceParameters = exports.mapMonitoringParameterValuesStatusMessageToParameterValues = exports.selectMotionMasterMessageStatusByKey = exports.selectMotionMasterMessageByTopic = exports.transformMotionMasterMessageToStatus = exports.extendStatus = exports.selectMotionMasterMessageStatusByMessageId = void 0;
+exports.takeUntilCompleteOrError = exports.mapMonitoringParameterValuesStatusMessageToDeviceParameters = exports.mapMonitoringParameterValuesStatusMessageToParameterValues = exports.selectMotionMasterMessageStatusByKey = exports.selectMotionMasterMessageByTopic = exports.transformMotionMasterMessageToStatus = exports.extendStatus = exports.selectMotionMasterMessageStatusByMessageId = void 0;
 const rxjs_1 = require("rxjs");
 const request_status_resolver_1 = require("./request-status-resolver");
 const parameter_1 = require("./parameter");
@@ -80,4 +80,12 @@ function mapMonitoringParameterValuesStatusMessageToDeviceParameters(request) {
     }));
 }
 exports.mapMonitoringParameterValuesStatusMessageToDeviceParameters = mapMonitoringParameterValuesStatusMessageToDeviceParameters;
+function takeUntilCompleteOrError(notifier$) {
+    // Transform notifier to emit a value on complete or error
+    const stop$ = notifier$.pipe((0, rxjs_1.materialize)(), // Convert next/error/complete to Notification objects
+    (0, rxjs_1.filter)((n) => n.kind === 'C' || n.kind === 'E') // Only react to complete or error
+    );
+    return (0, rxjs_1.takeUntil)(stop$);
+}
+exports.takeUntilCompleteOrError = takeUntilCompleteOrError;
 //# sourceMappingURL=operators.js.map

package/src/lib/operators.js.map

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

@@ -552,3 +552,39 @@ export declare function analyzeTimeDurations(durations: number[]): {
         iqr: number;
     };
 };
+/**
+ * Creates a function to normalize unsigned counter timestamps relative to an initial value,
+ * correctly handling wrap-around for counters with any bit width from 1 to 32 bits.
+ *
+ * This is useful when timestamps from a hardware or software counter may wrap around,
+ * and you want strictly increasing normalized timestamps starting from zero.
+ *
+ * @param initial - The first timestamp received. This value will normalize to 0.
+ * @param bits - The bit width of the counter (1..32). Determines the maximum value before wrap-around.
+ *
+ * @returns A function that takes a timestamp and returns a normalized, strictly increasing timestamp.
+ *
+ * @example
+ * // 8-bit counter
+ * const normalize8 = makeNormalizeTimestampFn(100, 8);
+ * console.log(normalize8(100)); // 0
+ * console.log(normalize8(255)); // 155
+ * console.log(normalize8(3));   // 159
+ *
+ * @example
+ * // 16-bit counter
+ * const normalize16 = makeNormalizeTimestampFn(1000, 16);
+ * console.log(normalize16(1000));  // 0
+ * console.log(normalize16(65535)); // 64535
+ * console.log(normalize16(10));    // 65546
+ *
+ * @example
+ * // 32-bit counter (microseconds)
+ * const normalize32 = makeNormalizeTimestampFn(100, 32);
+ * console.log(normalize32(100));        // 0
+ * console.log(normalize32(4294967295)); // 4294967195
+ * console.log(normalize32(3));          // 4294967299
+ *
+ * @throws {Error} If bits is not in the range 1..32
+ */
+export declare function makeNormalizeTimestampFn(initial: number, bits: number): (timestamp: number) => number;

package/src/lib/util.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.analyzeTimeDurations = 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.makeNormalizeTimestampFn = exports.analyzeTimeDurations = 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");
@@ -945,4 +945,57 @@ function analyzeTimeDurations(durations) {
     };
 }
 exports.analyzeTimeDurations = analyzeTimeDurations;
+/**
+ * Creates a function to normalize unsigned counter timestamps relative to an initial value,
+ * correctly handling wrap-around for counters with any bit width from 1 to 32 bits.
+ *
+ * This is useful when timestamps from a hardware or software counter may wrap around,
+ * and you want strictly increasing normalized timestamps starting from zero.
+ *
+ * @param initial - The first timestamp received. This value will normalize to 0.
+ * @param bits - The bit width of the counter (1..32). Determines the maximum value before wrap-around.
+ *
+ * @returns A function that takes a timestamp and returns a normalized, strictly increasing timestamp.
+ *
+ * @example
+ * // 8-bit counter
+ * const normalize8 = makeNormalizeTimestampFn(100, 8);
+ * console.log(normalize8(100)); // 0
+ * console.log(normalize8(255)); // 155
+ * console.log(normalize8(3));   // 159
+ *
+ * @example
+ * // 16-bit counter
+ * const normalize16 = makeNormalizeTimestampFn(1000, 16);
+ * console.log(normalize16(1000));  // 0
+ * console.log(normalize16(65535)); // 64535
+ * console.log(normalize16(10));    // 65546
+ *
+ * @example
+ * // 32-bit counter (microseconds)
+ * const normalize32 = makeNormalizeTimestampFn(100, 32);
+ * console.log(normalize32(100));        // 0
+ * console.log(normalize32(4294967295)); // 4294967195
+ * console.log(normalize32(3));          // 4294967299
+ *
+ * @throws {Error} If bits is not in the range 1..32
+ */
+function makeNormalizeTimestampFn(initial, bits) {
+    if (bits < 1 || bits > 32) {
+        throw new Error('Bits must be between 1 and 32.');
+    }
+    const MAX = Math.pow(2, bits) - 1;
+    const MODULO = MAX + 1;
+    let lastNormalized = -1;
+    return (timestamp) => {
+        let normalized = (timestamp - initial + MODULO) % MODULO;
+        if (normalized <= lastNormalized) {
+            const wraps = Math.floor((lastNormalized - normalized) / MODULO) + 1;
+            normalized += wraps * MODULO;
+        }
+        lastNormalized = normalized;
+        return normalized;
+    };
+}
+exports.makeNormalizeTimestampFn = makeNormalizeTimestampFn;
 //# sourceMappingURL=util.js.map

package/src/lib/util.js.map

@@ -1 +1 @@
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