npm - motion-master-client - Versions diffs - 0.0.339 → 0.0.341 - Mend

motion-master-client 0.0.339 → 0.0.341

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 (23) hide show

package/package.json +1 -1
package/src/api.js +81 -74
package/src/api.js.map +1 -1
package/src/lib/circulo.d.ts +51 -0
package/src/lib/circulo.js +96 -1
package/src/lib/circulo.js.map +1 -1
package/src/lib/data-monitoring.d.ts +2 -2
package/src/lib/data-monitoring.js +2 -2
package/src/lib/device-parameter.d.ts +50 -3
package/src/lib/device-parameter.js +117 -4
package/src/lib/device-parameter.js.map +1 -1
package/src/lib/device.d.ts +70 -24
package/src/lib/device.js +45 -2
package/src/lib/device.js.map +1 -1
package/src/lib/motion-master-req-res-client.d.ts +12 -2
package/src/lib/motion-master-req-res-client.js +14 -32
package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/lib/operators.d.ts +195 -1
package/src/lib/operators.js +202 -1
package/src/lib/operators.js.map +1 -1
package/src/lib/util.d.ts +299 -160
package/src/lib/util.js +301 -170
package/src/lib/util.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.339",
+  "version": "0.0.341",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js CHANGED Viewed

@@ -16,6 +16,8 @@ const motion_composer_1 = require("./lib/motion-composer");
 const integro_encoder_calibration_1 = require("./lib/integro-encoder-calibration");
 const limited_range_system_identification_1 = require("./lib/limited-range-system-identification");
 const os_command_1 = require("./lib/os-command");
+const device_parameter_1 = require("./lib/device-parameter");
+const circulo_1 = require("./lib/circulo");
 Object.assign(globalThis, { WebSocket: require('ws') });
 const log = (0, debug_1.default)('mmapi');
 const app = (0, express_1.default)();
@@ -30,44 +32,40 @@ function asBoolean(value) {
     }
     return value.toLowerCase() === 'true' || value === '1';
 }
+/**
+ * Creates the default data monitoring parameter IDs for a given device.
+ *
+ * This function retrieves the UI PDO mapping for the specified device and flattens it
+ * into an array of `[deviceRef, index, subindex]` tuples suitable for data monitoring.
+ *
+ * If a `client` is available, it attempts to fetch the device-specific UI config using
+ * `getUiConfigOrDefaultPdoMapping`. If this fails, the function falls back to the
+ * default PDO mapping (`uiConfigWithDefaultPdoMapping`).
+ *
+ * @param deviceRef - The reference to the device for which to create parameter IDs.
+ * @returns A promise that resolves to an array of `[deviceRef, index, subindex]` tuples,
+ *   where `index` and `subindex` are numbers extracted from each PDO entry.
+ *
+ * @example
+ * ```ts
+ * const deviceRef = 1;
+ * const parameterIds = await createDefaultDataMonitoringParameterIds(deviceRef);
+ * // parameterIds contains tuples like [deviceRef, 0x6040, 0x00]
+ * ```
+ */
 function createDefaultDataMonitoringParameterIds(deviceRef) {
-    return [
-        // 0x1600: RxPDO Mapping 1
-        [deviceRef, 0x6040, 0x00],
-        [deviceRef, 0x6060, 0x00],
-        [deviceRef, 0x6071, 0x00],
-        [deviceRef, 0x607a, 0x00],
-        [deviceRef, 0x60ff, 0x00],
-        [deviceRef, 0x60b2, 0x00],
-        [deviceRef, 0x2701, 0x00],
-        // 0x1601: RxPDO Mapping 2
-        [deviceRef, 0x60fe, 0x01],
-        [deviceRef, 0x60fe, 0x02],
-        // 0x1602: RxPDO Mapping 3
-        [deviceRef, 0x2703, 0x00],
-        [deviceRef, 0x60b1, 0x00],
-        // 0x1A00: TxPDO Mapping 1
-        [deviceRef, 0x6041, 0x00],
-        [deviceRef, 0x6061, 0x00],
-        [deviceRef, 0x6064, 0x00],
-        [deviceRef, 0x606c, 0x00],
-        [deviceRef, 0x6077, 0x00],
-        [deviceRef, 0x60f4, 0x00],
-        // 0x1A01: TxPDO Mapping 2
-        [deviceRef, 0x2401, 0x00],
-        [deviceRef, 0x2402, 0x00],
-        [deviceRef, 0x2403, 0x00],
-        [deviceRef, 0x2404, 0x00],
-        [deviceRef, 0x2702, 0x00],
-        // 0x1A02: TxPDO Mapping 3
-        [deviceRef, 0x60fd, 0x00],
-        // 0x1A03: TxPDO Mapping 4
-        [deviceRef, 0x2704, 0x00],
-        [deviceRef, 0x20f0, 0x00],
-        [deviceRef, 0x60fc, 0x00],
-        [deviceRef, 0x606b, 0x00],
-        [deviceRef, 0x6074, 0x00], // Torque demand
-    ];
+    return tslib_1.__awaiter(this, void 0, void 0, function* () {
+        let pdoMapping = device_parameter_1.uiConfigWithDefaultPdoMapping.pdoMapping;
+        if (client) {
+            try {
+                pdoMapping = yield (0, rxjs_1.lastValueFrom)(client.request.getUiConfigOrDefaultPdoMapping(deviceRef));
+            }
+            catch (_a) {
+                // ignore
+            }
+        }
+        return (0, device_parameter_1.flattenUiPdoMapping)(deviceRef, pdoMapping);
+    });
 }
 // Enable CORS for all routes and all origins
 app.use((0, cors_1.default)());
@@ -643,25 +641,28 @@ app.get('/api/devices/:deviceRef/set-halt-bit/:value', asyncHandler((req, res) =
 app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     var _47, _48;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const target = parseInt(((_47 = req.query['target']) !== null && _47 !== void 0 ? _47 : '1000'));
+    const target = parseInt(((_47 = req.query['target']) !== null && _47 !== void 0 ? _47 : '100'));
     const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
     const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
     const slope = parseInt(((_48 = req.query['slope']) !== null && _48 !== void 0 ? _48 : '50'));
     const window = parseInt(req.query['window']) || undefined;
     const windowTime = parseInt(req.query['window-time']) || undefined;
-    const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
+    const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
+    const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
     dataMonitoring.start();
+    const config = {
+        target,
+        holdingDuration,
+        skipQuickStop,
+        targetReachTimeout,
+        slope,
+        window,
+        windowTime,
+    };
+    log('Running torque profile with config: ' + JSON.stringify(config, null, 2));
     try {
-        yield client.runTorqueProfile(deviceRef, {
-            target,
-            holdingDuration,
-            skipQuickStop,
-            targetReachTimeout,
-            slope,
-            window,
-            windowTime,
-        });
+        yield client.runTorqueProfile(deviceRef, config);
         res.type('text/csv').send(dataMonitoring.csv);
     }
     finally {
@@ -682,19 +683,22 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
     const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
     const window = parseInt(req.query['window']) || undefined;
     const windowTime = parseInt(req.query['window-time']) || undefined;
-    const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
-    dataMonitoring.start(); // ignore error
+    const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
+    const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
+    dataMonitoring.start();
+    const config = {
+        acceleration,
+        target,
+        deceleration,
+        holdingDuration,
+        skipQuickStop,
+        targetReachTimeout,
+        window,
+        windowTime,
+    };
+    log('Running velocity profile with config: ' + JSON.stringify(config, null, 2));
     try {
-        yield client.runVelocityProfile(deviceRef, {
-            acceleration,
-            target,
-            deceleration,
-            holdingDuration,
-            skipQuickStop,
-            targetReachTimeout,
-            window,
-            windowTime,
-        });
+        yield client.runVelocityProfile(deviceRef, config);
         res.type('text/csv').send(dataMonitoring.csv);
     }
     finally {
@@ -717,21 +721,24 @@ app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res)
     const velocity = parseInt(((_55 = req.query['velocity']) !== null && _55 !== void 0 ? _55 : '100'));
     const window = parseInt(req.query['window']) || undefined;
     const windowTime = parseInt(req.query['window-time']) || undefined;
-    const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
+    const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
+    const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
     dataMonitoring.start();
+    const config = {
+        acceleration,
+        target,
+        deceleration,
+        holdingDuration,
+        relative,
+        skipQuickStop,
+        targetReachTimeout,
+        velocity,
+        window,
+        windowTime,
+    };
+    log('Running position profile with config: ' + JSON.stringify(config, null, 2));
     try {
-        yield client.runPositionProfile(deviceRef, {
-            acceleration,
-            target,
-            deceleration,
-            holdingDuration,
-            relative,
-            skipQuickStop,
-            targetReachTimeout,
-            velocity,
-            window,
-            windowTime,
-        });
+        yield client.runPositionProfile(deviceRef, config);
         res.type('text/csv').send(dataMonitoring.csv);
     }
     finally {
@@ -790,7 +797,7 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration'
                         maxValuePercentage = 100 - Math.floor((Math.abs(maxValue) / yDomainLimit) * 100);
                         maxValuePercentage = Math.max(maxValuePercentage, 0);
                     }
-                    const meaning = client.request.getMaxValuePercentageLabel(maxValuePercentage);
+                    const meaning = (0, circulo_1.getCirculoEncoderCalibrationMaxValuePercentageLabel)(maxValuePercentage);
                     result.push({
                         data,
                         result: {

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package/src/lib/circulo.d.ts CHANGED Viewed

@@ -1438,3 +1438,54 @@ export declare class CirculoIntegratedEncoderIcpvlCommands {
     /** Disable sleep mode and resume normal operation. */
     static SLEEP_DISABLE: number;
 }
+/**
+ * Returns a color representing the encoder calibration quality for Circulo devices.
+ *
+ * The color is determined by the maximum-value percentage:
+ *
+ * - `50–100%`: **Green** (`#6ba853`) — robust calibration
+ * - `20–50%`: **Yellow** (`#aeb303`) — acceptable, small displacements tolerated
+ * - `0–20%`: **Orange** (`#e69138`) — weak, avoid mechanical displacement
+ * - `≤ 0%`: **Red** (`#fb262e`) — invalid calibration, phase error too high
+ *
+ * @param percentage - The maximum-value percentage obtained from encoder calibration.
+ * @returns A hex color string representing the calibration quality, or an empty string if out of range.
+ */
+export declare function getCirculoEncoderCalibrationMaxValuePercentageColor(percentage: number): "" | "#6ba853" | "#aeb303" | "#e69138" | "#fb262e";
+/**
+ * Returns a descriptive label explaining the quality of the encoder calibration
+ * based on the maximum-value percentage for Circulo devices.
+ *
+ * The label communicates how robust the calibration is with respect to mechanical
+ * displacement and thermal expansion:
+ *
+ * - `50–100%`: Robust against displacement and temperature changes
+ * - `20–50%`: Robust to small mechanical or thermal variations
+ * - `0–20%`: Calibration succeeded but sensitive; avoid displacement
+ * - `≤ 0%`: Calibration failed; phase error too high
+ *
+ * @param percentage - The maximum-value percentage obtained from encoder calibration.
+ * @returns A human-readable label describing calibration quality, or an empty string if out of range.
+ */
+export declare function getCirculoEncoderCalibrationMaxValuePercentageLabel(percentage: number): "" | "Calibration was successful. Encoder system is robust to mechanical displacements and temperature expansions." | "Calibration was successful. Encoder system is robust to small mechanical displacements and temperature expansions." | "Calibration was successful. Mechanical displacement and temperature expansions should be avoided." | "Phase error is too high. The absolute position can't be computed reliably. Adjust mechanical position and repeat calibration.";
+/**
+ * Result of Circulo encoder calibration computation.
+ */
+export interface CirculoEncoderCalibrationResult {
+    /** Paired data points: [position, phaseError] */
+    data: number[][];
+    /** Maximum-value percentage indicating calibration quality (0–100) */
+    value: number;
+    /** Human-readable meaning of the calibration percentage */
+    meaning: string;
+}
+/**
+ * Computes the Circulo encoder calibration result from position and phaseError arrays.
+ *
+ * Handles empty or mismatched inputs gracefully by returning null.
+ *
+ * @param position - Array of encoder positions
+ * @param phaseError - Array of corresponding phase errors
+ * @returns Calibration result or null if inputs are invalid or empty
+ */
+export declare function computeCirculoEncoderCalibrationResult(position?: number[], phaseError?: number[]): CirculoEncoderCalibrationResult | null;

package/src/lib/circulo.js CHANGED Viewed

@@ -1,7 +1,7 @@
 "use strict";
 // https://github.com/synapticon/somanet_software/blob/32edf5ef572ea7d840aabe4a26e0f3d31f05caab/sw_applications/app_motion_drive/test/pytest/somanet_icmu_helpers.py
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.CirculoIntegratedEncoderIcpvlCommands = exports.CirculoIntegratedEncoderIcmuCommands = exports.CirculoIntegratedEncoderEepromParameters = exports.CirculoIntegratedEncoderIcpvlParameters = exports.CirculoIntegratedEncoderIcmuParameters = exports.circuloIntegratedEncoderI2CDeviceIdOptions = exports.CirculoIntegratedEncoderI2CDeviceId = exports.circuloIntegratedEncoderKeyConfigurationRegisterAddresses = void 0;
+exports.computeCirculoEncoderCalibrationResult = exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = exports.getCirculoEncoderCalibrationMaxValuePercentageColor = exports.CirculoIntegratedEncoderIcpvlCommands = exports.CirculoIntegratedEncoderIcmuCommands = exports.CirculoIntegratedEncoderEepromParameters = exports.CirculoIntegratedEncoderIcpvlParameters = exports.CirculoIntegratedEncoderIcmuParameters = exports.circuloIntegratedEncoderI2CDeviceIdOptions = exports.CirculoIntegratedEncoderI2CDeviceId = exports.circuloIntegratedEncoderKeyConfigurationRegisterAddresses = void 0;
 /**
  * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
  *
@@ -430,4 +430,99 @@ CirculoIntegratedEncoderIcpvlCommands.SLEEP_ENABLE = 0x04;
 CirculoIntegratedEncoderIcpvlCommands.SCLR = 0x05;
 /** Disable sleep mode and resume normal operation. */
 CirculoIntegratedEncoderIcpvlCommands.SLEEP_DISABLE = 0x07;
+/**
+ * Returns a color representing the encoder calibration quality for Circulo devices.
+ *
+ * The color is determined by the maximum-value percentage:
+ *
+ * - `50–100%`: **Green** (`#6ba853`) — robust calibration
+ * - `20–50%`: **Yellow** (`#aeb303`) — acceptable, small displacements tolerated
+ * - `0–20%`: **Orange** (`#e69138`) — weak, avoid mechanical displacement
+ * - `≤ 0%`: **Red** (`#fb262e`) — invalid calibration, phase error too high
+ *
+ * @param percentage - The maximum-value percentage obtained from encoder calibration.
+ * @returns A hex color string representing the calibration quality, or an empty string if out of range.
+ */
+function getCirculoEncoderCalibrationMaxValuePercentageColor(percentage) {
+    if (percentage >= 50 && percentage <= 100) {
+        return '#6ba853';
+    }
+    else if (percentage > 20 && percentage < 50) {
+        return '#aeb303';
+    }
+    else if (percentage > 0 && percentage <= 20) {
+        return '#e69138';
+    }
+    else if (percentage <= 0) {
+        return '#fb262e';
+    }
+    return '';
+}
+exports.getCirculoEncoderCalibrationMaxValuePercentageColor = getCirculoEncoderCalibrationMaxValuePercentageColor;
+/**
+ * Returns a descriptive label explaining the quality of the encoder calibration
+ * based on the maximum-value percentage for Circulo devices.
+ *
+ * The label communicates how robust the calibration is with respect to mechanical
+ * displacement and thermal expansion:
+ *
+ * - `50–100%`: Robust against displacement and temperature changes
+ * - `20–50%`: Robust to small mechanical or thermal variations
+ * - `0–20%`: Calibration succeeded but sensitive; avoid displacement
+ * - `≤ 0%`: Calibration failed; phase error too high
+ *
+ * @param percentage - The maximum-value percentage obtained from encoder calibration.
+ * @returns A human-readable label describing calibration quality, or an empty string if out of range.
+ */
+function getCirculoEncoderCalibrationMaxValuePercentageLabel(percentage) {
+    if (percentage >= 50 && percentage <= 100) {
+        return 'Calibration was successful. Encoder system is robust to mechanical displacements and temperature expansions.';
+    }
+    else if (percentage > 20 && percentage < 50) {
+        return 'Calibration was successful. Encoder system is robust to small mechanical displacements and temperature expansions.';
+    }
+    else if (percentage > 0 && percentage <= 20) {
+        return 'Calibration was successful. Mechanical displacement and temperature expansions should be avoided.';
+    }
+    else if (percentage <= 0) {
+        return "Phase error is too high. The absolute position can't be computed reliably. Adjust mechanical position and repeat calibration.";
+    }
+    return '';
+}
+exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = getCirculoEncoderCalibrationMaxValuePercentageLabel;
+/**
+ * Computes the Circulo encoder calibration result from position and phaseError arrays.
+ *
+ * Handles empty or mismatched inputs gracefully by returning null.
+ *
+ * @param position - Array of encoder positions
+ * @param phaseError - Array of corresponding phase errors
+ * @returns Calibration result or null if inputs are invalid or empty
+ */
+function computeCirculoEncoderCalibrationResult(position, phaseError) {
+    // Return null if inputs are missing or lengths don't match
+    if (!position || !phaseError || position.length !== phaseError.length || position.length === 0) {
+        return null;
+    }
+    // Pair valid [position, phaseError] points
+    const data = position
+        .map((p, i) => {
+        const err = phaseError[i];
+        return Number.isFinite(p) && Number.isFinite(err) ? [p, err] : undefined;
+    })
+        .filter((pt) => !!pt);
+    if (data.length === 0) {
+        return null;
+    }
+    // Find the data point with the largest absolute phase error
+    const maxPoint = data.reduce((max, point) => (Math.abs(point[1]) > Math.abs(max[1]) ? point : max), data[0]);
+    const yDomainLimit = 256;
+    const maxValuePercentage = Math.max(100 - Math.floor((Math.abs(maxPoint[1]) / yDomainLimit) * 100), 0);
+    return {
+        data,
+        value: maxValuePercentage,
+        meaning: getCirculoEncoderCalibrationMaxValuePercentageLabel(maxValuePercentage),
+    };
+}
+exports.computeCirculoEncoderCalibrationResult = computeCirculoEncoderCalibrationResult;
 //# sourceMappingURL=circulo.js.map