motion-master-client 0.0.417 → 0.0.419

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.417",
+  "version": "0.0.419",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -1048,7 +1048,7 @@ app.get('/api/devices/:deviceRef/force-on-demand-parameters-update', asyncHandle
     res.send();
 })));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _74, _75, _76;
+    var _74, _75, _76, _77, _78, _79;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const encoderOrdinal = parseInt(((_74 = req.query['encoder-ordinal']) !== null && _74 !== void 0 ? _74 : '1'));
@@ -1056,62 +1056,65 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration'
     const measurementOnly = asBoolean(req.query['measurement-only']);
     const externalEncoderType = parseInt(((_75 = req.query['external-encoder-type']) !== null && _75 !== void 0 ? _75 : '0'));
     const requestTimeout = parseInt(((_76 = req.query['request-timeout']) !== null && _76 !== void 0 ? _76 : '120000'));
+    // The percentage is the measured phase error expressed against what the measured ring tolerates,
+    // which differs per ring size, so resolve the limit from the device (or from the external ring
+    // the caller named) exactly like the OBLAC Drives calibration page does.
+    const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
+    const maxPermissiblePhaseError = (0, circulo_1.getCirculoEncoderMaxPermissiblePhaseError)(((_77 = device.hardwareDescription) === null || _77 === void 0 ? void 0 : _77.device.serialNumber) ? device.hardwareDescription : device.serialNumber, externalEncoderType);
     const statuses = yield (0, rxjs_1.lastValueFrom)(client.request
         .startCirculoEncoderNarrowAngleCalibrationProcedure(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, activateHealthMonitoring, measurementOnly, externalEncoderType }), requestTimeout)
         .pipe((0, rxjs_1.toArray)()));
-    let result = [];
-    statuses.forEach((status) => {
-        var _a, _b, _c;
-        if (((_a = status === null || status === void 0 ? void 0 : status.progress) === null || _a === void 0 ? void 0 : _a.position) && ((_b = status === null || status === void 0 ? void 0 : status.progress) === null || _b === void 0 ? void 0 : _b.phaseError)) {
-            const data = status.progress.position
-                .map((p, i) => {
-                var _a;
-                const phaseError = (_a = status.progress) === null || _a === void 0 ? void 0 : _a.phaseError[i];
-                if (typeof p === 'number' && typeof phaseError === 'number') {
-                    return [p, phaseError];
-                }
-                return undefined;
-            })
-                .filter((pt) => Array.isArray(pt));
-            let maxIndex = 0;
-            data.forEach((point, i) => {
-                if (Math.abs(point[1]) > Math.abs(data[maxIndex][1])) {
-                    maxIndex = i;
-                }
-            });
-            const maxValue = (_c = data[maxIndex]) === null || _c === void 0 ? void 0 : _c[1];
-            const yDomainLimit = 256;
-            let maxValuePercentage = 0;
-            if (maxValue !== undefined) {
-                maxValuePercentage = 100 - Math.floor((Math.abs(maxValue) / yDomainLimit) * 100);
-                maxValuePercentage = Math.max(maxValuePercentage, 0);
-            }
-            const meaning = (0, circulo_1.getCirculoEncoderCalibrationMaxValuePercentageLabel)(maxValuePercentage);
-            result.push({
-                data,
+    // One entry per calibration iteration. Only the iteration flagged `final` measures an already
+    // calibrated encoder; the earlier ones measure an encoder that is still being calibrated, so
+    // their percentage is not the quality of the calibration.
+    const result = statuses.reduce((acc, status) => {
+        var _a, _b, _c, _d, _e, _f, _g;
+        const computed = (0, circulo_1.computeCirculoEncoderCalibrationResult)((_b = (_a = status.progress) === null || _a === void 0 ? void 0 : _a.position) !== null && _b !== void 0 ? _b : undefined, (_d = (_c = status.progress) === null || _c === void 0 ? void 0 : _c.phaseError) !== null && _d !== void 0 ? _d : undefined, maxPermissiblePhaseError);
+        if (computed) {
+            acc.push({
+                iteration: (_f = (_e = status.progress) === null || _e === void 0 ? void 0 : _e.iteration) !== null && _f !== void 0 ? _f : 0,
+                final: ((_g = status.progress) === null || _g === void 0 ? void 0 : _g.final) === true,
+                data: computed.data,
                 result: {
-                    value: maxValuePercentage,
-                    meaning,
+                    value: computed.value,
+                    meaning: computed.meaning,
+                    maxPermissiblePhaseError: computed.maxPermissiblePhaseError,
                 },
             });
         }
-    });
+        return acc;
+    }, []);
     const finalStatus = statuses.at(-1);
     if ((finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.request) === 'succeeded') {
         res.json(result);
     }
     else {
-        res.status(500).send(finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.error);
+        // The procedure failed or was stopped. Preserve the standard `{ message, code }` error body that the
+        // rest of the API returns on 500 (so existing clients keep reading those fields unchanged), and extend
+        // it with `data`: the phase-error samples collected before the procedure ended, so callers can still
+        // diagnose why the calibration did not succeed instead of getting an empty response.
+        //
+        // A stop resolves to a failed request through a `success` status (code STOPPED) rather than an `error`,
+        // so its message comes from there. `code` is taken only from a genuine `error`: the STOPPED success
+        // code (4) collides numerically with Error TIMED_OUT (4), so we omit it on a stop rather than report an
+        // ambiguous code — the message still explains what happened. The per-iteration robustness verdict from
+        // `result` is intentionally omitted too: it labels a *successful* calibration, which this was not.
+        const failure = (_78 = finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.error) !== null && _78 !== void 0 ? _78 : finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.success;
+        res.status(500).json({
+            code: (_79 = finalStatus === null || finalStatus === void 0 ? void 0 : finalStatus.error) === null || _79 === void 0 ? void 0 : _79.code,
+            message: failure === null || failure === void 0 ? void 0 : failure.message,
+            data: result.map((iteration) => iteration.data),
+        });
     }
 })));
 app.get('/api/devices/:deviceRef/start-circulo-encoder-configuration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _77, _78, _79, _80;
+    var _80, _81, _82, _83;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const encoderOrdinal = parseInt(((_77 = req.query['encoder-ordinal']) !== null && _77 !== void 0 ? _77 : '1'));
-    const batteryModeMaxAcceleration = parseInt(((_78 = req.query['battery-mode-max-acceleration']) !== null && _78 !== void 0 ? _78 : '0'));
-    const externalCirculoType = parseInt(((_79 = req.query['external-circulo-type']) !== null && _79 !== void 0 ? _79 : '0'));
-    const requestTimeout = parseInt(((_80 = req.query['request-timeout']) !== null && _80 !== void 0 ? _80 : '30000'));
+    const encoderOrdinal = parseInt(((_80 = req.query['encoder-ordinal']) !== null && _80 !== void 0 ? _80 : '1'));
+    const batteryModeMaxAcceleration = parseInt(((_81 = req.query['battery-mode-max-acceleration']) !== null && _81 !== void 0 ? _81 : '0'));
+    const externalCirculoType = parseInt(((_82 = req.query['external-circulo-type']) !== null && _82 !== void 0 ? _82 : '0'));
+    const requestTimeout = parseInt(((_83 = req.query['request-timeout']) !== null && _83 !== void 0 ? _83 : '30000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderConfiguration(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, batteryModeMaxAcceleration, externalCirculoType }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send();
@@ -1121,9 +1124,9 @@ app.get('/api/devices/:deviceRef/start-circulo-encoder-configuration', asyncHand
     }
 })));
 app.get('/api/devices/:deviceRef/check-circulo-encoder-errors', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _81;
+    var _84;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const encoderOrdinal = parseInt(((_81 = req.query['encoder-ordinal']) !== null && _81 !== void 0 ? _81 : '1'));
+    const encoderOrdinal = parseInt(((_84 = req.query['encoder-ordinal']) !== null && _84 !== void 0 ? _84 : '1'));
     const result = yield (0, rxjs_1.lastValueFrom)(client.request.checkCirculoEncoderErrors(deviceRef, encoderOrdinal));
     res.send(result);
 })));
@@ -1133,12 +1136,12 @@ app.get('/api/devices/:deviceRef/start-integro-encoder-calibration', asyncHandle
     res.send();
 })));
 app.get('/api/devices/:deviceRef/circulo-encoder-magnet-distance', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _82, _83, _84;
+    var _85, _86, _87;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const encoderOrdinal = parseInt(((_82 = req.query['encoder-ordinal']) !== null && _82 !== void 0 ? _82 : '1'));
-    const ringRevision = parseInt(((_83 = req.query['ring-revision']) !== null && _83 !== void 0 ? _83 : '0'));
-    const requestTimeout = parseInt(((_84 = req.query['request-timeout']) !== null && _84 !== void 0 ? _84 : '5000'));
+    const encoderOrdinal = parseInt(((_85 = req.query['encoder-ordinal']) !== null && _85 !== void 0 ? _85 : '1'));
+    const ringRevision = parseInt(((_86 = req.query['ring-revision']) !== null && _86 !== void 0 ? _86 : '0'));
+    const requestTimeout = parseInt(((_87 = req.query['request-timeout']) !== null && _87 !== void 0 ? _87 : '5000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.getCirculoEncoderMagnetDistance(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, ringRevision }), requestTimeout));
     if (status.request === 'succeeded') {
         res.send({ distance: status.distance, position: status.position });
@@ -1148,7 +1151,7 @@ app.get('/api/devices/:deviceRef/circulo-encoder-magnet-distance', asyncHandler(
     }
 })));
 app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _85, _86, _87, _88;
+    var _88, _89, _90, _91;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const commandQuery = req.query['command'];
     if (!commandQuery) {
@@ -1163,12 +1166,12 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
         return;
     }
     const commandArray = new Uint8Array(command);
-    const commandTimeout = parseInt(((_85 = req.query['command-timeout']) !== null && _85 !== void 0 ? _85 : '10000'));
-    const responsePollingInterval = parseInt(((_86 = req.query['response-polling-interval']) !== null && _86 !== void 0 ? _86 : '1000'));
+    const commandTimeout = parseInt(((_88 = req.query['command-timeout']) !== null && _88 !== void 0 ? _88 : '10000'));
+    const responsePollingInterval = parseInt(((_89 = req.query['response-polling-interval']) !== null && _89 !== void 0 ? _89 : '1000'));
     const osCommandModeQuery = req.query['os-command-mode'];
     const osCommandMode = osCommandModeQuery !== undefined && asBoolean(osCommandModeQuery)
         ? true
-        : (_87 = os_command_1.OsCommandMode[osCommandModeQuery === null || osCommandModeQuery === void 0 ? void 0 : osCommandModeQuery.toUpperCase()]) !== null && _87 !== void 0 ? _87 : false;
+        : (_90 = os_command_1.OsCommandMode[osCommandModeQuery === null || osCommandModeQuery === void 0 ? void 0 : osCommandModeQuery.toUpperCase()]) !== null && _90 !== void 0 ? _90 : false;
     const readFsBuffer = asBoolean(req.query['read-fs-buffer']);
     const fsBufferContent = req.body;
     let fsBufferContentArray = undefined;
@@ -1176,7 +1179,7 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
         fsBufferContentArray = new Uint8Array(fsBufferContent);
     }
     const fsBuffer = fsBufferContentArray !== null && fsBufferContentArray !== void 0 ? fsBufferContentArray : readFsBuffer;
-    const fsBufferReadWriteTimeout = parseInt(((_88 = req.query['fs-buffer-read-write-timeout']) !== null && _88 !== void 0 ? _88 : '30000'));
+    const fsBufferReadWriteTimeout = parseInt(((_91 = req.query['fs-buffer-read-write-timeout']) !== null && _91 !== void 0 ? _91 : '30000'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.runOsCommand(deviceRef, commandArray, commandTimeout, responsePollingInterval, osCommandMode, fsBuffer, fsBufferReadWriteTimeout));
     if (status.request === 'succeeded') {
         res.send(status);
@@ -1191,10 +1194,10 @@ app.post('/api/devices/:deviceRef/run-os-command', asyncHandler((req, res) => ts
  * @example curl -X POST "http://localhost:63526/api/devices/0/os-command/abort?command-timeout=10000&response-polling-interval=250"
  */
 app.post('/api/devices/:deviceRef/os-command/abort', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _89, _90;
+    var _92, _93;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const commandTimeout = parseInt(((_89 = req.query['command-timeout']) !== null && _89 !== void 0 ? _89 : '10000'));
-    const responsePollingInterval = parseInt(((_90 = req.query['response-polling-interval']) !== null && _90 !== void 0 ? _90 : '250'));
+    const commandTimeout = parseInt(((_92 = req.query['command-timeout']) !== null && _92 !== void 0 ? _92 : '10000'));
+    const responsePollingInterval = parseInt(((_93 = req.query['response-polling-interval']) !== null && _93 !== void 0 ? _93 : '250'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.abortOsCommand(deviceRef, commandTimeout, responsePollingInterval));
     if (status.request === 'succeeded') {
         res.send(status);
@@ -1204,10 +1207,10 @@ app.post('/api/devices/:deviceRef/os-command/abort', asyncHandler((req, res) =>
     }
 })));
 app.post('/api/devices/:deviceRef/configure-smm', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _91, _92, _93;
+    var _94, _95, _96;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const username = (_91 = req.query['username']) !== null && _91 !== void 0 ? _91 : 'Test';
-    const password = (_92 = req.query['password']) !== null && _92 !== void 0 ? _92 : 'SomanetSMM';
+    const username = (_94 = req.query['username']) !== null && _94 !== void 0 ? _94 : 'Test';
+    const password = (_95 = req.query['password']) !== null && _95 !== void 0 ? _95 : 'SomanetSMM';
     let configString;
     if (Buffer.isBuffer(req.body)) {
         // application/octet-stream (or express.raw)
@@ -1218,49 +1221,49 @@ app.post('/api/devices/:deviceRef/configure-smm', asyncHandler((req, res) => tsl
         configString = req.body;
     }
     else {
-        const contentType = (_93 = req.headers['content-type']) !== null && _93 !== void 0 ? _93 : '';
+        const contentType = (_96 = req.headers['content-type']) !== null && _96 !== void 0 ? _96 : '';
         throw new Error(`Unsupported body type for configure-smm: ${typeof req.body} (Content-Type: ${contentType})`);
     }
     const safetyParametersReport = yield (0, rxjs_1.lastValueFrom)(client.request.configureSmmFromFile(deviceRef, username, password, configString));
     res.send(safetyParametersReport);
 })));
 app.post('/api/devices/:deviceRef/update-smm-software', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _94, _95, _96, _97, _98, _99, _100;
+    var _97, _98, _99, _100, _101, _102, _103;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const username = (_94 = req.query['username']) !== null && _94 !== void 0 ? _94 : 'Test';
-    const password = (_95 = req.query['password']) !== null && _95 !== void 0 ? _95 : 'SomanetSMM';
-    const crc = parseInt(((_96 = req.query['crc']) !== null && _96 !== void 0 ? _96 : ''), 16);
+    const username = (_97 = req.query['username']) !== null && _97 !== void 0 ? _97 : 'Test';
+    const password = (_98 = req.query['password']) !== null && _98 !== void 0 ? _98 : 'SomanetSMM';
+    const crc = parseInt(((_99 = req.query['crc']) !== null && _99 !== void 0 ? _99 : ''), 16);
     // Validate CRC
     if (Number.isNaN(crc)) {
         res.status(400).send('Invalid CRC format. Expected hexadecimal string.');
         return;
     }
     // Get optional parameters from query string
-    const chunkSize = parseInt(((_97 = req.query['chunkSize']) !== null && _97 !== void 0 ? _97 : '1000'));
-    const commandTimeout = parseInt(((_98 = req.query['commandTimeout']) !== null && _98 !== void 0 ? _98 : '30000'));
-    const responsePollingInterval = parseInt(((_99 = req.query['responsePollingInterval']) !== null && _99 !== void 0 ? _99 : '1000'));
-    const fsBufferReadWriteTimeout = parseInt(((_100 = req.query['fsBufferReadWriteTimeout']) !== null && _100 !== void 0 ? _100 : '120000'));
+    const chunkSize = parseInt(((_100 = req.query['chunkSize']) !== null && _100 !== void 0 ? _100 : '1000'));
+    const commandTimeout = parseInt(((_101 = req.query['commandTimeout']) !== null && _101 !== void 0 ? _101 : '30000'));
+    const responsePollingInterval = parseInt(((_102 = req.query['responsePollingInterval']) !== null && _102 !== void 0 ? _102 : '1000'));
+    const fsBufferReadWriteTimeout = parseInt(((_103 = req.query['fsBufferReadWriteTimeout']) !== null && _103 !== void 0 ? _103 : '120000'));
     // Create buffer from request body
     const buffer = new Uint8Array(req.body);
     yield (0, rxjs_1.lastValueFrom)(client.request.updateSmmSoftware(deviceRef, username, password, buffer, crc, chunkSize, commandTimeout, responsePollingInterval, fsBufferReadWriteTimeout));
     res.send();
 })));
 app.post('/api/devices/:deviceRef/update-smm-software-to-encrypted', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _101, _102, _103, _104, _105, _106, _107;
+    var _104, _105, _106, _107, _108, _109, _110;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const username = (_101 = req.query['username']) !== null && _101 !== void 0 ? _101 : 'Test';
-    const password = (_102 = req.query['password']) !== null && _102 !== void 0 ? _102 : 'SomanetSMM';
-    const crc = parseInt(((_103 = req.query['crc']) !== null && _103 !== void 0 ? _103 : ''), 16);
+    const username = (_104 = req.query['username']) !== null && _104 !== void 0 ? _104 : 'Test';
+    const password = (_105 = req.query['password']) !== null && _105 !== void 0 ? _105 : 'SomanetSMM';
+    const crc = parseInt(((_106 = req.query['crc']) !== null && _106 !== void 0 ? _106 : ''), 16);
     // Validate CRC
     if (Number.isNaN(crc)) {
         res.status(400).send('Invalid CRC format. Expected hexadecimal string.');
         return;
     }
     // Get optional parameters from query string
-    const chunkSize = parseInt(((_104 = req.query['chunkSize']) !== null && _104 !== void 0 ? _104 : '1000'));
-    const commandTimeout = parseInt(((_105 = req.query['commandTimeout']) !== null && _105 !== void 0 ? _105 : '30000'));
-    const responsePollingInterval = parseInt(((_106 = req.query['responsePollingInterval']) !== null && _106 !== void 0 ? _106 : '1000'));
-    const fsBufferReadWriteTimeout = parseInt(((_107 = req.query['fsBufferReadWriteTimeout']) !== null && _107 !== void 0 ? _107 : '120000'));
+    const chunkSize = parseInt(((_107 = req.query['chunkSize']) !== null && _107 !== void 0 ? _107 : '1000'));
+    const commandTimeout = parseInt(((_108 = req.query['commandTimeout']) !== null && _108 !== void 0 ? _108 : '30000'));
+    const responsePollingInterval = parseInt(((_109 = req.query['responsePollingInterval']) !== null && _109 !== void 0 ? _109 : '1000'));
+    const fsBufferReadWriteTimeout = parseInt(((_110 = req.query['fsBufferReadWriteTimeout']) !== null && _110 !== void 0 ? _110 : '120000'));
     // Create buffer from request body
     const buffer = new Uint8Array(req.body);
     yield (0, rxjs_1.lastValueFrom)(client.request.updateSmmSoftwareToEncrypted(deviceRef, username, password, buffer, crc, chunkSize, commandTimeout, responsePollingInterval, fsBufferReadWriteTimeout));
@@ -1273,16 +1276,16 @@ app.get('/api/devices/:deviceRef/write-circulo-integrated-encoder-config-bin-fil
     res.send(status);
 })));
 app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _108, _109, _110, _111, _112, _113, _114, _115;
-    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const hrdStreamingDuration = parseInt(((_108 = req.query['hrd-streaming-duration']) !== null && _108 !== void 0 ? _108 : '4000'));
-    const modesOfOperation = parseInt(((_109 = req.query['modes-of-operation']) !== null && _109 !== void 0 ? _109 : '10'));
-    const signalType = parseInt(((_110 = req.query['signal-type']) !== null && _110 !== void 0 ? _110 : '0'));
-    const startFrequency = parseInt(((_111 = req.query['start-frequency']) !== null && _111 !== void 0 ? _111 : '2000'));
-    const startProcedure = parseInt(((_112 = req.query['start-procedure']) !== null && _112 !== void 0 ? _112 : '2'));
-    const targetAmplitude = parseInt(((_113 = req.query['target-amplitude']) !== null && _113 !== void 0 ? _113 : '300'));
-    const targetFrequency = parseInt(((_114 = req.query['target-frequency']) !== null && _114 !== void 0 ? _114 : '100000'));
-    const transitionTime = parseInt(((_115 = req.query['transition-time']) !== null && _115 !== void 0 ? _115 : '3000'));
+    var _111, _112, _113, _114, _115, _116, _117, _118;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const hrdStreamingDuration = parseInt(((_111 = req.query['hrd-streaming-duration']) !== null && _111 !== void 0 ? _111 : '4000'));
+    const modesOfOperation = parseInt(((_112 = req.query['modes-of-operation']) !== null && _112 !== void 0 ? _112 : '10'));
+    const signalType = parseInt(((_113 = req.query['signal-type']) !== null && _113 !== void 0 ? _113 : '0'));
+    const startFrequency = parseInt(((_114 = req.query['start-frequency']) !== null && _114 !== void 0 ? _114 : '2000'));
+    const startProcedure = parseInt(((_115 = req.query['start-procedure']) !== null && _115 !== void 0 ? _115 : '2'));
+    const targetAmplitude = parseInt(((_116 = req.query['target-amplitude']) !== null && _116 !== void 0 ? _116 : '300'));
+    const targetFrequency = parseInt(((_117 = req.query['target-frequency']) !== null && _117 !== void 0 ? _117 : '100000'));
+    const transitionTime = parseInt(((_118 = req.query['transition-time']) !== null && _118 !== void 0 ? _118 : '3000'));
     const options = {
         hrdStreamingDuration,
         modesOfOperation,
@@ -1303,18 +1306,18 @@ app.get('/api/devices/:deviceRef/run-chirp-signal', asyncHandler((req, res) => t
     }
 })));
 app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _116, _117, _118, _119, _120, _121, _122;
+    var _119, _120, _121, _122, _123, _124, _125;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const hrdStreamingDuration = parseInt(((_116 = req.query['hrd-streaming-duration']) !== null && _116 !== void 0 ? _116 : '3200'));
+    const hrdStreamingDuration = parseInt(((_119 = req.query['hrd-streaming-duration']) !== null && _119 !== void 0 ? _119 : '3200'));
     const modesOfOperation = cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE;
-    const rangeLimit = parseInt(((_117 = req.query['range-limit']) !== null && _117 !== void 0 ? _117 : '10000'));
-    const rangeLimitMin = parseInt(((_118 = req.query['range-limit-min']) !== null && _118 !== void 0 ? _118 : '1000'));
+    const rangeLimit = parseInt(((_120 = req.query['range-limit']) !== null && _120 !== void 0 ? _120 : '10000'));
+    const rangeLimitMin = parseInt(((_121 = req.query['range-limit-min']) !== null && _121 !== void 0 ? _121 : '1000'));
     const signalType = os_command_1.SystemIdentificationOsCommandSignalType.LINEAR_WITH_CONSTANT_AMPLITUDE;
-    const startFrequency = parseInt(((_119 = req.query['start-frequency']) !== null && _119 !== void 0 ? _119 : '1000'));
+    const startFrequency = parseInt(((_122 = req.query['start-frequency']) !== null && _122 !== void 0 ? _122 : '1000'));
     const startProcedure = os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START;
-    const targetAmplitude = parseInt(((_120 = req.query['target-amplitude']) !== null && _120 !== void 0 ? _120 : '300'));
-    const targetFrequency = parseInt(((_121 = req.query['target-frequency']) !== null && _121 !== void 0 ? _121 : '10000'));
-    const transitionTime = parseInt(((_122 = req.query['transition-time']) !== null && _122 !== void 0 ? _122 : '3000'));
+    const targetAmplitude = parseInt(((_123 = req.query['target-amplitude']) !== null && _123 !== void 0 ? _123 : '300'));
+    const targetFrequency = parseInt(((_124 = req.query['target-frequency']) !== null && _124 !== void 0 ? _124 : '10000'));
+    const transitionTime = parseInt(((_125 = req.query['transition-time']) !== null && _125 !== void 0 ? _125 : '3000'));
     const options = {
         hrdStreamingDuration,
         modesOfOperation,
@@ -1357,15 +1360,15 @@ app.get('/api/motion-composer/stop', asyncHandler((_req, res) => tslib_1.__await
     res.send();
 })));
 app.get('/api/devices/:deviceRef/run-kubler-encoder-register-communication-os-command', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _123, _124, _125, _126, _127, _128, _129;
-    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const rw = parseInt(((_123 = req.query['rw']) !== null && _123 !== void 0 ? _123 : '0'));
-    const registerAddress = parseInt(((_124 = req.query['register-address']) !== null && _124 !== void 0 ? _124 : '0'));
-    const registerLength = parseInt(((_125 = req.query['register-length']) !== null && _125 !== void 0 ? _125 : '0'));
-    const registerWriteValue = parseInt(((_126 = req.query['register-write-value']) !== null && _126 !== void 0 ? _126 : '0'));
-    const commandTimeout = parseInt(((_127 = req.query['command-timeout']) !== null && _127 !== void 0 ? _127 : '10000'));
-    const responsePollingInterval = parseInt(((_128 = req.query['response-polling-interval']) !== null && _128 !== void 0 ? _128 : '1000'));
-    const osCommandMode = asBoolean(((_129 = req.query['os-command-mode']) !== null && _129 !== void 0 ? _129 : 'false'));
+    var _126, _127, _128, _129, _130, _131, _132;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const rw = parseInt(((_126 = req.query['rw']) !== null && _126 !== void 0 ? _126 : '0'));
+    const registerAddress = parseInt(((_127 = req.query['register-address']) !== null && _127 !== void 0 ? _127 : '0'));
+    const registerLength = parseInt(((_128 = req.query['register-length']) !== null && _128 !== void 0 ? _128 : '0'));
+    const registerWriteValue = parseInt(((_129 = req.query['register-write-value']) !== null && _129 !== void 0 ? _129 : '0'));
+    const commandTimeout = parseInt(((_130 = req.query['command-timeout']) !== null && _130 !== void 0 ? _130 : '10000'));
+    const responsePollingInterval = parseInt(((_131 = req.query['response-polling-interval']) !== null && _131 !== void 0 ? _131 : '1000'));
+    const osCommandMode = asBoolean(((_132 = req.query['os-command-mode']) !== null && _132 !== void 0 ? _132 : 'false'));
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.runKublerEncoderRegisterCommunicationOsCommand(deviceRef, rw, registerAddress, registerLength, registerWriteValue, commandTimeout, responsePollingInterval, osCommandMode));
     if (status.request === 'succeeded') {
         res.send(status);
@@ -1414,28 +1417,28 @@ app.get('/api/devices/:deviceRef/factory-reset', asyncHandler((req, res) => tsli
     }
 })));
 app.get('/api/devices/:deviceRef/monitoring/start', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _130;
+    var _133;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
     const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
-    (_130 = dataMonitoringMap.get(device.id)) === null || _130 === void 0 ? void 0 : _130.stop();
+    (_133 = dataMonitoringMap.get(device.id)) === null || _133 === void 0 ? void 0 : _133.stop();
     const dataMonitoring = client.createDataMonitoring(monitoringParameterIds, 1000);
     dataMonitoring.start();
     dataMonitoringMap.set(device.id, dataMonitoring);
     res.send();
 })));
 app.get('/api/devices/:deviceRef/monitoring/data', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _131;
+    var _134;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
     const dataMonitoring = dataMonitoringMap.get(device.id);
-    res.type('text/csv').send((_131 = dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.csv) !== null && _131 !== void 0 ? _131 : '');
+    res.type('text/csv').send((_134 = dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.csv) !== null && _134 !== void 0 ? _134 : '');
 })));
 app.get('/api/devices/:deviceRef/monitoring/stop', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _132;
+    var _135;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const device = yield (0, rxjs_1.lastValueFrom)(client.request.resolveDevice(deviceRef));
-    (_132 = dataMonitoringMap.get(device.id)) === null || _132 === void 0 ? void 0 : _132.stop();
+    (_135 = dataMonitoringMap.get(device.id)) === null || _135 === void 0 ? void 0 : _135.stop();
     res.send();
 })));
 app.listen(port, () => {

package/src/api.js.map

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package/src/lib/circulo.d.ts

@@ -1,3 +1,4 @@
+import { HardwareDescription } from './hardware-description';
 /**
  * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
  *
@@ -1468,6 +1469,40 @@ export declare function getCirculoEncoderCalibrationMaxValuePercentageColor(perc
  * @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.";
+/**
+ * External Circulo encoder types accepted by the Circulo encoder narrow angle calibration procedure.
+ *
+ * The values mirror the enum the Motion Master proto file keeps commented out. They name the
+ * magnetic ring of a Circulo mounted on another drive; an integrated ring is left at
+ * {@link CirculoExternalEncoderType.NONE}.
+ */
+export declare enum CirculoExternalEncoderType {
+    NONE = 0,
+    C7_INNER = 1,
+    C7_OUTER = 2,
+    C9_INNER = 3,
+    C9_OUTER = 4
+}
+/** Max permissible phase error of a Circulo 7 magnetic ring, in encoder increments. */
+export declare const circulo7MaxPermissiblePhaseError = 256;
+/** Max permissible phase error of every other Circulo magnetic ring, in encoder increments. */
+export declare const circulo9MaxPermissiblePhaseError = 128;
+/**
+ * Returns the max permissible phase error of the ring a calibration measures, in encoder increments.
+ *
+ * The calibration quality is the measured phase error expressed against this limit, so the limit has
+ * to match the ring: a Circulo 7 ring tolerates 256 increments, every other ring 128. Scoring a
+ * Circulo 9 against the Circulo 7 limit reports roughly twice the headroom the ring actually has.
+ *
+ * An external encoder type names the ring outright, so it wins over the product: that ring sits on a
+ * drive of an unrelated size. Everything else is answered by the product group of the device itself,
+ * which leaves a Circulo 9, a Circulo NG and an unrecognised product on 128.
+ *
+ * @param productId - The device carrying the encoder: a product id, a serial number or a `HardwareDescription`
+ * @param externalEncoderType - The external ring the procedure was asked to calibrate, if any
+ * @returns The max permissible phase error in encoder increments
+ */
+export declare function getCirculoEncoderMaxPermissiblePhaseError(productId?: number | string | HardwareDescription | null, externalEncoderType?: CirculoExternalEncoderType | number): number;
 /**
  * Result of Circulo encoder calibration computation.
  */
@@ -1478,6 +1513,8 @@ export interface CirculoEncoderCalibrationResult {
     value: number;
     /** Human-readable meaning of the calibration percentage */
     meaning: string;
+    /** Max permissible phase error the percentage was computed against, in encoder increments */
+    maxPermissiblePhaseError: number;
 }
 /**
  * Computes the Circulo encoder calibration result from position and phaseError arrays.
@@ -1486,6 +1523,12 @@ export interface CirculoEncoderCalibrationResult {
  *
  * @param position - Array of encoder positions
  * @param phaseError - Array of corresponding phase errors
+ * @param maxPermissiblePhaseError - Max permissible phase error of the measured ring, from
+ *   {@link getCirculoEncoderMaxPermissiblePhaseError}. The percentage is the measured phase error
+ *   expressed against this limit, so the limit of another ring size misreports the quality: a
+ *   Circulo 9 scored against the Circulo 7 limit reads roughly twice the headroom it has. Pass it
+ *   for anything but a Circulo 7 ring; it defaults to the Circulo 7 limit, and the limit it used
+ *   comes back in the result.
  * @returns Calibration result or null if inputs are invalid or empty
  */
-export declare function computeCirculoEncoderCalibrationResult(position?: number[], phaseError?: number[]): CirculoEncoderCalibrationResult | null;
+export declare function computeCirculoEncoderCalibrationResult(position?: number[], phaseError?: number[], maxPermissiblePhaseError?: number): CirculoEncoderCalibrationResult | null;

package/src/lib/circulo.js

@@ -1,7 +1,8 @@
 "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.computeCirculoEncoderCalibrationResult = exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = exports.getCirculoEncoderCalibrationMaxValuePercentageColor = exports.CirculoIntegratedEncoderIcpvlCommands = exports.CirculoIntegratedEncoderIcmuCommands = exports.CirculoIntegratedEncoderEepromParameters = exports.CirculoIntegratedEncoderIcpvlParameters = exports.CirculoIntegratedEncoderIcmuParameters = exports.circuloIntegratedEncoderI2CDeviceIdOptions = exports.CirculoIntegratedEncoderI2CDeviceId = exports.circuloIntegratedEncoderKeyConfigurationRegisterAddresses = void 0;
+exports.computeCirculoEncoderCalibrationResult = exports.getCirculoEncoderMaxPermissiblePhaseError = exports.circulo9MaxPermissiblePhaseError = exports.circulo7MaxPermissiblePhaseError = exports.CirculoExternalEncoderType = exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = exports.getCirculoEncoderCalibrationMaxValuePercentageColor = exports.CirculoIntegratedEncoderIcpvlCommands = exports.CirculoIntegratedEncoderIcmuCommands = exports.CirculoIntegratedEncoderEepromParameters = exports.CirculoIntegratedEncoderIcpvlParameters = exports.CirculoIntegratedEncoderIcmuParameters = exports.circuloIntegratedEncoderI2CDeviceIdOptions = exports.CirculoIntegratedEncoderI2CDeviceId = exports.circuloIntegratedEncoderKeyConfigurationRegisterAddresses = void 0;
+const product_1 = require("./product");
 /**
  * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
  *
@@ -490,6 +491,55 @@ function getCirculoEncoderCalibrationMaxValuePercentageLabel(percentage) {
     return '';
 }
 exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = getCirculoEncoderCalibrationMaxValuePercentageLabel;
+/**
+ * External Circulo encoder types accepted by the Circulo encoder narrow angle calibration procedure.
+ *
+ * The values mirror the enum the Motion Master proto file keeps commented out. They name the
+ * magnetic ring of a Circulo mounted on another drive; an integrated ring is left at
+ * {@link CirculoExternalEncoderType.NONE}.
+ */
+var CirculoExternalEncoderType;
+(function (CirculoExternalEncoderType) {
+    CirculoExternalEncoderType[CirculoExternalEncoderType["NONE"] = 0] = "NONE";
+    CirculoExternalEncoderType[CirculoExternalEncoderType["C7_INNER"] = 1] = "C7_INNER";
+    CirculoExternalEncoderType[CirculoExternalEncoderType["C7_OUTER"] = 2] = "C7_OUTER";
+    CirculoExternalEncoderType[CirculoExternalEncoderType["C9_INNER"] = 3] = "C9_INNER";
+    CirculoExternalEncoderType[CirculoExternalEncoderType["C9_OUTER"] = 4] = "C9_OUTER";
+})(CirculoExternalEncoderType = exports.CirculoExternalEncoderType || (exports.CirculoExternalEncoderType = {}));
+/** Max permissible phase error of a Circulo 7 magnetic ring, in encoder increments. */
+exports.circulo7MaxPermissiblePhaseError = 256;
+/** Max permissible phase error of every other Circulo magnetic ring, in encoder increments. */
+exports.circulo9MaxPermissiblePhaseError = 128;
+/**
+ * Returns the max permissible phase error of the ring a calibration measures, in encoder increments.
+ *
+ * The calibration quality is the measured phase error expressed against this limit, so the limit has
+ * to match the ring: a Circulo 7 ring tolerates 256 increments, every other ring 128. Scoring a
+ * Circulo 9 against the Circulo 7 limit reports roughly twice the headroom the ring actually has.
+ *
+ * An external encoder type names the ring outright, so it wins over the product: that ring sits on a
+ * drive of an unrelated size. Everything else is answered by the product group of the device itself,
+ * which leaves a Circulo 9, a Circulo NG and an unrecognised product on 128.
+ *
+ * @param productId - The device carrying the encoder: a product id, a serial number or a `HardwareDescription`
+ * @param externalEncoderType - The external ring the procedure was asked to calibrate, if any
+ * @returns The max permissible phase error in encoder increments
+ */
+function getCirculoEncoderMaxPermissiblePhaseError(productId, externalEncoderType = CirculoExternalEncoderType.NONE) {
+    var _a;
+    if (externalEncoderType === CirculoExternalEncoderType.C7_INNER ||
+        externalEncoderType === CirculoExternalEncoderType.C7_OUTER) {
+        return exports.circulo7MaxPermissiblePhaseError;
+    }
+    if (externalEncoderType === CirculoExternalEncoderType.C9_INNER ||
+        externalEncoderType === CirculoExternalEncoderType.C9_OUTER) {
+        return exports.circulo9MaxPermissiblePhaseError;
+    }
+    return ((_a = (0, product_1.findSomanetProductById)((0, product_1.resolveEncoderProductId)(productId))) === null || _a === void 0 ? void 0 : _a.group) === 'Circulo 7'
+        ? exports.circulo7MaxPermissiblePhaseError
+        : exports.circulo9MaxPermissiblePhaseError;
+}
+exports.getCirculoEncoderMaxPermissiblePhaseError = getCirculoEncoderMaxPermissiblePhaseError;
 /**
  * Computes the Circulo encoder calibration result from position and phaseError arrays.
  *
@@ -497,9 +547,15 @@ exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = getCirculoEncoderC
  *
  * @param position - Array of encoder positions
  * @param phaseError - Array of corresponding phase errors
+ * @param maxPermissiblePhaseError - Max permissible phase error of the measured ring, from
+ *   {@link getCirculoEncoderMaxPermissiblePhaseError}. The percentage is the measured phase error
+ *   expressed against this limit, so the limit of another ring size misreports the quality: a
+ *   Circulo 9 scored against the Circulo 7 limit reads roughly twice the headroom it has. Pass it
+ *   for anything but a Circulo 7 ring; it defaults to the Circulo 7 limit, and the limit it used
+ *   comes back in the result.
  * @returns Calibration result or null if inputs are invalid or empty
  */
-function computeCirculoEncoderCalibrationResult(position, phaseError) {
+function computeCirculoEncoderCalibrationResult(position, phaseError, maxPermissiblePhaseError = exports.circulo7MaxPermissiblePhaseError) {
     // Return null if inputs are missing or lengths don't match
     if (!position || !phaseError || position.length !== phaseError.length || position.length === 0) {
         return null;
@@ -516,12 +572,12 @@ function computeCirculoEncoderCalibrationResult(position, phaseError) {
     }
     // 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);
+    const maxValuePercentage = Math.max(100 - Math.floor((Math.abs(maxPoint[1]) / maxPermissiblePhaseError) * 100), 0);
     return {
         data,
         value: maxValuePercentage,
         meaning: getCirculoEncoderCalibrationMaxValuePercentageLabel(maxValuePercentage),
+        maxPermissiblePhaseError,
     };
 }
 exports.computeCirculoEncoderCalibrationResult = computeCirculoEncoderCalibrationResult;

package/src/lib/circulo.js.map

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package/src/lib/motion-master.proto.d.ts

@@ -4539,6 +4539,7 @@ export namespace motionmaster {
                     phaseError?: (number[]|null);
                     position?: (number[]|null);
                     final?: (boolean|null);
+                    maxPermissiblePhaseError?: (number|null);
                 }
 
                 class Progress implements IProgress {
@@ -4547,6 +4548,7 @@ export namespace motionmaster {
                     public phaseError: number[];
                     public position: number[];
                     public final: boolean;
+                    public maxPermissiblePhaseError: number;
                     public static create(properties?: motionmaster.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.IProgress): motionmaster.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Progress;
                     public static encode(message: motionmaster.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.IProgress, writer?: $protobuf.Writer): $protobuf.Writer;
                     public static encodeDelimited(message: motionmaster.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.IProgress, writer?: $protobuf.Writer): $protobuf.Writer;

package/src/lib/motion-master.proto.js

@@ -47240,6 +47240,7 @@ $root.motionmaster = (() => {
                      * @property {Array.<number>|null} [phaseError] Progress phaseError
                      * @property {Array.<number>|null} [position] Progress position
                      * @property {boolean|null} [final] Progress final
+                     * @property {number|null} [maxPermissiblePhaseError] Progress maxPermissiblePhaseError
                      */
 
                     /**
@@ -47291,6 +47292,14 @@ $root.motionmaster = (() => {
                      */
                     Progress.prototype.final = false;
 
+                    /**
+                     * Progress maxPermissiblePhaseError.
+                     * @member {number} maxPermissiblePhaseError
+                     * @memberof motionmaster.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Progress
+                     * @instance
+                     */
+                    Progress.prototype.maxPermissiblePhaseError = $util.Long ? $util.Long.fromBits(0,0,false) : 0;
+
                     /**
                      * Creates a new Progress instance using the specified properties.
                      * @function create
@@ -47331,6 +47340,8 @@ $root.motionmaster = (() => {
                         }
                         if (message.final != null && Object.hasOwnProperty.call(message, "final"))
                             writer.uint32(/* id 4, wireType 0 =*/32).bool(message.final);
+                        if (message.maxPermissiblePhaseError != null && Object.hasOwnProperty.call(message, "maxPermissiblePhaseError"))
+                            writer.uint32(/* id 5, wireType 0 =*/40).int64(message.maxPermissiblePhaseError);
                         return writer;
                     };
 
@@ -47395,6 +47406,10 @@ $root.motionmaster = (() => {
                                     message.final = reader.bool();
                                     break;
                                 }
+                            case 5: {
+                                    message.maxPermissiblePhaseError = reader.int64();
+                                    break;
+                                }
                             default:
                                 reader.skipType(tag & 7);
                                 break;
@@ -47450,6 +47465,9 @@ $root.motionmaster = (() => {
                         if (message.final != null && message.hasOwnProperty("final"))
                             if (typeof message.final !== "boolean")
                                 return "final: boolean expected";
+                        if (message.maxPermissiblePhaseError != null && message.hasOwnProperty("maxPermissiblePhaseError"))
+                            if (!$util.isInteger(message.maxPermissiblePhaseError) && !(message.maxPermissiblePhaseError && $util.isInteger(message.maxPermissiblePhaseError.low) && $util.isInteger(message.maxPermissiblePhaseError.high)))
+                                return "maxPermissiblePhaseError: integer|Long expected";
                         return null;
                     };
 
@@ -47490,6 +47508,15 @@ $root.motionmaster = (() => {
                         }
                         if (object.final != null)
                             message.final = Boolean(object.final);
+                        if (object.maxPermissiblePhaseError != null)
+                            if ($util.Long)
+                                (message.maxPermissiblePhaseError = $util.Long.fromValue(object.maxPermissiblePhaseError)).unsigned = false;
+                            else if (typeof object.maxPermissiblePhaseError === "string")
+                                message.maxPermissiblePhaseError = parseInt(object.maxPermissiblePhaseError, 10);
+                            else if (typeof object.maxPermissiblePhaseError === "number")
+                                message.maxPermissiblePhaseError = object.maxPermissiblePhaseError;
+                            else if (typeof object.maxPermissiblePhaseError === "object")
+                                message.maxPermissiblePhaseError = new $util.LongBits(object.maxPermissiblePhaseError.low >>> 0, object.maxPermissiblePhaseError.high >>> 0).toNumber();
                         return message;
                     };
 
@@ -47513,6 +47540,11 @@ $root.motionmaster = (() => {
                         if (options.defaults) {
                             object.iteration = 0;
                             object.final = false;
+                            if ($util.Long) {
+                                let long = new $util.Long(0, 0, false);
+                                object.maxPermissiblePhaseError = options.longs === String ? long.toString() : options.longs === Number ? long.toNumber() : long;
+                            } else
+                                object.maxPermissiblePhaseError = options.longs === String ? "0" : 0;
                         }
                         if (message.iteration != null && message.hasOwnProperty("iteration"))
                             object.iteration = message.iteration;
@@ -47531,6 +47563,11 @@ $root.motionmaster = (() => {
                         }
                         if (message.final != null && message.hasOwnProperty("final"))
                             object.final = message.final;
+                        if (message.maxPermissiblePhaseError != null && message.hasOwnProperty("maxPermissiblePhaseError"))
+                            if (typeof message.maxPermissiblePhaseError === "number")
+                                object.maxPermissiblePhaseError = options.longs === String ? String(message.maxPermissiblePhaseError) : message.maxPermissiblePhaseError;
+                            else
+                                object.maxPermissiblePhaseError = options.longs === String ? $util.Long.prototype.toString.call(message.maxPermissiblePhaseError) : options.longs === Number ? new $util.LongBits(message.maxPermissiblePhaseError.low >>> 0, message.maxPermissiblePhaseError.high >>> 0).toNumber() : message.maxPermissiblePhaseError;
                         return object;
                     };