motion-master-client 0.0.418 → 0.0.420

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 (9) hide show
  1. package/package.json +1 -1
  2. package/src/api.js +105 -107
  3. package/src/api.js.map +1 -1
  4. package/src/lib/circulo.d.ts +56 -1
  5. package/src/lib/circulo.js +79 -4
  6. package/src/lib/circulo.js.map +1 -1
  7. package/src/lib/motion-master-req-res-client.d.ts +5 -0
  8. package/src/lib/motion-master-req-res-client.js +18 -1
  9. package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/api.js.map CHANGED
@@ -1 +1 @@
1
- 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package/src/lib/circulo.d.ts CHANGED
@@ -1,3 +1,5 @@
1
+ import { HardwareDescription } from './hardware-description';
2
+ import { MotionMasterMessage } from './types';
1
3
  /**
2
4
  * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
3
5
  *
@@ -1468,6 +1470,42 @@ export declare function getCirculoEncoderCalibrationMaxValuePercentageColor(perc
1468
1470
  * @returns A human-readable label describing calibration quality, or an empty string if out of range.
1469
1471
  */
1470
1472
  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.";
1473
+ /**
1474
+ * External Circulo encoder types accepted by the Circulo encoder narrow angle calibration procedure.
1475
+ *
1476
+ * The values mirror the enum the Motion Master proto file keeps commented out. They name the
1477
+ * magnetic ring of a Circulo mounted on another drive; an integrated ring is left at
1478
+ * {@link CirculoExternalEncoderType.NONE}.
1479
+ */
1480
+ export declare enum CirculoExternalEncoderType {
1481
+ NONE = 0,
1482
+ C7_INNER = 1,
1483
+ C7_OUTER = 2,
1484
+ C9_INNER = 3,
1485
+ C9_OUTER = 4
1486
+ }
1487
+ /** Max permissible phase error of a Circulo 7 magnetic ring, in encoder increments. */
1488
+ export declare const circulo7MaxPermissiblePhaseError = 256;
1489
+ /** Max permissible phase error of a Circulo 9 magnetic ring, in encoder increments. */
1490
+ export declare const circulo9MaxPermissiblePhaseError = 128;
1491
+ /**
1492
+ * Returns the max permissible phase error of the ring a calibration measures, derived from the product, in
1493
+ * encoder increments.
1494
+ *
1495
+ * Motion Master 5.8.3 and later report the limit of the measured ring in every calibration progress status.
1496
+ * This function is the fallback for an older Motion Master, which reports none. It only knows two rings: a
1497
+ * Circulo 7 ring tolerates 256 increments and a Circulo 9 ring 128. Any other ring gets 128, which may not
1498
+ * be its limit.
1499
+ *
1500
+ * An external encoder type names the ring outright, so it wins over the product: that ring sits on a
1501
+ * drive of an unrelated size. Everything else is answered by the product group of the device itself,
1502
+ * which leaves a Circulo 9, a Circulo NG and an unrecognised product on 128.
1503
+ *
1504
+ * @param productId - The device carrying the encoder: a product id, a serial number or a `HardwareDescription`
1505
+ * @param externalEncoderType - The external ring the procedure was asked to calibrate, if any
1506
+ * @returns The max permissible phase error in encoder increments
1507
+ */
1508
+ export declare function getCirculoEncoderMaxPermissiblePhaseError(productId?: number | string | HardwareDescription | null, externalEncoderType?: CirculoExternalEncoderType | number): number;
1471
1509
  /**
1472
1510
  * Result of Circulo encoder calibration computation.
1473
1511
  */
@@ -1478,6 +1516,8 @@ export interface CirculoEncoderCalibrationResult {
1478
1516
  value: number;
1479
1517
  /** Human-readable meaning of the calibration percentage */
1480
1518
  meaning: string;
1519
+ /** Max permissible phase error the percentage was computed against, in encoder increments */
1520
+ maxPermissiblePhaseError: number;
1481
1521
  }
1482
1522
  /**
1483
1523
  * Computes the Circulo encoder calibration result from position and phaseError arrays.
@@ -1486,6 +1526,21 @@ export interface CirculoEncoderCalibrationResult {
1486
1526
  *
1487
1527
  * @param position - Array of encoder positions
1488
1528
  * @param phaseError - Array of corresponding phase errors
1529
+ * @param maxPermissiblePhaseError - Max permissible phase error of the measured ring, in encoder increments.
1530
+ * The percentage is the measured phase error expressed against this limit, so the limit of another ring
1531
+ * misreports the quality: a Circulo 9 ring scored against the Circulo 7 limit reads roughly twice the
1532
+ * headroom it has. The limit comes back in the result.
1489
1533
  * @returns Calibration result or null if inputs are invalid or empty
1490
1534
  */
1491
- export declare function computeCirculoEncoderCalibrationResult(position?: number[], phaseError?: number[]): CirculoEncoderCalibrationResult | null;
1535
+ export declare function computeCirculoEncoderCalibrationResult(position: number[] | undefined, phaseError: number[] | undefined, maxPermissiblePhaseError: number): CirculoEncoderCalibrationResult | null;
1536
+ /**
1537
+ * Computes the Circulo encoder calibration result of one calibration iteration.
1538
+ *
1539
+ * The result is scored against the limit the progress status carries. Motion Master 5.8.3 and later report
1540
+ * it, and `startCirculoEncoderNarrowAngleCalibrationProcedure` fills it in for an older Motion Master. This
1541
+ * is the limit OBLAC Drives scores against, so both show the same percentage.
1542
+ *
1543
+ * @param progress - Progress of a Circulo encoder narrow angle calibration status
1544
+ * @returns Calibration result, or null if the progress carries no data or no limit
1545
+ */
1546
+ export declare function computeCirculoEncoderCalibrationProgressResult(progress?: MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.IProgress | null): CirculoEncoderCalibrationResult | null;
package/src/lib/circulo.js CHANGED
@@ -1,7 +1,8 @@
1
1
  "use strict";
2
2
  // https://github.com/synapticon/somanet_software/blob/32edf5ef572ea7d840aabe4a26e0f3d31f05caab/sw_applications/app_motion_drive/test/pytest/somanet_icmu_helpers.py
3
3
  Object.defineProperty(exports, "__esModule", { value: true });
4
- exports.computeCirculoEncoderCalibrationResult = exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = exports.getCirculoEncoderCalibrationMaxValuePercentageColor = exports.CirculoIntegratedEncoderIcpvlCommands = exports.CirculoIntegratedEncoderIcmuCommands = exports.CirculoIntegratedEncoderEepromParameters = exports.CirculoIntegratedEncoderIcpvlParameters = exports.CirculoIntegratedEncoderIcmuParameters = exports.circuloIntegratedEncoderI2CDeviceIdOptions = exports.CirculoIntegratedEncoderI2CDeviceId = exports.circuloIntegratedEncoderKeyConfigurationRegisterAddresses = void 0;
4
+ exports.computeCirculoEncoderCalibrationProgressResult = 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;
5
+ const product_1 = require("./product");
5
6
  /**
6
7
  * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
7
8
  *
@@ -490,6 +491,57 @@ function getCirculoEncoderCalibrationMaxValuePercentageLabel(percentage) {
490
491
  return '';
491
492
  }
492
493
  exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = getCirculoEncoderCalibrationMaxValuePercentageLabel;
494
+ /**
495
+ * External Circulo encoder types accepted by the Circulo encoder narrow angle calibration procedure.
496
+ *
497
+ * The values mirror the enum the Motion Master proto file keeps commented out. They name the
498
+ * magnetic ring of a Circulo mounted on another drive; an integrated ring is left at
499
+ * {@link CirculoExternalEncoderType.NONE}.
500
+ */
501
+ var CirculoExternalEncoderType;
502
+ (function (CirculoExternalEncoderType) {
503
+ CirculoExternalEncoderType[CirculoExternalEncoderType["NONE"] = 0] = "NONE";
504
+ CirculoExternalEncoderType[CirculoExternalEncoderType["C7_INNER"] = 1] = "C7_INNER";
505
+ CirculoExternalEncoderType[CirculoExternalEncoderType["C7_OUTER"] = 2] = "C7_OUTER";
506
+ CirculoExternalEncoderType[CirculoExternalEncoderType["C9_INNER"] = 3] = "C9_INNER";
507
+ CirculoExternalEncoderType[CirculoExternalEncoderType["C9_OUTER"] = 4] = "C9_OUTER";
508
+ })(CirculoExternalEncoderType = exports.CirculoExternalEncoderType || (exports.CirculoExternalEncoderType = {}));
509
+ /** Max permissible phase error of a Circulo 7 magnetic ring, in encoder increments. */
510
+ exports.circulo7MaxPermissiblePhaseError = 256;
511
+ /** Max permissible phase error of a Circulo 9 magnetic ring, in encoder increments. */
512
+ exports.circulo9MaxPermissiblePhaseError = 128;
513
+ /**
514
+ * Returns the max permissible phase error of the ring a calibration measures, derived from the product, in
515
+ * encoder increments.
516
+ *
517
+ * Motion Master 5.8.3 and later report the limit of the measured ring in every calibration progress status.
518
+ * This function is the fallback for an older Motion Master, which reports none. It only knows two rings: a
519
+ * Circulo 7 ring tolerates 256 increments and a Circulo 9 ring 128. Any other ring gets 128, which may not
520
+ * be its limit.
521
+ *
522
+ * An external encoder type names the ring outright, so it wins over the product: that ring sits on a
523
+ * drive of an unrelated size. Everything else is answered by the product group of the device itself,
524
+ * which leaves a Circulo 9, a Circulo NG and an unrecognised product on 128.
525
+ *
526
+ * @param productId - The device carrying the encoder: a product id, a serial number or a `HardwareDescription`
527
+ * @param externalEncoderType - The external ring the procedure was asked to calibrate, if any
528
+ * @returns The max permissible phase error in encoder increments
529
+ */
530
+ function getCirculoEncoderMaxPermissiblePhaseError(productId, externalEncoderType = CirculoExternalEncoderType.NONE) {
531
+ var _a;
532
+ if (externalEncoderType === CirculoExternalEncoderType.C7_INNER ||
533
+ externalEncoderType === CirculoExternalEncoderType.C7_OUTER) {
534
+ return exports.circulo7MaxPermissiblePhaseError;
535
+ }
536
+ if (externalEncoderType === CirculoExternalEncoderType.C9_INNER ||
537
+ externalEncoderType === CirculoExternalEncoderType.C9_OUTER) {
538
+ return exports.circulo9MaxPermissiblePhaseError;
539
+ }
540
+ return ((_a = (0, product_1.findSomanetProductById)((0, product_1.resolveEncoderProductId)(productId))) === null || _a === void 0 ? void 0 : _a.group) === 'Circulo 7'
541
+ ? exports.circulo7MaxPermissiblePhaseError
542
+ : exports.circulo9MaxPermissiblePhaseError;
543
+ }
544
+ exports.getCirculoEncoderMaxPermissiblePhaseError = getCirculoEncoderMaxPermissiblePhaseError;
493
545
  /**
494
546
  * Computes the Circulo encoder calibration result from position and phaseError arrays.
495
547
  *
@@ -497,9 +549,13 @@ exports.getCirculoEncoderCalibrationMaxValuePercentageLabel = getCirculoEncoderC
497
549
  *
498
550
  * @param position - Array of encoder positions
499
551
  * @param phaseError - Array of corresponding phase errors
552
+ * @param maxPermissiblePhaseError - Max permissible phase error of the measured ring, in encoder increments.
553
+ * The percentage is the measured phase error expressed against this limit, so the limit of another ring
554
+ * misreports the quality: a Circulo 9 ring scored against the Circulo 7 limit reads roughly twice the
555
+ * headroom it has. The limit comes back in the result.
500
556
  * @returns Calibration result or null if inputs are invalid or empty
501
557
  */
502
- function computeCirculoEncoderCalibrationResult(position, phaseError) {
558
+ function computeCirculoEncoderCalibrationResult(position, phaseError, maxPermissiblePhaseError) {
503
559
  // Return null if inputs are missing or lengths don't match
504
560
  if (!position || !phaseError || position.length !== phaseError.length || position.length === 0) {
505
561
  return null;
@@ -516,13 +572,32 @@ function computeCirculoEncoderCalibrationResult(position, phaseError) {
516
572
  }
517
573
  // Find the data point with the largest absolute phase error
518
574
  const maxPoint = data.reduce((max, point) => (Math.abs(point[1]) > Math.abs(max[1]) ? point : max), data[0]);
519
- const yDomainLimit = 256;
520
- const maxValuePercentage = Math.max(100 - Math.floor((Math.abs(maxPoint[1]) / yDomainLimit) * 100), 0);
575
+ const maxValuePercentage = Math.max(100 - Math.floor((Math.abs(maxPoint[1]) / maxPermissiblePhaseError) * 100), 0);
521
576
  return {
522
577
  data,
523
578
  value: maxValuePercentage,
524
579
  meaning: getCirculoEncoderCalibrationMaxValuePercentageLabel(maxValuePercentage),
580
+ maxPermissiblePhaseError,
525
581
  };
526
582
  }
527
583
  exports.computeCirculoEncoderCalibrationResult = computeCirculoEncoderCalibrationResult;
584
+ /**
585
+ * Computes the Circulo encoder calibration result of one calibration iteration.
586
+ *
587
+ * The result is scored against the limit the progress status carries. Motion Master 5.8.3 and later report
588
+ * it, and `startCirculoEncoderNarrowAngleCalibrationProcedure` fills it in for an older Motion Master. This
589
+ * is the limit OBLAC Drives scores against, so both show the same percentage.
590
+ *
591
+ * @param progress - Progress of a Circulo encoder narrow angle calibration status
592
+ * @returns Calibration result, or null if the progress carries no data or no limit
593
+ */
594
+ function computeCirculoEncoderCalibrationProgressResult(progress) {
595
+ var _a, _b, _c;
596
+ const maxPermissiblePhaseError = (_a = progress === null || progress === void 0 ? void 0 : progress.maxPermissiblePhaseError) !== null && _a !== void 0 ? _a : 0;
597
+ if (!progress || maxPermissiblePhaseError <= 0) {
598
+ return null;
599
+ }
600
+ return computeCirculoEncoderCalibrationResult((_b = progress.position) !== null && _b !== void 0 ? _b : undefined, (_c = progress.phaseError) !== null && _c !== void 0 ? _c : undefined, maxPermissiblePhaseError);
601
+ }
602
+ exports.computeCirculoEncoderCalibrationProgressResult = computeCirculoEncoderCalibrationProgressResult;
528
603
  //# sourceMappingURL=circulo.js.map