motion-master-client 0.0.419 → 0.0.421

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 +95 -86
  3. package/src/api.js.map +1 -1
  4. package/src/lib/circulo.d.ts +24 -12
  5. package/src/lib/circulo.js +32 -13
  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
@@ -1,4 +1,5 @@
1
1
  import { HardwareDescription } from './hardware-description';
2
+ import { MotionMasterMessage } from './types';
2
3
  /**
3
4
  * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
4
5
  *
@@ -1485,14 +1486,16 @@ export declare enum CirculoExternalEncoderType {
1485
1486
  }
1486
1487
  /** Max permissible phase error of a Circulo 7 magnetic ring, in encoder increments. */
1487
1488
  export declare const circulo7MaxPermissiblePhaseError = 256;
1488
- /** Max permissible phase error of every other Circulo magnetic ring, in encoder increments. */
1489
+ /** Max permissible phase error of a Circulo 9 magnetic ring, in encoder increments. */
1489
1490
  export declare const circulo9MaxPermissiblePhaseError = 128;
1490
1491
  /**
1491
- * Returns the max permissible phase error of the ring a calibration measures, in encoder increments.
1492
+ * Returns the max permissible phase error of the ring a calibration measures, derived from the product, in
1493
+ * encoder increments.
1492
1494
  *
1493
- * The calibration quality is the measured phase error expressed against this limit, so the limit has
1494
- * to match the ring: a Circulo 7 ring tolerates 256 increments, every other ring 128. Scoring a
1495
- * Circulo 9 against the Circulo 7 limit reports roughly twice the headroom the ring actually has.
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.
1496
1499
  *
1497
1500
  * An external encoder type names the ring outright, so it wins over the product: that ring sits on a
1498
1501
  * drive of an unrelated size. Everything else is answered by the product group of the device itself,
@@ -1523,12 +1526,21 @@ export interface CirculoEncoderCalibrationResult {
1523
1526
  *
1524
1527
  * @param position - Array of encoder positions
1525
1528
  * @param phaseError - Array of corresponding phase errors
1526
- * @param maxPermissiblePhaseError - Max permissible phase error of the measured ring, from
1527
- * {@link getCirculoEncoderMaxPermissiblePhaseError}. The percentage is the measured phase error
1528
- * expressed against this limit, so the limit of another ring size misreports the quality: a
1529
- * Circulo 9 scored against the Circulo 7 limit reads roughly twice the headroom it has. Pass it
1530
- * for anything but a Circulo 7 ring; it defaults to the Circulo 7 limit, and the limit it used
1531
- * comes back in the result.
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.
1532
1533
  * @returns Calibration result or null if inputs are invalid or empty
1533
1534
  */
1534
- export declare function computeCirculoEncoderCalibrationResult(position?: number[], phaseError?: number[], maxPermissiblePhaseError?: 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 +1,7 @@
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.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;
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
5
  const product_1 = require("./product");
6
6
  /**
7
7
  * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
@@ -508,14 +508,16 @@ var CirculoExternalEncoderType;
508
508
  })(CirculoExternalEncoderType = exports.CirculoExternalEncoderType || (exports.CirculoExternalEncoderType = {}));
509
509
  /** Max permissible phase error of a Circulo 7 magnetic ring, in encoder increments. */
510
510
  exports.circulo7MaxPermissiblePhaseError = 256;
511
- /** Max permissible phase error of every other Circulo magnetic ring, in encoder increments. */
511
+ /** Max permissible phase error of a Circulo 9 magnetic ring, in encoder increments. */
512
512
  exports.circulo9MaxPermissiblePhaseError = 128;
513
513
  /**
514
- * Returns the max permissible phase error of the ring a calibration measures, in encoder increments.
514
+ * Returns the max permissible phase error of the ring a calibration measures, derived from the product, in
515
+ * encoder increments.
515
516
  *
516
- * The calibration quality is the measured phase error expressed against this limit, so the limit has
517
- * to match the ring: a Circulo 7 ring tolerates 256 increments, every other ring 128. Scoring a
518
- * Circulo 9 against the Circulo 7 limit reports roughly twice the headroom the ring actually has.
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.
519
521
  *
520
522
  * An external encoder type names the ring outright, so it wins over the product: that ring sits on a
521
523
  * drive of an unrelated size. Everything else is answered by the product group of the device itself,
@@ -547,15 +549,13 @@ exports.getCirculoEncoderMaxPermissiblePhaseError = getCirculoEncoderMaxPermissi
547
549
  *
548
550
  * @param position - Array of encoder positions
549
551
  * @param phaseError - Array of corresponding phase errors
550
- * @param maxPermissiblePhaseError - Max permissible phase error of the measured ring, from
551
- * {@link getCirculoEncoderMaxPermissiblePhaseError}. The percentage is the measured phase error
552
- * expressed against this limit, so the limit of another ring size misreports the quality: a
553
- * Circulo 9 scored against the Circulo 7 limit reads roughly twice the headroom it has. Pass it
554
- * for anything but a Circulo 7 ring; it defaults to the Circulo 7 limit, and the limit it used
555
- * comes back in the result.
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.
556
556
  * @returns Calibration result or null if inputs are invalid or empty
557
557
  */
558
- function computeCirculoEncoderCalibrationResult(position, phaseError, maxPermissiblePhaseError = exports.circulo7MaxPermissiblePhaseError) {
558
+ function computeCirculoEncoderCalibrationResult(position, phaseError, maxPermissiblePhaseError) {
559
559
  // Return null if inputs are missing or lengths don't match
560
560
  if (!position || !phaseError || position.length !== phaseError.length || position.length === 0) {
561
561
  return null;
@@ -581,4 +581,23 @@ function computeCirculoEncoderCalibrationResult(position, phaseError, maxPermiss
581
581
  };
582
582
  }
583
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;
584
603
  //# sourceMappingURL=circulo.js.map
package/src/lib/circulo.js.map CHANGED
@@ -1 +1 @@
1
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