motion-master-client 0.0.419 → 0.0.421

package/src/lib/motion-master-req-res-client.d.ts

@@ -680,6 +680,11 @@ export declare class MotionMasterReqResClient {
      * At the end of the procedure Motion Master will rotate the motor back to the starting position and run commutation offset detection.
      * There will also be a final iteration that only measures the values of a (now) calibrated encoder for display.
      *
+     * Every progress status carries `maxPermissiblePhaseError`, the limit the calibration library measures the ring
+     * against. Motion Master 5.8.3 and later report it. An older Motion Master reports 0, and this method fills in
+     * the limit derived from the product and the external encoder type instead. That limit is only right for the
+     * Circulo 7 and Circulo 9 rings. Score a progress status with `computeCirculoEncoderCalibrationProgressResult`.
+     *
      * This request will turn the motor.
      */
     startCirculoEncoderNarrowAngleCalibrationProcedure(props: StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, requestTimeout: number, messageId?: string): Observable<CirculoEncoderNarrowAngleCalibrationProcedureStatus>;

package/src/lib/motion-master-req-res-client.js

@@ -1011,13 +1011,30 @@ class MotionMasterReqResClient {
      * At the end of the procedure Motion Master will rotate the motor back to the starting position and run commutation offset detection.
      * There will also be a final iteration that only measures the values of a (now) calibrated encoder for display.
      *
+     * Every progress status carries `maxPermissiblePhaseError`, the limit the calibration library measures the ring
+     * against. Motion Master 5.8.3 and later report it. An older Motion Master reports 0, and this method fills in
+     * the limit derived from the product and the external encoder type instead. That limit is only right for the
+     * Circulo 7 and Circulo 9 rings. Score a progress status with `computeCirculoEncoderCalibrationProgressResult`.
+     *
      * This request will turn the motor.
      */
     startCirculoEncoderNarrowAngleCalibrationProcedure(props, requestTimeout, messageId) {
         return this.resolveDeviceAddress(props).pipe((0, operators_1.mergeMap)((deviceAddress) => {
             const startCirculoEncoderNarrowAngleCalibrationProcedure = types_1.MotionMasterMessage.Request.StartCirculoEncoderNarrowAngleCalibrationProcedure.create(Object.assign(Object.assign({}, props), { deviceAddress }));
             const id = this.sendRequest({ startCirculoEncoderNarrowAngleCalibrationProcedure }, messageId);
-            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderNarrowAngleCalibrationProcedure', requestTimeout, id));
+            // Resolved at most once, and only when a progress status reports no limit
+            const productMaxPermissiblePhaseError$ = (0, rxjs_1.defer)(() => this.resolveDevice(props)).pipe((0, operators_1.map)((device) => {
+                var _a, _b;
+                return (0, circulo_1.getCirculoEncoderMaxPermissiblePhaseError)(((_a = device.hardwareDescription) === null || _a === void 0 ? void 0 : _a.device.serialNumber) ? device.hardwareDescription : device.serialNumber, (_b = props.externalEncoderType) !== null && _b !== void 0 ? _b : circulo_1.CirculoExternalEncoderType.NONE);
+            }), (0, operators_1.shareReplay)(1));
+            return this.socket.message$.pipe((0, operators_2.transformMotionMasterMessageToStatus)('circuloEncoderNarrowAngleCalibrationProcedure', requestTimeout, id), (0, operators_1.concatMap)((status) => {
+                var _a;
+                const progress = status.progress;
+                if (!progress || ((_a = progress.maxPermissiblePhaseError) !== null && _a !== void 0 ? _a : 0) > 0) {
+                    return (0, rxjs_1.of)(status);
+                }
+                return productMaxPermissiblePhaseError$.pipe((0, operators_1.map)((maxPermissiblePhaseError) => (Object.assign(Object.assign({}, status), { progress: Object.assign(Object.assign({}, progress), { maxPermissiblePhaseError }) }))));
+            }));
         }));
     }
     /**