motion-master-client 0.0.424 → 0.0.425

package/src/lib/circulo.js.map

@@ -1 +1 @@
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package/src/lib/motion-master-req-res-client.d.ts

@@ -14,7 +14,7 @@ import { ConfigParameter } from './config-file';
 import { MotionMasterClientIndexedDB } from './mmcidb';
 import { SmmParameter } from './smm';
 import { DataType } from 'python-struct';
-import { CirculoIntegratedEncoderI2CDeviceId } from './circulo';
+import { CirculoIntegratedEncoderI2CDeviceId, CirculoIntegratedEncoderReport } from './circulo';
 import { EncoderRegisterError } from './encoder';
 import { IntegroIntegratedEncoderError } from './integro';
 import { OffsetDetectionStepId, OffsetDetectionSteps } from './offset-detection';
@@ -2235,12 +2235,39 @@ export declare class MotionMasterReqResClient {
      * It sends a series of commands to the device to read the registers and returns the responses as an array.
      * It was added as part of a fix for the EEPROM issue in Circulo integrated encoders.
      *
+     * A register read completes on the drive within a few tens of milliseconds, so the response is polled every
+     * 50 ms rather than at the 1000 ms default for OS commands. The first poll usually comes before the read has
+     * completed; at 1000 ms each of those reads then waits a full second, and the 33 registers take about 30 s
+     * instead of 1 to 2 s (measured on a Circulo 7 Safe Motion).
+     *
+     * The registers are read through the encoder configured in 0x2110 (encoder 1) or 0x2112 (encoder 2). When its
+     * sensor port (subindex 1) is 0, no encoder is configured: no OS command is sent, and the observable fails at
+     * once. Otherwise the firmware times out each read after 5 s and then refuses further OS commands.
+     *
      * @param deviceRef - The reference to the device to which the command will be sent.
      * @param encoderOrdinal - The ordinal number of the encoder.
      * @param commandTimeout - The timeout in milliseconds for the command to complete.
+     * @param responsePollingInterval - How often, in milliseconds, the response of each register read is polled.
      * @returns An observable that emits an array of `EncoderRegisterCommunicationOsCommandResponse` objects.
+     * @throws Error when the encoder is not configured.
+     */
+    readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef: DeviceRef, encoderOrdinal: number, commandTimeout?: number, responsePollingInterval?: number): Observable<EncoderRegisterCommunicationOsCommandResponse[]>;
+    /**
+     * Reads the key configuration registers of a Circulo integrated encoder, `HARD_REV` (register 0x74) and the
+     * amplitude control gain (registers 0x2B and 0x2F), and builds its report: the chip revision, health monitoring,
+     * the Nonius track offset table and every register with the raw values of its fields. See
+     * {@link buildCirculoIntegratedEncoderReport}.
+     *
+     * The device serial number is resolved alongside; when it can't be, the report says it is unknown.
+     *
+     * @param deviceRef - The reference to the device.
+     * @param encoderOrdinal - The ordinal number of the encoder, 1 or 2.
+     * @param commandTimeout - The timeout in milliseconds for each register read.
+     * @param responsePollingInterval - How often, in milliseconds, the response of each register read is polled.
+     * @returns An observable that emits the report and completes.
+     * @throws Error when a register read returns no value, so the report never shows a value it didn't read.
      */
-    readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef: DeviceRef, encoderOrdinal: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse[]>;
+    getCirculoIntegratedEncoderReport(deviceRef: DeviceRef, encoderOrdinal: number, commandTimeout?: number, responsePollingInterval?: number): Observable<CirculoIntegratedEncoderReport>;
     /**
      * Writes the integrated encoder configuration to a binary file on the device.
      *

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

@@ -4385,15 +4385,85 @@ class MotionMasterReqResClient {
      * It sends a series of commands to the device to read the registers and returns the responses as an array.
      * It was added as part of a fix for the EEPROM issue in Circulo integrated encoders.
      *
+     * A register read completes on the drive within a few tens of milliseconds, so the response is polled every
+     * 50 ms rather than at the 1000 ms default for OS commands. The first poll usually comes before the read has
+     * completed; at 1000 ms each of those reads then waits a full second, and the 33 registers take about 30 s
+     * instead of 1 to 2 s (measured on a Circulo 7 Safe Motion).
+     *
+     * The registers are read through the encoder configured in 0x2110 (encoder 1) or 0x2112 (encoder 2). When its
+     * sensor port (subindex 1) is 0, no encoder is configured: no OS command is sent, and the observable fails at
+     * once. Otherwise the firmware times out each read after 5 s and then refuses further OS commands.
+     *
      * @param deviceRef - The reference to the device to which the command will be sent.
      * @param encoderOrdinal - The ordinal number of the encoder.
      * @param commandTimeout - The timeout in milliseconds for the command to complete.
+     * @param responsePollingInterval - How often, in milliseconds, the response of each register read is polled.
      * @returns An observable that emits an array of `EncoderRegisterCommunicationOsCommandResponse` objects.
+     * @throws Error when the encoder is not configured.
      */
-    readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef, encoderOrdinal, commandTimeout = 5000) {
+    readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef, encoderOrdinal, commandTimeout = 5000, responsePollingInterval = 50) {
         const registerAddresses = circulo_1.circuloIntegratedEncoderKeyConfigurationRegisterAddresses.map((addr) => addr.ram);
-        const defferedOsCommands = registerAddresses.map((registerAddress) => (0, rxjs_1.defer)(() => this.runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal, 0, 0, registerAddress, undefined, commandTimeout).pipe((0, operators_1.last)())));
-        return (0, rxjs_1.concat)(...defferedOsCommands).pipe((0, operators_1.toArray)());
+        const defferedOsCommands = registerAddresses.map((registerAddress) => (0, rxjs_1.defer)(() => this.runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal, 0, 0, registerAddress, undefined, commandTimeout, responsePollingInterval).pipe((0, operators_1.last)())));
+        const configurationIndex = { 1: 0x2110, 2: 0x2112 }[encoderOrdinal];
+        if (configurationIndex === undefined) {
+            return (0, rxjs_1.concat)(...defferedOsCommands).pipe((0, operators_1.toArray)());
+        }
+        return (0, rxjs_1.defer)(() => this.upload(deviceRef, configurationIndex, 1)).pipe((0, operators_1.mergeMap)((sensorPort) => {
+            if (sensorPort === 0) {
+                const index = `0x${configurationIndex.toString(16).toUpperCase()}`;
+                return (0, rxjs_1.throwError)(() => new Error(`Encoder ${encoderOrdinal} is not configured: its sensor port (${index}:01) is 0. Configure the ` +
+                    'integrated encoder before reading its registers.'));
+            }
+            return (0, rxjs_1.concat)(...defferedOsCommands).pipe((0, operators_1.toArray)());
+        }));
+    }
+    /**
+     * Reads the key configuration registers of a Circulo integrated encoder, `HARD_REV` (register 0x74) and the
+     * amplitude control gain (registers 0x2B and 0x2F), and builds its report: the chip revision, health monitoring,
+     * the Nonius track offset table and every register with the raw values of its fields. See
+     * {@link buildCirculoIntegratedEncoderReport}.
+     *
+     * The device serial number is resolved alongside; when it can't be, the report says it is unknown.
+     *
+     * @param deviceRef - The reference to the device.
+     * @param encoderOrdinal - The ordinal number of the encoder, 1 or 2.
+     * @param commandTimeout - The timeout in milliseconds for each register read.
+     * @param responsePollingInterval - How often, in milliseconds, the response of each register read is polled.
+     * @returns An observable that emits the report and completes.
+     * @throws Error when a register read returns no value, so the report never shows a value it didn't read.
+     */
+    getCirculoIntegratedEncoderReport(deviceRef, encoderOrdinal, commandTimeout = 5000, responsePollingInterval = 50) {
+        const valueOf = (response, ram) => {
+            if (response.registerValue === undefined) {
+                const reason = [response.request, response.errorCode, response.errorName, response.errorDescription]
+                    .filter((part) => part !== undefined && part !== '')
+                    .join(', ');
+                throw new Error(`Register 0x${ram.toString(16).padStart(2, '0')} returned no value (${reason}).`);
+            }
+            return response.registerValue;
+        };
+        const readRegister = (ram) => (0, rxjs_1.defer)(() => this.runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal, 0, 0, ram, undefined, commandTimeout, responsePollingInterval).pipe((0, operators_1.last)()));
+        const extraRegisters = [
+            circulo_1.icMuHardRevRegister,
+            ...circulo_1.circuloIntegratedEncoderAmplitudeControlRegisters.map((r) => r.ram),
+        ];
+        const deviceSerialNumber$ = this.resolveDevice(deviceRef).pipe((0, operators_1.map)((device) => device.id), (0, operators_1.catchError)(() => (0, rxjs_1.of)(undefined)));
+        // The OS command channel runs one command at a time, so HARD_REV and the amplitude control registers are read
+        // after the key configuration registers, not alongside.
+        return (0, rxjs_1.forkJoin)([
+            (0, rxjs_1.concat)(this.readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef, encoderOrdinal, commandTimeout, responsePollingInterval), (0, rxjs_1.concat)(...extraRegisters.map(readRegister)).pipe((0, operators_1.toArray)())).pipe((0, operators_1.toArray)()),
+            deviceSerialNumber$,
+        ]).pipe((0, operators_1.map)(([[responses, extraResponses], deviceSerialNumber]) => {
+            const values = responses.map((response, i) => valueOf(response, circulo_1.circuloIntegratedEncoderKeyConfigurationRegisterAddresses[i].ram));
+            const [hardRev, ...amplitudeControlValues] = extraResponses.map((response, i) => valueOf(response, extraRegisters[i]));
+            return (0, circulo_1.buildCirculoIntegratedEncoderReport)(values, {
+                encoderOrdinal,
+                deviceSerialNumber,
+                readAt: new Date(),
+                hardRev,
+                amplitudeControlValues,
+            });
+        }));
     }
     /**
      * Writes the integrated encoder configuration to a binary file on the device.
@@ -5043,7 +5113,9 @@ class MotionMasterReqResClient {
                         },
                         commutationOffsetMeasurement: {
                             execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                                measurementMethod === 2 ? yield this.engageBrake(deviceRef, brakeEngageWaitMs) : yield this.releaseBrake(deviceRef, brakeReleaseWaitMs);
+                                measurementMethod === 2
+                                    ? yield this.engageBrake(deviceRef, brakeEngageWaitMs)
+                                    : yield this.releaseBrake(deviceRef, brakeReleaseWaitMs);
                                 return yield (0, rxjs_1.lastValueFrom)(this.runCommutationOffsetMeasurementOsCommand(deviceRef));
                             }),
                             valueKey: 'commutationAngleOffset',