fix(focas): decode servo/spindle meters by their base/exponent envelope; MaxRpm -> MotorSpeedPct
Servo (0x0056) and spindle (0x0040) meter records are 8 bytes:
[i32 value][u16 base][u16 exponent], the same self-describing envelope as the
position blocks.
Servo: offset 4 was read as a decimal count. It is the BASE (a steady 10), so
every load was divided by 10^10 and published ~0 -- the sister ignitionoee panel
read servo 0% on every axis of a Makino cutting at 20,000 rpm. Loads are now
value / base^exponent, a direct percentage.
Spindle: the raw meter is a 1/16384 fraction of full scale. Settled on the real
Z-34184 by regressing the type-1 meter against cnc_rddynamic2 spindle speed over
596..20,000 rpm (rpm = 1.220749 x meter; 16384 x 1.220749 = 20000.75). So:
- Spindle/{name}/Load publishes % of rated load (Float64; was the raw Int32
count -- a reading of 9155 meant 55.9%).
- Spindle/{name}/MaxRpm is RENAMED Spindle/{name}/MotorSpeedPct (Float64, % of
maximum speed) and is polled with Load. The old node was actively wrong: the
type-1 meter is the live motor speed, and it was read once at bootstrap and
served forever as if it were a max-RPM constant. Client-visible: FIXED: tags
on .../MaxRpm must be re-pointed.
- The spindle read no longer stops at the first zero after slot 1 (which dropped
an idle second spindle and kept non-zero residue); every slot is returned.
A record whose envelope is undescribable (base not 2/10, exponent > 18 -- e.g.
residue past the configured axis/spindle count) publishes BadNoData, never a Good 0.
Ported from the sister ignitionoee FOCAS driver v0.17.2/v0.17.3 (Focas.Wire-019);
live captures live-spmeter-{load,maxrpm}-0x0040.bin added as fixtures.
This commit is contained in:
Joseph Doherty
@@ -59,18 +59,104 @@ public sealed record WireDynamic(
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int SpindleSpeed,
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WireAxisPosition Axis);
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/// <summary>One servo-meter entry from <c>cnc_rdsvmeter</c> — per-axis load percentage (scale by 10^<see cref="Decimal"/>).</summary>
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/// <summary>
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/// The self-describing <c>(value, base, exponent)</c> envelope shared by every value record on
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/// the FOCAS wire — <c>cnc_rddynamic2</c> positions, servo meters, spindle meters:
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/// <c>scaled = value / base^exponent</c>, where only base 2 and base 10 are meaningful.
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/// </summary>
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internal static class FocasValueEnvelope
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{
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/// <summary>
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/// Largest exponent that can describe a real value. An i32 carries at most ten digits, so
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/// anything beyond is a misread record — and <c>value / 10^400</c> would be
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/// <c>value / Infinity = 0.0</c>, a plausible Good zero.
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/// </summary>
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public const int MaxExponent = 18;
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/// <summary>
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/// True when the record describes a usable value. A fixed multi-slot buffer's slots past the
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/// configured axis/spindle count hold unrelated memory, which shows up exactly here: a base
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/// that is neither 2 nor 10, or an absurd exponent (incl. the <c>0xFFFF</c> vacant marker).
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/// </summary>
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/// <param name="base">The record's base field.</param>
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/// <param name="exponent">The record's exponent field.</param>
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/// <returns>Whether the record may be published.</returns>
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public static bool IsValid(int @base, int exponent) => exponent <= MaxExponent && @base is 2 or 10;
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/// <summary><c>value / base^exponent</c>, or null when <see cref="IsValid"/> is false.</summary>
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/// <param name="value">The raw value.</param>
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/// <param name="base">The record's base field.</param>
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/// <param name="exponent">The record's exponent field.</param>
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/// <returns>The scaled value, or null.</returns>
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public static double? Scale(int value, int @base, int exponent) =>
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!IsValid(@base, exponent) ? null : exponent == 0 ? value : value / Math.Pow(@base, exponent);
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}
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/// <summary>
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/// One servo-meter entry from <c>cnc_rdsvmeter</c> (0x0056): one axis's load. The 8-byte record
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/// is <c>[+0..3] i32 value</c>, <c>[+4..5] u16 base</c>, <c>[+6..7] u16 exponent</c> and the load
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/// is a <b>direct</b> percentage, <see cref="Scaled"/> = <c>value / base^exponent</c>.
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/// </summary>
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/// <remarks>
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/// Offset 4 used to be read as a decimal count ("data / 10^dec"). It is the <b>base</b> — a
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/// steady 10 — so every load was divided by 10^10 and published ~0 (a real Makino cutting at
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/// 20,000 rpm read servo 0% on every axis). Found by the sister ignitionoee driver,
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/// Focas.Wire-019 (v0.17.2).
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/// </remarks>
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/// <param name="Index">1-based axis slot.</param>
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/// <param name="Name">Axis name from the companion 0x0089 block (empty when none).</param>
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/// <param name="Value">Raw load value.</param>
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/// <param name="Base">Scale base (2 or 10 when meaningful).</param>
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/// <param name="Exponent">Scale exponent.</param>
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public sealed record WireServoMeter(
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short Index,
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string Name,
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int Value,
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short Decimal,
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short Unit);
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int Base,
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int Exponent)
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{
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/// <summary>False for a record whose envelope describes no usable value (buffer residue).</summary>
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public bool IsValid => FocasValueEnvelope.IsValid(Base, Exponent);
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/// <summary>One spindle metric slot from <c>cnc_rdspload</c> / <c>cnc_rdspmaxrpm</c>.</summary>
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/// <summary>The load percentage, <c>Value / Base^Exponent</c>; null when <see cref="IsValid"/> is false.</summary>
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public double? Scaled => FocasValueEnvelope.Scale(Value, Base, Exponent);
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}
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/// <summary>
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/// One spindle-meter slot from <c>cnc_rdspmeter</c> (0x0040; type 0 = load, type 1 = motor
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/// speed). Same 8-byte envelope as <see cref="WireServoMeter"/>, but the scaled value is a
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/// fraction of full scale in <c>1/16384</c> units — see <see cref="Percent"/>.
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/// </summary>
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/// <param name="Index">1-based spindle slot.</param>
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/// <param name="Value">Raw meter value, in 1/16384-of-full-scale units.</param>
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/// <param name="Base">Scale base.</param>
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/// <param name="Exponent">Scale exponent.</param>
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public sealed record WireSpindleMetric(
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short Index,
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int Value);
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int Value,
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int Base,
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int Exponent)
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{
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/// <summary>
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/// The meter's full-scale count: <c>16384</c> = 2^14 = 100% of rated load (type 0) or of
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/// maximum spindle speed (type 1). Settled on the real Z-34184 by regressing the type-1
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/// meter against <c>cnc_rddynamic2</c> spindle speed over 596–20,000 rpm:
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/// <c>rpm = 1.220749 × meter</c>, <c>16384 × 1.220749 = 20000.75</c> (Focas.Wire-019).
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/// </summary>
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public const int FullScale = 1 << 14;
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/// <summary>False for a record whose envelope describes no usable value (buffer residue).</summary>
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public bool IsValid => FocasValueEnvelope.IsValid(Base, Exponent);
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/// <summary>
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/// The meter as a percentage — <c>(Value / Base^Exponent) × 100 / 16384</c> — or null when
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/// <see cref="IsValid"/> is false. Values above 100 are real (short-term overload; the i16
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/// record clamps one count short of 200%).
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/// </summary>
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public double? Percent => FocasValueEnvelope.Scale(Value, Base, Exponent) is { } scaled
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? scaled * 100.0 / FullScale
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: null;
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}
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/// <summary>
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/// One axis-name slot from <c>cnc_rdaxisname</c>. <see cref="Index"/> is the 1-based
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