npm - @zaber/motion - Versions diffs - 2.10.0 → 2.10.1 - Mend

@zaber/motion 2.10.0 → 2.10.1

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 (11) hide show

package/dist/binding/wasm/zaber-motion-lib.wasm +0 -0
package/dist/lib/ascii/connection.d.ts +11 -0
package/dist/lib/ascii/connection.js +11 -0
package/dist/lib/ascii/connection.js.map +1 -1
package/dist/lib/gcode/offline_translator.d.ts +11 -3
package/dist/lib/gcode/offline_translator.js +19 -4
package/dist/lib/gcode/offline_translator.js.map +1 -1
package/dist/lib/gcode/translator.d.ts +11 -3
package/dist/lib/gcode/translator.js +19 -4
package/dist/lib/gcode/translator.js.map +1 -1
package/package.json +1 -1

package/dist/binding/wasm/zaber-motion-lib.wasm CHANGED Viewed

Binary file

package/dist/lib/ascii/connection.d.ts CHANGED Viewed

@@ -21,6 +21,17 @@ export declare class Connection {
      * Default baud rate for serial connections.
      */
     static readonly DEFAULT_BAUD_RATE: number;
+    /**
+     * Commands send over this port are forwarded to the device chain.
+     * The bandwidth may be limited as the commands are forwarded over a serial connection.
+     */
+    static readonly TCP_PORT_CHAIN: number;
+    /**
+     * Commands send over this port are processed only by the device
+     * and not forwarded to the rest of the chain.
+     * Using this port typically makes the communication faster.
+     */
+    static readonly TCP_PORT_DEVICE_ONLY: number;
     /**
      * The interface ID identifies this Connection instance with the underlying library.
      */

package/dist/lib/ascii/connection.js CHANGED Viewed

@@ -397,4 +397,15 @@ exports.Connection = Connection;
  * Default baud rate for serial connections.
  */
 Connection.DEFAULT_BAUD_RATE = 115200;
+/**
+ * Commands send over this port are forwarded to the device chain.
+ * The bandwidth may be limited as the commands are forwarded over a serial connection.
+ */
+Connection.TCP_PORT_CHAIN = 55550;
+/**
+ * Commands send over this port are processed only by the device
+ * and not forwarded to the rest of the chain.
+ * Using this port typically makes the communication faster.
+ */
+Connection.TCP_PORT_DEVICE_ONLY = 55551;
 //# sourceMappingURL=connection.js.map

package/dist/lib/ascii/connection.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Observable, ReplaySubject } from 'rxjs';\nimport { map, filter, takeUntil, take } from 'rxjs/operators';\nimport * as gateway from '../gateway';\nimport { events, filterEvent } from '../gateway';\nimport { Transport } from './transport';\nimport { Device } from './device';\nimport { Response } from './response';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { AlertEvent } from './alert_event';\nimport { MotionLibException } from '../exceptions';\n\n/*\n Class representing access to particular connection (serial port, TCP connection).\n /\nexport class Connection {\n\n /\n Event invoked when a response from a device cannot be matched to any known request.\n /\n public unknownResponse!: Observable<UnknownResponseEvent>;\n\n /\n Event invoked when an alert is received from a device.\n /\n public alert!: Observable<AlertEvent>;\n\n /\n Default baud rate for serial connections.\n /\n public static readonly DEFAULT_BAUD_RATE: number = 115200;\n\n /\n The interface ID identifies this Connection instance with the underlying library.\n /\n public get interfaceId(): number {\n return this._interfaceId;\n }\n private _interfaceId: number;\n\n /\n The default timeout, in milliseconds, for a device to respond to a request.\n * Setting the timeout to a too low value may cause request timeout exceptions.\n /\n public get defaultRequestTimeout(): number {\n return this._retrieveTimeout();\n }\n\n public set defaultRequestTimeout(value: number) {\n this._changeTimeout(value);\n }\n\n /\n Controls whether outgoing messages contain checksum.\n /\n public get checksumEnabled(): boolean {\n return this._retrieveChecksumEnabled();\n }\n\n public set checksumEnabled(value: boolean) {\n this._changeChecksumEnabled(value);\n }\n\n constructor(interfaceId: number) {\n this._interfaceId = interfaceId;\n this._subscribe();\n }\n\n /\n Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher.\n * Zaber Launcher allows sharing of the port between multiple applications.\n * Use openSerialPortDirectly if sharing is not desirable.\n * @param portName Name of the port to open.\n * @param baudRate Optional baud rate (defaults to 115200).\n * @return An object representing the port.\n /\n public static async openSerialPort(\n portName: string,\n baudRate: number = Connection.DEFAULT_BAUD_RATE\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n request.setPortName(portName);\n request.setBaudRate(baudRate);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a serial port, bypassing Zaber Launcher.\n * If the port is already opened by Zaber Launcher, this will fail.\n * @param portName Name of the port to open.\n * @param baudRate Optional baud rate (defaults to 115200).\n * @return An object representing the port.\n /\n public static async openSerialPortDirectly(\n portName: string,\n baudRate: number = Connection.DEFAULT_BAUD_RATE\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n request.setRejectRoutedConnection(true);\n request.setPortName(portName);\n request.setBaudRate(baudRate);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a TCP connection.\n * @param hostName Hostname or IP address.\n * @param port Port number.\n * @return An object representing the connection.\n /\n public static async openTcp(\n hostName: string,\n port: number\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.TCP);\n request.setHostName(hostName);\n request.setPort(port);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a connection using a custom transport.\n * @param transport The custom connection transport.\n * @return An object representing the connection.\n /\n public static async openCustom(\n transport: Transport\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.CUSTOM);\n request.setTransport(transport.transportId);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a unauthenticated connection to a cloud connected device chain.\n * Use this method to connect to Virtual Device free trial instances.\n * The connection is not secured.\n * @param cloudId The cloud ID to connect to.\n * @param connectionName The name of the connection to open.\n * Can be left empty to default to the only connection present.\n * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n * @param api The URL of the API to receive connection info from.\n * @return An object representing the connection.\n /\n public static async openIotUnauthenticated(\n cloudId: string,\n connectionName: string = '',\n api: string = 'https://api.zaber.io'\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.IOT);\n request.setRealm('unauthenticated');\n request.setToken('unauthenticated');\n request.setCloudId(cloudId);\n request.setConnectionName(connectionName);\n request.setApi(api);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a secured connection to a cloud connected device chain.\n * Use this method to connect to devices on your account.\n * @param cloudId The cloud ID to connect to.\n * @param token The token to authenticate with.\n * @param connectionName The name of the connection to open.\n * Can be left empty to default to the only connection present.\n * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n * @param realm The realm to connect to.\n * Can be left empty for the default account realm.\n * @param api The URL of the API to receive connection info from.\n * @return An object representing the connection.\n /\n public static async openIotAuthenticated(\n cloudId: string,\n token: string,\n connectionName: string = '',\n realm: string = '',\n api: string = 'https://api.zaber.io'\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.IOT);\n request.setCloudId(cloudId);\n request.setToken(token);\n request.setConnectionName(connectionName);\n request.setRealm(realm);\n request.setApi(api);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a connection to Zaber Launcher in your Local Area Network.\n * The connection is not secured.\n * @param hostName Hostname or IP address.\n * @param port Port number.\n * @param connectionName The name of the connection to open.\n * Can be left empty to default to the only connection present.\n * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n * @return An object representing the connection.\n /\n public static async openNetworkShare(\n hostName: string,\n port: number,\n connectionName: string = ''\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.NETWORK_SHARE);\n request.setHostName(hostName);\n request.setPort(port);\n request.setConnectionName(connectionName);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Sends a generic ASCII command to this connection.\n * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param device Optional device address to send the command to.\n * @param axis Optional axis number to send the command to.\n * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @return A response to the command.\n /\n public async genericCommand(\n command: string,\n device: number = 0,\n axis: number = 0,\n checkErrors: boolean = true,\n timeout: number = 0\n ): Promise<Response> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.interfaceId);\n request.setCommand(command);\n request.setDevice(device);\n request.setAxis(axis);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n 'interface/generic_command',\n request,\n gateway.GenericCommandResponse);\n return Response.fromProtobuf(response.toObject());\n }\n\n /\n Sends a generic ASCII command to this connection without expecting a response and without adding a message ID.\n * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param device Optional device address to send the command to.\n * @param axis Optional axis number to send the command to.\n /\n public async genericCommandNoResponse(\n command: string,\n device: number = 0,\n axis: number = 0\n ): Promise<void> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.interfaceId);\n request.setCommand(command);\n request.setDevice(device);\n request.setAxis(axis);\n\n await gateway.callAsync('interface/generic_command_no_response', request);\n }\n\n /\n Sends a generic ASCII command to this connection and expect multiple responses,\n * either from one device or from many devices.\n * Responses are returned in order of arrival.\n * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param device Optional device address to send the command to.\n * @param axis Optional axis number to send the command to.\n * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @return All responses to the command.\n /\n public async genericCommandMultiResponse(\n command: string,\n device: number = 0,\n axis: number = 0,\n checkErrors: boolean = true,\n timeout: number = 0\n ): Promise<Response[]> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.interfaceId);\n request.setCommand(command);\n request.setDevice(device);\n request.setAxis(axis);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n 'interface/generic_command_multi_response',\n request,\n gateway.GenericCommandResponseCollection);\n return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n }\n\n /\n Resets ASCII protocol message IDs. Only for testing purposes.\n /\n public resetIds(): void {\n const request = new gateway.EmptyInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n gateway.callSync('interface/reset_ids', request);\n }\n\n /\n Close the connection.\n /\n public async close(): Promise<void> {\n const request = new gateway.CloseInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n await gateway.callAsync('interface/close', request);\n }\n\n /\n Gets a Device class instance which allows you to control a particular device on this connection.\n * Devices are numbered from 1.\n * @param deviceAddress Address of device intended to control. Address is configured for each device.\n * @return Device instance.\n /\n public getDevice(\n deviceAddress: number\n ): Device {\n if (deviceAddress <= 0) {\n throw new TypeError('Invalid value; physical devices are numbered from 1.');\n }\n return new Device(this, deviceAddress);\n }\n\n /\n Renumbers devices present on this connection. After renumbering, devices need to be identified again.\n * @param firstAddress This is the address that the device closest to the computer is given.\n * Remaining devices are numbered consecutively.\n * @return Total number of devices that responded to the renumber.\n /\n public async renumberDevices(\n firstAddress: number = 1\n ): Promise<number> {\n if (firstAddress <= 0) {\n throw new TypeError('Invalid value; device addresses are numbered from 1.');\n }\n const request = new gateway.DeviceRenumberRequest();\n request.setInterfaceId(this.interfaceId);\n request.setFirstAddress(firstAddress);\n\n const response = await gateway.callAsync<gateway.DeviceRenumberResponse>(\n 'device/renumber',\n request,\n gateway.DeviceRenumberResponse);\n return response.getNumberDevices();\n }\n\n /\n Attempts to detect any devices present on this connection.\n * @param identifyDevices Determines whether device identification should be performed as well.\n * @return Array of detected devices.\n /\n public async detectDevices(\n identifyDevices: boolean = true\n ): Promise<Device[]> {\n const request = new gateway.DeviceDetectRequest();\n request.setInterfaceId(this.interfaceId);\n request.setIdentifyDevices(identifyDevices);\n\n const response = await gateway.callAsync<gateway.DeviceDetectResponse>(\n 'device/detect',\n request,\n gateway.DeviceDetectResponse);\n return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\n }\n\n /\n Stops all of the devices on this connection.\n * @param waitUntilIdle Determines whether the function should return immediately\n * or wait until the devices are stopped.\n * @return The addresses of the devices that were stopped by this command.\n /\n public async stopAll(\n waitUntilIdle: boolean = true\n ): Promise<number[]> {\n const request = new gateway.DeviceOnAllRequest();\n request.setInterfaceId(this.interfaceId);\n request.setWaitUntilIdle(waitUntilIdle);\n\n const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n 'device/stop_all',\n request,\n gateway.DeviceOnAllResponse);\n return response.getDeviceAddressesList();\n }\n\n /\n Homes all of the devices on this connection.\n * @param waitUntilIdle Determines whether the function should return immediately\n * or wait until the devices are homed.\n * @return The addresses of the devices that were homed by this command.\n /\n public async homeAll(\n waitUntilIdle: boolean = true\n ): Promise<number[]> {\n const request = new gateway.DeviceOnAllRequest();\n request.setInterfaceId(this.interfaceId);\n request.setWaitUntilIdle(waitUntilIdle);\n\n const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n 'device/home_all',\n request,\n gateway.DeviceOnAllResponse);\n return response.getDeviceAddressesList();\n }\n\n /\n Returns a string that represents the connection.\n * @return A string that represents the connection.\n /\n public toString(): string {\n const request = new gateway.ToStringRequest();\n request.setInterfaceId(this.interfaceId);\n\n const response = gateway.callSync<gateway.ToStringResponse>(\n 'interface/to_string',\n request,\n gateway.ToStringResponse);\n return response.getToStr();\n }\n\n /\n Returns default request timeout.\n * @return Default request timeout.\n /\n private _retrieveTimeout(): number {\n const request = new gateway.EmptyInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n const response = gateway.callSync<gateway.GetInterfaceTimeoutResponse>(\n 'interface/get_timeout',\n request,\n gateway.GetInterfaceTimeoutResponse);\n return response.getValue();\n }\n\n /\n Sets default request timeout.\n * @param timeout Default request timeout.\n /\n private _changeTimeout(\n timeout: number\n ): void {\n const request = new gateway.SetInterfaceTimeoutRequest();\n request.setInterfaceId(this.interfaceId);\n request.setTimeout(timeout);\n\n gateway.callSync('interface/set_timeout', request);\n }\n\n /\n Returns checksum enabled.\n * @return Checksum enabled.\n /\n private _retrieveChecksumEnabled(): boolean {\n const request = new gateway.EmptyInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n const response = gateway.callSync<gateway.GetInterfaceChecksumEnabledResponse>(\n 'interface/get_checksum_enabled',\n request,\n gateway.GetInterfaceChecksumEnabledResponse);\n return response.getValue();\n }\n\n /\n Sets checksum enabled.\n * @param isEnabled Checksum enabled.\n /\n private _changeChecksumEnabled(\n isEnabled: boolean\n ): void {\n const request = new gateway.SetInterfaceChecksumEnabledRequest();\n request.setInterfaceId(this.interfaceId);\n request.setIsEnabled(isEnabled);\n\n gateway.callSync('interface/set_checksum_enabled', request);\n }\n\n private _disconnected = new ReplaySubject<MotionLibException>();\n\n /\n Event invoked when connection is interrupted or closed.\n */\n public get disconnected(): Observable<MotionLibException> {\n return this._disconnected;\n }\n\n private _subscribe(): void {\n this.unknownResponse = events.pipe(\n takeUntil(this._disconnected),\n filterEvent<gateway.UnknownResponseEvent.AsObject>('interface/unknown_response'),\n filter(event => event.interfaceId === this.interfaceId),\n map(event => UnknownResponseEvent.fromProtobuf(event))\n );\n\n this.alert = events.pipe(\n takeUntil(this._disconnected),\n filterEvent<gateway.AlertEvent.AsObject>('interface/alert'),\n filter(event => event.interfaceId === this.interfaceId),\n map(event => AlertEvent.fromProtobuf(event))\n );\n\n events.pipe(\n filterEvent<gateway.DisconnectedEvent.AsObject>('interface/disconnected'),\n filter(event => event.interfaceId === this.interfaceId),\n take(1),\n map(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))\n ).subscribe(this._disconnected);\n }\n}\n"]}
1	+ 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Observable, ReplaySubject } from 'rxjs';\nimport { map, filter, takeUntil, take } from 'rxjs/operators';\nimport * as gateway from '../gateway';\nimport { events, filterEvent } from '../gateway';\nimport { Transport } from './transport';\nimport { Device } from './device';\nimport { Response } from './response';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { AlertEvent } from './alert_event';\nimport { MotionLibException } from '../exceptions';\n\n/*\n Class representing access to particular connection (serial port, TCP connection).\n /\nexport class Connection {\n\n /\n Event invoked when a response from a device cannot be matched to any known request.\n /\n public unknownResponse!: Observable<UnknownResponseEvent>;\n\n /\n Event invoked when an alert is received from a device.\n /\n public alert!: Observable<AlertEvent>;\n\n /\n Default baud rate for serial connections.\n /\n public static readonly DEFAULT_BAUD_RATE: number = 115200;\n\n /\n Commands send over this port are forwarded to the device chain.\n * The bandwidth may be limited as the commands are forwarded over a serial connection.\n /\n public static readonly TCP_PORT_CHAIN: number = 55550;\n\n /\n Commands send over this port are processed only by the device\n * and not forwarded to the rest of the chain.\n * Using this port typically makes the communication faster.\n /\n public static readonly TCP_PORT_DEVICE_ONLY: number = 55551;\n\n /\n The interface ID identifies this Connection instance with the underlying library.\n /\n public get interfaceId(): number {\n return this._interfaceId;\n }\n private _interfaceId: number;\n\n /\n The default timeout, in milliseconds, for a device to respond to a request.\n * Setting the timeout to a too low value may cause request timeout exceptions.\n /\n public get defaultRequestTimeout(): number {\n return this._retrieveTimeout();\n }\n\n public set defaultRequestTimeout(value: number) {\n this._changeTimeout(value);\n }\n\n /\n Controls whether outgoing messages contain checksum.\n /\n public get checksumEnabled(): boolean {\n return this._retrieveChecksumEnabled();\n }\n\n public set checksumEnabled(value: boolean) {\n this._changeChecksumEnabled(value);\n }\n\n constructor(interfaceId: number) {\n this._interfaceId = interfaceId;\n this._subscribe();\n }\n\n /\n Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher.\n * Zaber Launcher allows sharing of the port between multiple applications.\n * Use openSerialPortDirectly if sharing is not desirable.\n * @param portName Name of the port to open.\n * @param baudRate Optional baud rate (defaults to 115200).\n * @return An object representing the port.\n /\n public static async openSerialPort(\n portName: string,\n baudRate: number = Connection.DEFAULT_BAUD_RATE\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n request.setPortName(portName);\n request.setBaudRate(baudRate);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a serial port, bypassing Zaber Launcher.\n * If the port is already opened by Zaber Launcher, this will fail.\n * @param portName Name of the port to open.\n * @param baudRate Optional baud rate (defaults to 115200).\n * @return An object representing the port.\n /\n public static async openSerialPortDirectly(\n portName: string,\n baudRate: number = Connection.DEFAULT_BAUD_RATE\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n request.setRejectRoutedConnection(true);\n request.setPortName(portName);\n request.setBaudRate(baudRate);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a TCP connection.\n * @param hostName Hostname or IP address.\n * @param port Port number.\n * @return An object representing the connection.\n /\n public static async openTcp(\n hostName: string,\n port: number\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.TCP);\n request.setHostName(hostName);\n request.setPort(port);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a connection using a custom transport.\n * @param transport The custom connection transport.\n * @return An object representing the connection.\n /\n public static async openCustom(\n transport: Transport\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.CUSTOM);\n request.setTransport(transport.transportId);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a unauthenticated connection to a cloud connected device chain.\n * Use this method to connect to Virtual Device free trial instances.\n * The connection is not secured.\n * @param cloudId The cloud ID to connect to.\n * @param connectionName The name of the connection to open.\n * Can be left empty to default to the only connection present.\n * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n * @param api The URL of the API to receive connection info from.\n * @return An object representing the connection.\n /\n public static async openIotUnauthenticated(\n cloudId: string,\n connectionName: string = '',\n api: string = 'https://api.zaber.io'\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.IOT);\n request.setRealm('unauthenticated');\n request.setToken('unauthenticated');\n request.setCloudId(cloudId);\n request.setConnectionName(connectionName);\n request.setApi(api);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a secured connection to a cloud connected device chain.\n * Use this method to connect to devices on your account.\n * @param cloudId The cloud ID to connect to.\n * @param token The token to authenticate with.\n * @param connectionName The name of the connection to open.\n * Can be left empty to default to the only connection present.\n * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n * @param realm The realm to connect to.\n * Can be left empty for the default account realm.\n * @param api The URL of the API to receive connection info from.\n * @return An object representing the connection.\n /\n public static async openIotAuthenticated(\n cloudId: string,\n token: string,\n connectionName: string = '',\n realm: string = '',\n api: string = 'https://api.zaber.io'\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.IOT);\n request.setCloudId(cloudId);\n request.setToken(token);\n request.setConnectionName(connectionName);\n request.setRealm(realm);\n request.setApi(api);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Opens a connection to Zaber Launcher in your Local Area Network.\n * The connection is not secured.\n * @param hostName Hostname or IP address.\n * @param port Port number.\n * @param connectionName The name of the connection to open.\n * Can be left empty to default to the only connection present.\n * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n * @return An object representing the connection.\n /\n public static async openNetworkShare(\n hostName: string,\n port: number,\n connectionName: string = ''\n ): Promise<Connection> {\n const request = new gateway.OpenInterfaceRequest();\n request.setInterfaceType(gateway.InterfaceType.NETWORK_SHARE);\n request.setHostName(hostName);\n request.setPort(port);\n request.setConnectionName(connectionName);\n\n const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n 'interface/open',\n request,\n gateway.OpenInterfaceResponse);\n return new Connection(response.getInterfaceId());\n }\n\n /\n Sends a generic ASCII command to this connection.\n * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param device Optional device address to send the command to.\n * @param axis Optional axis number to send the command to.\n * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @return A response to the command.\n /\n public async genericCommand(\n command: string,\n device: number = 0,\n axis: number = 0,\n checkErrors: boolean = true,\n timeout: number = 0\n ): Promise<Response> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.interfaceId);\n request.setCommand(command);\n request.setDevice(device);\n request.setAxis(axis);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n 'interface/generic_command',\n request,\n gateway.GenericCommandResponse);\n return Response.fromProtobuf(response.toObject());\n }\n\n /\n Sends a generic ASCII command to this connection without expecting a response and without adding a message ID.\n * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param device Optional device address to send the command to.\n * @param axis Optional axis number to send the command to.\n /\n public async genericCommandNoResponse(\n command: string,\n device: number = 0,\n axis: number = 0\n ): Promise<void> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.interfaceId);\n request.setCommand(command);\n request.setDevice(device);\n request.setAxis(axis);\n\n await gateway.callAsync('interface/generic_command_no_response', request);\n }\n\n /\n Sends a generic ASCII command to this connection and expect multiple responses,\n * either from one device or from many devices.\n * Responses are returned in order of arrival.\n * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param device Optional device address to send the command to.\n * @param axis Optional axis number to send the command to.\n * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @return All responses to the command.\n /\n public async genericCommandMultiResponse(\n command: string,\n device: number = 0,\n axis: number = 0,\n checkErrors: boolean = true,\n timeout: number = 0\n ): Promise<Response[]> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.interfaceId);\n request.setCommand(command);\n request.setDevice(device);\n request.setAxis(axis);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n 'interface/generic_command_multi_response',\n request,\n gateway.GenericCommandResponseCollection);\n return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n }\n\n /\n Resets ASCII protocol message IDs. Only for testing purposes.\n /\n public resetIds(): void {\n const request = new gateway.EmptyInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n gateway.callSync('interface/reset_ids', request);\n }\n\n /\n Close the connection.\n /\n public async close(): Promise<void> {\n const request = new gateway.CloseInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n await gateway.callAsync('interface/close', request);\n }\n\n /\n Gets a Device class instance which allows you to control a particular device on this connection.\n * Devices are numbered from 1.\n * @param deviceAddress Address of device intended to control. Address is configured for each device.\n * @return Device instance.\n /\n public getDevice(\n deviceAddress: number\n ): Device {\n if (deviceAddress <= 0) {\n throw new TypeError('Invalid value; physical devices are numbered from 1.');\n }\n return new Device(this, deviceAddress);\n }\n\n /\n Renumbers devices present on this connection. After renumbering, devices need to be identified again.\n * @param firstAddress This is the address that the device closest to the computer is given.\n * Remaining devices are numbered consecutively.\n * @return Total number of devices that responded to the renumber.\n /\n public async renumberDevices(\n firstAddress: number = 1\n ): Promise<number> {\n if (firstAddress <= 0) {\n throw new TypeError('Invalid value; device addresses are numbered from 1.');\n }\n const request = new gateway.DeviceRenumberRequest();\n request.setInterfaceId(this.interfaceId);\n request.setFirstAddress(firstAddress);\n\n const response = await gateway.callAsync<gateway.DeviceRenumberResponse>(\n 'device/renumber',\n request,\n gateway.DeviceRenumberResponse);\n return response.getNumberDevices();\n }\n\n /\n Attempts to detect any devices present on this connection.\n * @param identifyDevices Determines whether device identification should be performed as well.\n * @return Array of detected devices.\n /\n public async detectDevices(\n identifyDevices: boolean = true\n ): Promise<Device[]> {\n const request = new gateway.DeviceDetectRequest();\n request.setInterfaceId(this.interfaceId);\n request.setIdentifyDevices(identifyDevices);\n\n const response = await gateway.callAsync<gateway.DeviceDetectResponse>(\n 'device/detect',\n request,\n gateway.DeviceDetectResponse);\n return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\n }\n\n /\n Stops all of the devices on this connection.\n * @param waitUntilIdle Determines whether the function should return immediately\n * or wait until the devices are stopped.\n * @return The addresses of the devices that were stopped by this command.\n /\n public async stopAll(\n waitUntilIdle: boolean = true\n ): Promise<number[]> {\n const request = new gateway.DeviceOnAllRequest();\n request.setInterfaceId(this.interfaceId);\n request.setWaitUntilIdle(waitUntilIdle);\n\n const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n 'device/stop_all',\n request,\n gateway.DeviceOnAllResponse);\n return response.getDeviceAddressesList();\n }\n\n /\n Homes all of the devices on this connection.\n * @param waitUntilIdle Determines whether the function should return immediately\n * or wait until the devices are homed.\n * @return The addresses of the devices that were homed by this command.\n /\n public async homeAll(\n waitUntilIdle: boolean = true\n ): Promise<number[]> {\n const request = new gateway.DeviceOnAllRequest();\n request.setInterfaceId(this.interfaceId);\n request.setWaitUntilIdle(waitUntilIdle);\n\n const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n 'device/home_all',\n request,\n gateway.DeviceOnAllResponse);\n return response.getDeviceAddressesList();\n }\n\n /\n Returns a string that represents the connection.\n * @return A string that represents the connection.\n /\n public toString(): string {\n const request = new gateway.ToStringRequest();\n request.setInterfaceId(this.interfaceId);\n\n const response = gateway.callSync<gateway.ToStringResponse>(\n 'interface/to_string',\n request,\n gateway.ToStringResponse);\n return response.getToStr();\n }\n\n /\n Returns default request timeout.\n * @return Default request timeout.\n /\n private _retrieveTimeout(): number {\n const request = new gateway.EmptyInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n const response = gateway.callSync<gateway.GetInterfaceTimeoutResponse>(\n 'interface/get_timeout',\n request,\n gateway.GetInterfaceTimeoutResponse);\n return response.getValue();\n }\n\n /\n Sets default request timeout.\n * @param timeout Default request timeout.\n /\n private _changeTimeout(\n timeout: number\n ): void {\n const request = new gateway.SetInterfaceTimeoutRequest();\n request.setInterfaceId(this.interfaceId);\n request.setTimeout(timeout);\n\n gateway.callSync('interface/set_timeout', request);\n }\n\n /\n Returns checksum enabled.\n * @return Checksum enabled.\n /\n private _retrieveChecksumEnabled(): boolean {\n const request = new gateway.EmptyInterfaceRequest();\n request.setInterfaceId(this.interfaceId);\n\n const response = gateway.callSync<gateway.GetInterfaceChecksumEnabledResponse>(\n 'interface/get_checksum_enabled',\n request,\n gateway.GetInterfaceChecksumEnabledResponse);\n return response.getValue();\n }\n\n /\n Sets checksum enabled.\n * @param isEnabled Checksum enabled.\n /\n private _changeChecksumEnabled(\n isEnabled: boolean\n ): void {\n const request = new gateway.SetInterfaceChecksumEnabledRequest();\n request.setInterfaceId(this.interfaceId);\n request.setIsEnabled(isEnabled);\n\n gateway.callSync('interface/set_checksum_enabled', request);\n }\n\n private _disconnected = new ReplaySubject<MotionLibException>();\n\n /\n Event invoked when connection is interrupted or closed.\n */\n public get disconnected(): Observable<MotionLibException> {\n return this._disconnected;\n }\n\n private _subscribe(): void {\n this.unknownResponse = events.pipe(\n takeUntil(this._disconnected),\n filterEvent<gateway.UnknownResponseEvent.AsObject>('interface/unknown_response'),\n filter(event => event.interfaceId === this.interfaceId),\n map(event => UnknownResponseEvent.fromProtobuf(event))\n );\n\n this.alert = events.pipe(\n takeUntil(this._disconnected),\n filterEvent<gateway.AlertEvent.AsObject>('interface/alert'),\n filter(event => event.interfaceId === this.interfaceId),\n map(event => AlertEvent.fromProtobuf(event))\n );\n\n events.pipe(\n filterEvent<gateway.DisconnectedEvent.AsObject>('interface/disconnected'),\n filter(event => event.interfaceId === this.interfaceId),\n take(1),\n map(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))\n ).subscribe(this._disconnected);\n }\n}\n"]}

package/dist/lib/gcode/offline_translator.d.ts CHANGED Viewed

@@ -62,13 +62,21 @@ export declare class OfflineTranslator {
      */
     getAxisPosition(axis: string, unit: Length | Angle | Native): number;
     /**
-     * Sets default position of translator's axis.
+     * Sets the home position of translator's axis.
      * This position is used by G28.
      * @param axis Letter of the axis.
-     * @param position The default position.
+     * @param position The home position.
      * @param unit Units of position.
      */
-    setAxisDefaultPosition(axis: string, position: number, unit: Length | Angle | Native): void;
+    setAxisHomePosition(axis: string, position: number, unit: Length | Angle | Native): void;
+    /**
+     * Sets the secondary home position of translator's axis.
+     * This position is used by G30.
+     * @param axis Letter of the axis.
+     * @param position The home position.
+     * @param unit Units of position.
+     */
+    setAxisSecondaryHomePosition(axis: string, position: number, unit: Length | Angle | Native): void;
     /**
      * Gets offset of an axis in a given coordinate system.
      * @param coordinateSystem Coordinate system (e.g. G54).

package/dist/lib/gcode/offline_translator.js CHANGED Viewed

@@ -130,19 +130,34 @@ class OfflineTranslator {
         return response.getValue();
     }
     /**
-     * Sets default position of translator's axis.
+     * Sets the home position of translator's axis.
      * This position is used by G28.
      * @param axis Letter of the axis.
-     * @param position The default position.
+     * @param position The home position.
      * @param unit Units of position.
      */
-    setAxisDefaultPosition(axis, position, unit) {
+    setAxisHomePosition(axis, position, unit) {
         const request = new gateway.TranslatorSetAxisPositionRequest();
         request.setTranslatorId(this.translatorId);
         request.setAxis(axis);
         request.setPosition(position);
         request.setUnit(unit);
-        gateway.callSync('gcode/set_axis_default', request);
+        gateway.callSync('gcode/set_axis_home', request);
+    }
+    /**
+     * Sets the secondary home position of translator's axis.
+     * This position is used by G30.
+     * @param axis Letter of the axis.
+     * @param position The home position.
+     * @param unit Units of position.
+     */
+    setAxisSecondaryHomePosition(axis, position, unit) {
+        const request = new gateway.TranslatorSetAxisPositionRequest();
+        request.setTranslatorId(this.translatorId);
+        request.setAxis(axis);
+        request.setPosition(position);
+        request.setUnit(unit);
+        gateway.callSync('gcode/set_axis_secondary_home', request);
     }
     /**
      * Gets offset of an axis in a given coordinate system.

package/dist/lib/gcode/offline_translator.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { DeviceDefinition } from './device_definition';\nimport { TranslatorConfig } from './translator_config';\nimport { TranslateResult } from './translate_result';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\n/*\n Represents an offline G-Code translator.\n * It allows to translate G-Code blocks to Zaber ASCII protocol stream commands.\n * This translator does not need a connected device to perform translation.\n /\nexport class OfflineTranslator {\n /\n The ID of the translator that serves to identify native resources.\n /\n public get translatorId(): number {\n return this._translatorId;\n }\n private _translatorId: number;\n\n /\n Current coordinate system.\n /\n public get coordinateSystem(): string {\n return this._getCurrentCoordinateSystem();\n }\n\n constructor(translatorId: number) {\n this._translatorId = translatorId;\n registerForFinalization(this, OfflineTranslator._free.bind(null, translatorId));\n }\n\n /\n Sets up translator from provided device definition and configuration.\n * @param definition Definition of device and its peripherals.\n * The definition must match a device that later performs the commands.\n * @param config? Configuration of the translator.\n * @return New instance of translator.\n /\n public static async setup(\n definition: DeviceDefinition,\n config?: TranslatorConfig\n ): Promise<OfflineTranslator> {\n const request = new gateway.TranslatorCreateRequest();\n request.setDefinition(DeviceDefinition.toProtobuf(definition));\n request.setConfig(TranslatorConfig.toProtobuf(config));\n\n const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n 'gcode/create',\n request,\n gateway.TranslatorCreateResponse);\n return new OfflineTranslator(response.getTranslatorId());\n }\n\n /\n Translates a single block (line) of G-code.\n * @param block Block (line) of G-code.\n * @return Result of translation containing the stream commands.\n /\n public translate(\n block: string\n ): TranslateResult {\n const request = new gateway.TranslatorTranslateRequest();\n request.setTranslatorId(this.translatorId);\n request.setBlock(block);\n\n const response = gateway.callSync<gateway.TranslatorTranslateResponse>(\n 'gcode/translate',\n request,\n gateway.TranslatorTranslateResponse);\n return TranslateResult.fromProtobuf(response.toObject());\n }\n\n /\n Flushes the remaining stream commands waiting in optimization buffer.\n * The flush is also performed by M2 and M30 codes.\n * @return The remaining stream commands.\n /\n public flush(): string[] {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n const response = gateway.callSync<gateway.TranslatorFlushResponse>(\n 'gcode/flush',\n request,\n gateway.TranslatorFlushResponse);\n return response.getCommandsList();\n }\n\n /\n Sets the speed at which the device moves when traversing (G0).\n * @param traverseRate The traverse rate.\n * @param unit Units of the traverse rate.\n /\n public setTraverseRate(\n traverseRate: number,\n unit: Velocity \| AngularVelocity \| Native\n ): void {\n const request = new gateway.TranslatorSetTraverseRateRequest();\n request.setTranslatorId(this.translatorId);\n request.setTraverseRate(traverseRate);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_traverse_rate', request);\n }\n\n /\n Sets position of translator's axis.\n * Use this method to set position after performing movement outside of the translator.\n * This method does not cause any movement.\n * @param axis Letter of the axis.\n * @param position The position.\n * @param unit Units of position.\n /\n public setAxisPosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_position', request);\n }\n\n /\n Gets position of translator's axis.\n * This method does not query device but returns value from translator's state.\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Position of translator's axis.\n /\n public getAxisPosition(\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_position',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Sets default position of translator's axis.\n * This position is used by G28.\n * @param axis Letter of the axis.\n * @param position The default position.\n * @param unit Units of position.\n /\n public setAxisDefaultPosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_default', request);\n }\n\n /\n Gets offset of an axis in a given coordinate system.\n * @param coordinateSystem Coordinate system (e.g. G54).\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Offset in translator units of the axis.\n /\n public getAxisCoordinateSystemOffset(\n coordinateSystem: string,\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisOffsetRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoordinateSystem(coordinateSystem);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_offset',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Resets internal state after device rejected generated command.\n * Axis positions become uninitialized.\n /\n public resetAfterStreamError(): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n gateway.callSync('gcode/reset_after_stream_error', request);\n }\n\n /\n Allows to scale feed rate of the translated code by a coefficient.\n * @param coefficient Coefficient of the original feed rate.\n /\n public setFeedRateOverride(\n coefficient: number\n ): void {\n const request = new gateway.TranslatorSetFeedRateOverrideRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoefficient(coefficient);\n\n gateway.callSync('gcode/set_feed_rate_override', request);\n }\n\n /\n Releases native resources of a translator.\n * @param translatorId The ID of the translator.\n /\n private static _free(\n translatorId: number\n ): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(translatorId);\n\n gateway.callSync('gcode/free', request);\n }\n\n /\n Gets current coordinate system (e.g. G54).\n * @return Current coordinate system.\n /\n private _getCurrentCoordinateSystem(): string {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n const response = gateway.callSync<gateway.TranslatorGetCurrentCoordinateSystemResponse>(\n 'gcode/get_current_coordinate_system',\n request,\n gateway.TranslatorGetCurrentCoordinateSystemResponse);\n return response.getValue();\n }\n\n /\n Releases the native resources of the translator.\n * Should only be called if your environment does not support FinalizationRegistry.\n * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n */\n public free(): void {\n OfflineTranslator._free(this.translatorId);\n }\n}\n"]}
1	+ 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { DeviceDefinition } from './device_definition';\nimport { TranslatorConfig } from './translator_config';\nimport { TranslateResult } from './translate_result';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\n/*\n Represents an offline G-Code translator.\n * It allows to translate G-Code blocks to Zaber ASCII protocol stream commands.\n * This translator does not need a connected device to perform translation.\n /\nexport class OfflineTranslator {\n /\n The ID of the translator that serves to identify native resources.\n /\n public get translatorId(): number {\n return this._translatorId;\n }\n private _translatorId: number;\n\n /\n Current coordinate system.\n /\n public get coordinateSystem(): string {\n return this._getCurrentCoordinateSystem();\n }\n\n constructor(translatorId: number) {\n this._translatorId = translatorId;\n registerForFinalization(this, OfflineTranslator._free.bind(null, translatorId));\n }\n\n /\n Sets up translator from provided device definition and configuration.\n * @param definition Definition of device and its peripherals.\n * The definition must match a device that later performs the commands.\n * @param config? Configuration of the translator.\n * @return New instance of translator.\n /\n public static async setup(\n definition: DeviceDefinition,\n config?: TranslatorConfig\n ): Promise<OfflineTranslator> {\n const request = new gateway.TranslatorCreateRequest();\n request.setDefinition(DeviceDefinition.toProtobuf(definition));\n request.setConfig(TranslatorConfig.toProtobuf(config));\n\n const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n 'gcode/create',\n request,\n gateway.TranslatorCreateResponse);\n return new OfflineTranslator(response.getTranslatorId());\n }\n\n /\n Translates a single block (line) of G-code.\n * @param block Block (line) of G-code.\n * @return Result of translation containing the stream commands.\n /\n public translate(\n block: string\n ): TranslateResult {\n const request = new gateway.TranslatorTranslateRequest();\n request.setTranslatorId(this.translatorId);\n request.setBlock(block);\n\n const response = gateway.callSync<gateway.TranslatorTranslateResponse>(\n 'gcode/translate',\n request,\n gateway.TranslatorTranslateResponse);\n return TranslateResult.fromProtobuf(response.toObject());\n }\n\n /\n Flushes the remaining stream commands waiting in optimization buffer.\n * The flush is also performed by M2 and M30 codes.\n * @return The remaining stream commands.\n /\n public flush(): string[] {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n const response = gateway.callSync<gateway.TranslatorFlushResponse>(\n 'gcode/flush',\n request,\n gateway.TranslatorFlushResponse);\n return response.getCommandsList();\n }\n\n /\n Sets the speed at which the device moves when traversing (G0).\n * @param traverseRate The traverse rate.\n * @param unit Units of the traverse rate.\n /\n public setTraverseRate(\n traverseRate: number,\n unit: Velocity \| AngularVelocity \| Native\n ): void {\n const request = new gateway.TranslatorSetTraverseRateRequest();\n request.setTranslatorId(this.translatorId);\n request.setTraverseRate(traverseRate);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_traverse_rate', request);\n }\n\n /\n Sets position of translator's axis.\n * Use this method to set position after performing movement outside of the translator.\n * This method does not cause any movement.\n * @param axis Letter of the axis.\n * @param position The position.\n * @param unit Units of position.\n /\n public setAxisPosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_position', request);\n }\n\n /\n Gets position of translator's axis.\n * This method does not query device but returns value from translator's state.\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Position of translator's axis.\n /\n public getAxisPosition(\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_position',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Sets the home position of translator's axis.\n * This position is used by G28.\n * @param axis Letter of the axis.\n * @param position The home position.\n * @param unit Units of position.\n /\n public setAxisHomePosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_home', request);\n }\n\n /\n Sets the secondary home position of translator's axis.\n * This position is used by G30.\n * @param axis Letter of the axis.\n * @param position The home position.\n * @param unit Units of position.\n /\n public setAxisSecondaryHomePosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_secondary_home', request);\n }\n\n /\n Gets offset of an axis in a given coordinate system.\n * @param coordinateSystem Coordinate system (e.g. G54).\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Offset in translator units of the axis.\n /\n public getAxisCoordinateSystemOffset(\n coordinateSystem: string,\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisOffsetRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoordinateSystem(coordinateSystem);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_offset',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Resets internal state after device rejected generated command.\n * Axis positions become uninitialized.\n /\n public resetAfterStreamError(): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n gateway.callSync('gcode/reset_after_stream_error', request);\n }\n\n /\n Allows to scale feed rate of the translated code by a coefficient.\n * @param coefficient Coefficient of the original feed rate.\n /\n public setFeedRateOverride(\n coefficient: number\n ): void {\n const request = new gateway.TranslatorSetFeedRateOverrideRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoefficient(coefficient);\n\n gateway.callSync('gcode/set_feed_rate_override', request);\n }\n\n /\n Releases native resources of a translator.\n * @param translatorId The ID of the translator.\n /\n private static _free(\n translatorId: number\n ): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(translatorId);\n\n gateway.callSync('gcode/free', request);\n }\n\n /\n Gets current coordinate system (e.g. G54).\n * @return Current coordinate system.\n /\n private _getCurrentCoordinateSystem(): string {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n const response = gateway.callSync<gateway.TranslatorGetCurrentCoordinateSystemResponse>(\n 'gcode/get_current_coordinate_system',\n request,\n gateway.TranslatorGetCurrentCoordinateSystemResponse);\n return response.getValue();\n }\n\n /\n Releases the native resources of the translator.\n * Should only be called if your environment does not support FinalizationRegistry.\n * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n */\n public free(): void {\n OfflineTranslator._free(this.translatorId);\n }\n}\n"]}

package/dist/lib/gcode/translator.d.ts CHANGED Viewed

@@ -70,13 +70,21 @@ export declare class Translator {
      */
     getAxisPosition(axis: string, unit: Length | Angle | Native): number;
     /**
-     * Sets default position of translator's axis.
+     * Sets the home position of translator's axis.
      * This position is used by G28.
      * @param axis Letter of the axis.
-     * @param position The default position.
+     * @param position The home position.
      * @param unit Units of position.
      */
-    setAxisDefaultPosition(axis: string, position: number, unit: Length | Angle | Native): void;
+    setAxisHomePosition(axis: string, position: number, unit: Length | Angle | Native): void;
+    /**
+     * Sets the secondary home position of translator's axis.
+     * This position is used by G30.
+     * @param axis Letter of the axis.
+     * @param position The home position.
+     * @param unit Units of position.
+     */
+    setAxisSecondaryHomePosition(axis: string, position: number, unit: Length | Angle | Native): void;
     /**
      * Gets offset of an axis in a given coordinate system.
      * @param coordinateSystem Coordinate system (e.g. G54).

package/dist/lib/gcode/translator.js CHANGED Viewed

@@ -144,19 +144,34 @@ class Translator {
         return response.getValue();
     }
     /**
-     * Sets default position of translator's axis.
+     * Sets the home position of translator's axis.
      * This position is used by G28.
      * @param axis Letter of the axis.
-     * @param position The default position.
+     * @param position The home position.
      * @param unit Units of position.
      */
-    setAxisDefaultPosition(axis, position, unit) {
+    setAxisHomePosition(axis, position, unit) {
         const request = new gateway.TranslatorSetAxisPositionRequest();
         request.setTranslatorId(this.translatorId);
         request.setAxis(axis);
         request.setPosition(position);
         request.setUnit(unit);
-        gateway.callSync('gcode/set_axis_default', request);
+        gateway.callSync('gcode/set_axis_home', request);
+    }
+    /**
+     * Sets the secondary home position of translator's axis.
+     * This position is used by G30.
+     * @param axis Letter of the axis.
+     * @param position The home position.
+     * @param unit Units of position.
+     */
+    setAxisSecondaryHomePosition(axis, position, unit) {
+        const request = new gateway.TranslatorSetAxisPositionRequest();
+        request.setTranslatorId(this.translatorId);
+        request.setAxis(axis);
+        request.setPosition(position);
+        request.setUnit(unit);
+        gateway.callSync('gcode/set_axis_secondary_home', request);
     }
     /**
      * Gets offset of an axis in a given coordinate system.

package/dist/lib/gcode/translator.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { TranslateResult } from './translate_result';\nimport { TranslatorConfig } from './translator_config';\nimport { Stream } from '../ascii/stream';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\n/*\n Represents a live G-Code translator.\n * It allows to stream G-Code blocks to a connected device.\n * It requires a stream to be setup on the device.\n /\nexport class Translator {\n /\n The ID of the translator that serves to identify native resources.\n /\n public get translatorId(): number {\n return this._translatorId;\n }\n private _translatorId: number;\n\n /\n Current coordinate system.\n /\n public get coordinateSystem(): string {\n return this._getCurrentCoordinateSystem();\n }\n\n constructor(translatorId: number) {\n this._translatorId = translatorId;\n registerForFinalization(this, Translator._free.bind(null, translatorId));\n }\n\n /\n Sets up the translator on top of a provided stream.\n * @param stream The stream to setup the translator on.\n * The stream must be already setup in a live or a store mode.\n * @param config? Configuration of the translator.\n * @return New instance of translator.\n /\n public static async setup(\n stream: Stream,\n config?: TranslatorConfig\n ): Promise<Translator> {\n const request = new gateway.TranslatorCreateLiveRequest();\n request.setDevice(stream.device.deviceAddress);\n request.setInterfaceId(stream.device.connection.interfaceId);\n request.setStreamId(stream.streamId);\n request.setConfig(TranslatorConfig.toProtobuf(config));\n\n const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n 'gcode/create_live',\n request,\n gateway.TranslatorCreateResponse);\n return new Translator(response.getTranslatorId());\n }\n\n /\n Translates a single block (line) of G-code.\n * The commands are queued in the underlying stream to ensure smooth continues movement.\n * Returning of this method indicates that the commands are queued (not necessarily executed).\n * @param block Block (line) of G-code.\n * @return Result of translation containing the commands sent to the device.\n /\n public async translate(\n block: string\n ): Promise<TranslateResult> {\n const request = new gateway.TranslatorTranslateRequest();\n request.setTranslatorId(this.translatorId);\n request.setBlock(block);\n\n const response = await gateway.callAsync<gateway.TranslatorTranslateResponse>(\n 'gcode/translate_live',\n request,\n gateway.TranslatorTranslateResponse);\n return TranslateResult.fromProtobuf(response.toObject());\n }\n\n /\n Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.\n * The flush is also performed by M2 and M30 codes.\n * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.\n * @return The remaining stream commands.\n /\n public async flush(\n waitUntilIdle: boolean = true\n ): Promise<string[]> {\n const request = new gateway.TranslatorFlushLiveRequest();\n request.setTranslatorId(this.translatorId);\n request.setWaitUntilIdle(waitUntilIdle);\n\n const response = await gateway.callAsync<gateway.TranslatorFlushResponse>(\n 'gcode/flush_live',\n request,\n gateway.TranslatorFlushResponse);\n return response.getCommandsList();\n }\n\n /\n Resets position of the translator from the underlying stream.\n * Call this method after performing a movement outside of translator.\n /\n public async resetPosition(): Promise<void> {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n await gateway.callAsync('gcode/reset_position_from_stream', request);\n }\n\n /\n Sets the speed at which the device moves when traversing (G0).\n * @param traverseRate The traverse rate.\n * @param unit Units of the traverse rate.\n /\n public setTraverseRate(\n traverseRate: number,\n unit: Velocity \| AngularVelocity \| Native\n ): void {\n const request = new gateway.TranslatorSetTraverseRateRequest();\n request.setTranslatorId(this.translatorId);\n request.setTraverseRate(traverseRate);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_traverse_rate', request);\n }\n\n /\n Sets position of translator's axis.\n * Use this method to set position after performing movement outside of the translator.\n * This method does not cause any movement.\n * @param axis Letter of the axis.\n * @param position The position.\n * @param unit Units of position.\n /\n public setAxisPosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_position', request);\n }\n\n /\n Gets position of translator's axis.\n * This method does not query device but returns value from translator's state.\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Position of translator's axis.\n /\n public getAxisPosition(\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_position',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Sets default position of translator's axis.\n * This position is used by G28.\n * @param axis Letter of the axis.\n * @param position The default position.\n * @param unit Units of position.\n /\n public setAxisDefaultPosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_default', request);\n }\n\n /\n Gets offset of an axis in a given coordinate system.\n * @param coordinateSystem Coordinate system (e.g. G54).\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Offset in translator units of the axis.\n /\n public getAxisCoordinateSystemOffset(\n coordinateSystem: string,\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisOffsetRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoordinateSystem(coordinateSystem);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_offset',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Resets internal state after device rejected generated command.\n * Axis positions become uninitialized.\n /\n public resetAfterStreamError(): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n gateway.callSync('gcode/reset_after_stream_error', request);\n }\n\n /\n Allows to scale feed rate of the translated code by a coefficient.\n * @param coefficient Coefficient of the original feed rate.\n /\n public setFeedRateOverride(\n coefficient: number\n ): void {\n const request = new gateway.TranslatorSetFeedRateOverrideRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoefficient(coefficient);\n\n gateway.callSync('gcode/set_feed_rate_override', request);\n }\n\n /\n Releases native resources of a translator.\n * @param translatorId The ID of the translator.\n /\n private static _free(\n translatorId: number\n ): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(translatorId);\n\n gateway.callSync('gcode/free', request);\n }\n\n /\n Gets current coordinate system (e.g. G54).\n * @return Current coordinate system.\n /\n private _getCurrentCoordinateSystem(): string {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n const response = gateway.callSync<gateway.TranslatorGetCurrentCoordinateSystemResponse>(\n 'gcode/get_current_coordinate_system',\n request,\n gateway.TranslatorGetCurrentCoordinateSystemResponse);\n return response.getValue();\n }\n\n /\n Releases the native resources of the translator.\n * Should only be called if your environment does not support FinalizationRegistry.\n * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n */\n public free(): void {\n Translator._free(this.translatorId);\n }\n}\n"]}
1	+ 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { TranslateResult } from './translate_result';\nimport { TranslatorConfig } from './translator_config';\nimport { Stream } from '../ascii/stream';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\n/*\n Represents a live G-Code translator.\n * It allows to stream G-Code blocks to a connected device.\n * It requires a stream to be setup on the device.\n /\nexport class Translator {\n /\n The ID of the translator that serves to identify native resources.\n /\n public get translatorId(): number {\n return this._translatorId;\n }\n private _translatorId: number;\n\n /\n Current coordinate system.\n /\n public get coordinateSystem(): string {\n return this._getCurrentCoordinateSystem();\n }\n\n constructor(translatorId: number) {\n this._translatorId = translatorId;\n registerForFinalization(this, Translator._free.bind(null, translatorId));\n }\n\n /\n Sets up the translator on top of a provided stream.\n * @param stream The stream to setup the translator on.\n * The stream must be already setup in a live or a store mode.\n * @param config? Configuration of the translator.\n * @return New instance of translator.\n /\n public static async setup(\n stream: Stream,\n config?: TranslatorConfig\n ): Promise<Translator> {\n const request = new gateway.TranslatorCreateLiveRequest();\n request.setDevice(stream.device.deviceAddress);\n request.setInterfaceId(stream.device.connection.interfaceId);\n request.setStreamId(stream.streamId);\n request.setConfig(TranslatorConfig.toProtobuf(config));\n\n const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n 'gcode/create_live',\n request,\n gateway.TranslatorCreateResponse);\n return new Translator(response.getTranslatorId());\n }\n\n /\n Translates a single block (line) of G-code.\n * The commands are queued in the underlying stream to ensure smooth continues movement.\n * Returning of this method indicates that the commands are queued (not necessarily executed).\n * @param block Block (line) of G-code.\n * @return Result of translation containing the commands sent to the device.\n /\n public async translate(\n block: string\n ): Promise<TranslateResult> {\n const request = new gateway.TranslatorTranslateRequest();\n request.setTranslatorId(this.translatorId);\n request.setBlock(block);\n\n const response = await gateway.callAsync<gateway.TranslatorTranslateResponse>(\n 'gcode/translate_live',\n request,\n gateway.TranslatorTranslateResponse);\n return TranslateResult.fromProtobuf(response.toObject());\n }\n\n /\n Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.\n * The flush is also performed by M2 and M30 codes.\n * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.\n * @return The remaining stream commands.\n /\n public async flush(\n waitUntilIdle: boolean = true\n ): Promise<string[]> {\n const request = new gateway.TranslatorFlushLiveRequest();\n request.setTranslatorId(this.translatorId);\n request.setWaitUntilIdle(waitUntilIdle);\n\n const response = await gateway.callAsync<gateway.TranslatorFlushResponse>(\n 'gcode/flush_live',\n request,\n gateway.TranslatorFlushResponse);\n return response.getCommandsList();\n }\n\n /\n Resets position of the translator from the underlying stream.\n * Call this method after performing a movement outside of translator.\n /\n public async resetPosition(): Promise<void> {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n await gateway.callAsync('gcode/reset_position_from_stream', request);\n }\n\n /\n Sets the speed at which the device moves when traversing (G0).\n * @param traverseRate The traverse rate.\n * @param unit Units of the traverse rate.\n /\n public setTraverseRate(\n traverseRate: number,\n unit: Velocity \| AngularVelocity \| Native\n ): void {\n const request = new gateway.TranslatorSetTraverseRateRequest();\n request.setTranslatorId(this.translatorId);\n request.setTraverseRate(traverseRate);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_traverse_rate', request);\n }\n\n /\n Sets position of translator's axis.\n * Use this method to set position after performing movement outside of the translator.\n * This method does not cause any movement.\n * @param axis Letter of the axis.\n * @param position The position.\n * @param unit Units of position.\n /\n public setAxisPosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_position', request);\n }\n\n /\n Gets position of translator's axis.\n * This method does not query device but returns value from translator's state.\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Position of translator's axis.\n /\n public getAxisPosition(\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_position',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Sets the home position of translator's axis.\n * This position is used by G28.\n * @param axis Letter of the axis.\n * @param position The home position.\n * @param unit Units of position.\n /\n public setAxisHomePosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_home', request);\n }\n\n /\n Sets the secondary home position of translator's axis.\n * This position is used by G30.\n * @param axis Letter of the axis.\n * @param position The home position.\n * @param unit Units of position.\n /\n public setAxisSecondaryHomePosition(\n axis: string,\n position: number,\n unit: Length \| Angle \| Native\n ): void {\n const request = new gateway.TranslatorSetAxisPositionRequest();\n request.setTranslatorId(this.translatorId);\n request.setAxis(axis);\n request.setPosition(position);\n request.setUnit(unit);\n\n gateway.callSync('gcode/set_axis_secondary_home', request);\n }\n\n /\n Gets offset of an axis in a given coordinate system.\n * @param coordinateSystem Coordinate system (e.g. G54).\n * @param axis Letter of the axis.\n * @param unit Units of position.\n * @return Offset in translator units of the axis.\n /\n public getAxisCoordinateSystemOffset(\n coordinateSystem: string,\n axis: string,\n unit: Length \| Angle \| Native\n ): number {\n const request = new gateway.TranslatorGetAxisOffsetRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoordinateSystem(coordinateSystem);\n request.setAxis(axis);\n request.setUnit(unit);\n\n const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n 'gcode/get_axis_offset',\n request,\n gateway.TranslatorGetAxisPositionResponse);\n return response.getValue();\n }\n\n /\n Resets internal state after device rejected generated command.\n * Axis positions become uninitialized.\n /\n public resetAfterStreamError(): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n gateway.callSync('gcode/reset_after_stream_error', request);\n }\n\n /\n Allows to scale feed rate of the translated code by a coefficient.\n * @param coefficient Coefficient of the original feed rate.\n /\n public setFeedRateOverride(\n coefficient: number\n ): void {\n const request = new gateway.TranslatorSetFeedRateOverrideRequest();\n request.setTranslatorId(this.translatorId);\n request.setCoefficient(coefficient);\n\n gateway.callSync('gcode/set_feed_rate_override', request);\n }\n\n /\n Releases native resources of a translator.\n * @param translatorId The ID of the translator.\n /\n private static _free(\n translatorId: number\n ): void {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(translatorId);\n\n gateway.callSync('gcode/free', request);\n }\n\n /\n Gets current coordinate system (e.g. G54).\n * @return Current coordinate system.\n /\n private _getCurrentCoordinateSystem(): string {\n const request = new gateway.TranslatorEmptyRequest();\n request.setTranslatorId(this.translatorId);\n\n const response = gateway.callSync<gateway.TranslatorGetCurrentCoordinateSystemResponse>(\n 'gcode/get_current_coordinate_system',\n request,\n gateway.TranslatorGetCurrentCoordinateSystemResponse);\n return response.getValue();\n }\n\n /\n Releases the native resources of the translator.\n * Should only be called if your environment does not support FinalizationRegistry.\n * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n */\n public free(): void {\n Translator._free(this.translatorId);\n }\n}\n"]}

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@zaber/motion",
-  "version": "2.10.0",
+  "version": "2.10.1",
   "description": "Zaber Motion Library is a multi-platform library used to operate Zaber devices.",
   "keywords": [],
   "main": "dist/lib/index.js",