@zaber/motion 2.10.0 → 2.11.1

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

@@ -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

@@ -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

@@ -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"]}
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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/ascii/index.d.ts

@@ -27,3 +27,9 @@ export { StreamMode } from './stream_mode';
 export { StreamAxisType } from './stream_axis_type';
 export { StreamAxisDefinition } from './stream_axis_definition';
 export { Transport } from './transport';
+export { ServoTuner } from './servo_tuner';
+export { ServoTuningParamset } from './servo_tuning_paramset';
+export { ParamsetInfo } from './paramset_info';
+export { PidTuning } from './pid_tuning';
+export { ServoTuningParam } from './servo_tuning_param';
+export { SimpleTuningParam } from './simple_tuning_param';

package/dist/lib/ascii/index.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.Transport = exports.StreamAxisDefinition = exports.StreamAxisType = exports.StreamMode = exports.StreamBuffer = exports.Stream = exports.OscilloscopeCaptureProperties = exports.OscilloscopeData = exports.Oscilloscope = exports.LockstepAxes = exports.Lockstep = exports.Warnings = exports.WarningFlags = exports.UnknownResponseEvent = exports.SettingConstants = exports.Response = exports.MessageType = exports.DeviceIOInfo = exports.DeviceIO = exports.Device = exports.DeviceSettings = exports.DeviceIdentity = exports.Connection = exports.Axis = exports.AxisType = exports.AxisSettings = exports.AxisIdentity = exports.AllAxes = exports.AlertEvent = void 0;
+exports.SimpleTuningParam = exports.ServoTuningParam = exports.PidTuning = exports.ParamsetInfo = exports.ServoTuningParamset = exports.ServoTuner = exports.Transport = exports.StreamAxisDefinition = exports.StreamAxisType = exports.StreamMode = exports.StreamBuffer = exports.Stream = exports.OscilloscopeCaptureProperties = exports.OscilloscopeData = exports.Oscilloscope = exports.LockstepAxes = exports.Lockstep = exports.Warnings = exports.WarningFlags = exports.UnknownResponseEvent = exports.SettingConstants = exports.Response = exports.MessageType = exports.DeviceIOInfo = exports.DeviceIO = exports.Device = exports.DeviceSettings = exports.DeviceIdentity = exports.Connection = exports.Axis = exports.AxisType = exports.AxisSettings = exports.AxisIdentity = exports.AllAxes = exports.AlertEvent = void 0;
 var alert_event_1 = require("./alert_event");
 Object.defineProperty(exports, "AlertEvent", { enumerable: true, get: function () { return alert_event_1.AlertEvent; } });
 var all_axes_1 = require("./all_axes");
@@ -59,4 +59,16 @@ var stream_axis_definition_1 = require("./stream_axis_definition");
 Object.defineProperty(exports, "StreamAxisDefinition", { enumerable: true, get: function () { return stream_axis_definition_1.StreamAxisDefinition; } });
 var transport_1 = require("./transport");
 Object.defineProperty(exports, "Transport", { enumerable: true, get: function () { return transport_1.Transport; } });
+var servo_tuner_1 = require("./servo_tuner");
+Object.defineProperty(exports, "ServoTuner", { enumerable: true, get: function () { return servo_tuner_1.ServoTuner; } });
+var servo_tuning_paramset_1 = require("./servo_tuning_paramset");
+Object.defineProperty(exports, "ServoTuningParamset", { enumerable: true, get: function () { return servo_tuning_paramset_1.ServoTuningParamset; } });
+var paramset_info_1 = require("./paramset_info");
+Object.defineProperty(exports, "ParamsetInfo", { enumerable: true, get: function () { return paramset_info_1.ParamsetInfo; } });
+var pid_tuning_1 = require("./pid_tuning");
+Object.defineProperty(exports, "PidTuning", { enumerable: true, get: function () { return pid_tuning_1.PidTuning; } });
+var servo_tuning_param_1 = require("./servo_tuning_param");
+Object.defineProperty(exports, "ServoTuningParam", { enumerable: true, get: function () { return servo_tuning_param_1.ServoTuningParam; } });
+var simple_tuning_param_1 = require("./simple_tuning_param");
+Object.defineProperty(exports, "SimpleTuningParam", { enumerable: true, get: function () { return simple_tuning_param_1.SimpleTuningParam; } });
 //# sourceMappingURL=index.js.map

package/dist/lib/ascii/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../src/ascii/index.ts"],"names":[],"mappings":";;;AAAA,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uCAAqC;AAA5B,mGAAA,OAAO,OAAA;AAChB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,+BAA8B;AAArB,4FAAA,IAAI,OAAA;AACb,2CAA0C;AAAjC,wGAAA,UAAU,OAAA;AACnB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,mDAAgD;AAAvC,8GAAA,YAAY,OAAA;AACrB,+CAA6C;AAApC,2GAAA,WAAW,OAAA;AACpB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,+CAA8C;AAArC,4GAAA,YAAY,OAAA;AACrB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,qFAAkF;AAAzE,gJAAA,6BAA6B,OAAA;AACtC,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uDAAoD;AAA3C,kHAAA,cAAc,OAAA;AACvB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,yCAAwC;AAA/B,sGAAA,SAAS,OAAA","sourcesContent":["export { AlertEvent } from './alert_event';\nexport { AllAxes } from './all_axes';\nexport { AxisIdentity } from './axis_identity';\nexport { AxisSettings } from './axis_settings';\nexport { AxisType } from './axis_type';\nexport { Axis } from './axis';\nexport { Connection } from './connection';\nexport { DeviceIdentity } from './device_identity';\nexport { DeviceSettings } from './device_settings';\nexport { Device } from './device';\nexport { DeviceIO } from './device_io';\nexport { DeviceIOInfo } from './device_io_info';\nexport { MessageType } from './message_type';\nexport { Response } from './response';\nexport { SettingConstants } from './setting_constants';\nexport { UnknownResponseEvent } from './unknown_response_event';\nexport { WarningFlags } from './warning_flags';\nexport { Warnings } from './warnings';\nexport { Lockstep } from './lockstep';\nexport { LockstepAxes } from './lockstep_axes';\nexport { Oscilloscope } from './oscilloscope';\nexport { OscilloscopeData } from './oscilloscope_data';\nexport { OscilloscopeCaptureProperties } from './oscilloscope_capture_properties';\nexport { Stream } from './stream';\nexport { StreamBuffer } from './stream_buffer';\nexport { StreamMode } from './stream_mode';\nexport { StreamAxisType } from './stream_axis_type';\nexport { StreamAxisDefinition } from './stream_axis_definition';\nexport { Transport } from './transport';\n"]}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../src/ascii/index.ts"],"names":[],"mappings":";;;AAAA,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uCAAqC;AAA5B,mGAAA,OAAO,OAAA;AAChB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,+BAA8B;AAArB,4FAAA,IAAI,OAAA;AACb,2CAA0C;AAAjC,wGAAA,UAAU,OAAA;AACnB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,mDAAgD;AAAvC,8GAAA,YAAY,OAAA;AACrB,+CAA6C;AAApC,2GAAA,WAAW,OAAA;AACpB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,+CAA8C;AAArC,4GAAA,YAAY,OAAA;AACrB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,qFAAkF;AAAzE,gJAAA,6BAA6B,OAAA;AACtC,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uDAAoD;AAA3C,kHAAA,cAAc,OAAA;AACvB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,yCAAwC;AAA/B,sGAAA,SAAS,OAAA;AAClB,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,iEAA8D;AAArD,4HAAA,mBAAmB,OAAA;AAC5B,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,2CAAyC;AAAhC,uGAAA,SAAS,OAAA;AAClB,2DAAwD;AAA/C,sHAAA,gBAAgB,OAAA;AACzB,6DAA0D;AAAjD,wHAAA,iBAAiB,OAAA","sourcesContent":["export { AlertEvent } from './alert_event';\nexport { AllAxes } from './all_axes';\nexport { AxisIdentity } from './axis_identity';\nexport { AxisSettings } from './axis_settings';\nexport { AxisType } from './axis_type';\nexport { Axis } from './axis';\nexport { Connection } from './connection';\nexport { DeviceIdentity } from './device_identity';\nexport { DeviceSettings } from './device_settings';\nexport { Device } from './device';\nexport { DeviceIO } from './device_io';\nexport { DeviceIOInfo } from './device_io_info';\nexport { MessageType } from './message_type';\nexport { Response } from './response';\nexport { SettingConstants } from './setting_constants';\nexport { UnknownResponseEvent } from './unknown_response_event';\nexport { WarningFlags } from './warning_flags';\nexport { Warnings } from './warnings';\nexport { Lockstep } from './lockstep';\nexport { LockstepAxes } from './lockstep_axes';\nexport { Oscilloscope } from './oscilloscope';\nexport { OscilloscopeData } from './oscilloscope_data';\nexport { OscilloscopeCaptureProperties } from './oscilloscope_capture_properties';\nexport { Stream } from './stream';\nexport { StreamBuffer } from './stream_buffer';\nexport { StreamMode } from './stream_mode';\nexport { StreamAxisType } from './stream_axis_type';\nexport { StreamAxisDefinition } from './stream_axis_definition';\nexport { Transport } from './transport';\nexport { ServoTuner } from './servo_tuner';\nexport { ServoTuningParamset } from './servo_tuning_paramset';\nexport { ParamsetInfo } from './paramset_info';\nexport { PidTuning } from './pid_tuning';\nexport { ServoTuningParam } from './servo_tuning_param';\nexport { SimpleTuningParam } from './simple_tuning_param';\n"]}

package/dist/lib/ascii/paramset_info.d.ts

@@ -0,0 +1,17 @@
+import { ServoTuningParam } from './servo_tuning_param';
+/**
+ * The raw parameters currently saved to a given paramset.
+ */
+export interface ParamsetInfo {
+    /**
+     * The tuning algorithm used for this axis.
+     */
+    type: string;
+    /**
+     * The raw tuning parameters of this device.
+     */
+    params: ServoTuningParam[];
+}
+export declare namespace ParamsetInfo {
+    const __type = "ParamsetInfo";
+}

package/dist/lib/ascii/paramset_info.js

@@ -0,0 +1,19 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ParamsetInfo = void 0;
+const servo_tuning_param_1 = require("./servo_tuning_param");
+var ParamsetInfo;
+(function (ParamsetInfo) {
+    ParamsetInfo.__type = 'ParamsetInfo';
+    /** @internal */
+    function fromProtobuf(pbData) {
+        return {
+            type: pbData.type,
+            params: pbData.paramsList.map(item => servo_tuning_param_1.ServoTuningParam.fromProtobuf(item)),
+        };
+    }
+    ParamsetInfo.fromProtobuf = fromProtobuf;
+})(ParamsetInfo = exports.ParamsetInfo || (exports.ParamsetInfo = {}));
+//# sourceMappingURL=paramset_info.js.map

package/dist/lib/ascii/paramset_info.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"paramset_info.js","sourceRoot":"","sources":["../../../src/ascii/paramset_info.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAGtD,6DAAwD;AAkBxD,IAAiB,YAAY,CAU5B;AAVD,WAAiB,YAAY;IACd,mBAAM,GAAG,cAAc,CAAC;IAErC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAqC;QAChE,OAAO;YACL,IAAI,EAAE,MAAM,CAAC,IAAI;YACjB,MAAM,EAAE,MAAM,CAAC,UAAU,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,qCAAgB,CAAC,YAAY,CAAC,IAAI,CAAC,CAAC;SAC3E,CAAC;IACJ,CAAC;IALe,yBAAY,eAK3B,CAAA;AACH,CAAC,EAVgB,YAAY,GAAZ,oBAAY,KAAZ,oBAAY,QAU5B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { ServoTuningParam } from './servo_tuning_param';\n\n/**\n * The raw parameters currently saved to a given paramset.\n */\nexport interface ParamsetInfo {\n  /**\n   * The tuning algorithm used for this axis.\n   */\n  type: string;\n\n  /**\n   * The raw tuning parameters of this device.\n   */\n  params: ServoTuningParam[];\n\n}\n\nexport namespace ParamsetInfo {\n  export const __type = 'ParamsetInfo';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.ParamsetInfo.AsObject): ParamsetInfo {\n    return {\n      type: pbData.type,\n      params: pbData.paramsList.map(item => ServoTuningParam.fromProtobuf(item)),\n    };\n  }\n}\n"]}

package/dist/lib/ascii/pid_tuning.d.ts

@@ -0,0 +1,32 @@
+/**
+ * The tuning of this axis represented by PID parameters.
+ */
+export interface PidTuning {
+    /**
+     * The tuning algorithm used to tune this axis.
+     */
+    type: string;
+    /**
+     * The version of the tuning algorithm used to tune this axis.
+     */
+    version: number;
+    /**
+     * The positional tuning argument.
+     */
+    p: number;
+    /**
+     * The integral tuning argument.
+     */
+    i: number;
+    /**
+     * The derivative tuning argument.
+     */
+    d: number;
+    /**
+     * The frequency cutoff for the tuning.
+     */
+    fc: number;
+}
+export declare namespace PidTuning {
+    const __type = "PidTuning";
+}

package/dist/lib/ascii/pid_tuning.js

@@ -0,0 +1,22 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PidTuning = void 0;
+var PidTuning;
+(function (PidTuning) {
+    PidTuning.__type = 'PidTuning';
+    /** @internal */
+    function fromProtobuf(pbData) {
+        return {
+            type: pbData.type,
+            version: pbData.version,
+            p: pbData.p,
+            i: pbData.i,
+            d: pbData.d,
+            fc: pbData.fc,
+        };
+    }
+    PidTuning.fromProtobuf = fromProtobuf;
+})(PidTuning = exports.PidTuning || (exports.PidTuning = {}));
+//# sourceMappingURL=pid_tuning.js.map

package/dist/lib/ascii/pid_tuning.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"pid_tuning.js","sourceRoot":"","sources":["../../../src/ascii/pid_tuning.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAwCtD,IAAiB,SAAS,CAczB;AAdD,WAAiB,SAAS;IACX,gBAAM,GAAG,WAAW,CAAC;IAElC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAkC;QAC7D,OAAO;YACL,IAAI,EAAE,MAAM,CAAC,IAAI;YACjB,OAAO,EAAE,MAAM,CAAC,OAAO;YACvB,CAAC,EAAE,MAAM,CAAC,CAAC;YACX,CAAC,EAAE,MAAM,CAAC,CAAC;YACX,CAAC,EAAE,MAAM,CAAC,CAAC;YACX,EAAE,EAAE,MAAM,CAAC,EAAE;SACd,CAAC;IACJ,CAAC;IATe,sBAAY,eAS3B,CAAA;AACH,CAAC,EAdgB,SAAS,GAAT,iBAAS,KAAT,iBAAS,QAczB","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\n\n/**\n * The tuning of this axis represented by PID parameters.\n */\nexport interface PidTuning {\n  /**\n   * The tuning algorithm used to tune this axis.\n   */\n  type: string;\n\n  /**\n   * The version of the tuning algorithm used to tune this axis.\n   */\n  version: number;\n\n  /**\n   * The positional tuning argument.\n   */\n  p: number;\n\n  /**\n   * The integral tuning argument.\n   */\n  i: number;\n\n  /**\n   * The derivative tuning argument.\n   */\n  d: number;\n\n  /**\n   * The frequency cutoff for the tuning.\n   */\n  fc: number;\n\n}\n\nexport namespace PidTuning {\n  export const __type = 'PidTuning';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.PidTuning.AsObject): PidTuning {\n    return {\n      type: pbData.type,\n      version: pbData.version,\n      p: pbData.p,\n      i: pbData.i,\n      d: pbData.d,\n      fc: pbData.fc,\n    };\n  }\n}\n"]}

package/dist/lib/ascii/servo_tuner.d.ts

@@ -0,0 +1,77 @@
+import { Axis } from './axis';
+import { ServoTuningParamset } from './servo_tuning_paramset';
+import { ParamsetInfo } from './paramset_info';
+import { ServoTuningParam } from './servo_tuning_param';
+import { PidTuning } from './pid_tuning';
+import { SimpleTuningParam } from './simple_tuning_param';
+/**
+ * Exposes the capabilities to inspect and edit an axis' servo tuning.
+ */
+export declare class ServoTuner {
+    /**
+     * The axis that will be tuned.
+     */
+    get axis(): Axis;
+    private _axis;
+    constructor(axis: Axis);
+    /**
+     * Get the paramset that this device uses by default when it starts up.
+     * @return The paramset used at when the device restarts.
+     */
+    getStartupParamset(): Promise<ServoTuningParamset>;
+    /**
+     * Set the paramset that this device uses by default when it starts up.
+     * @param paramset The paramset to use at startup.
+     */
+    setStartupParamset(paramset: ServoTuningParamset): Promise<void>;
+    /**
+     * Load the values from one paramset into another.
+     * @param toParamset The paramset to load into.
+     * @param fromParamset The paramset to load from.
+     */
+    loadParamset(toParamset: ServoTuningParamset, fromParamset: ServoTuningParamset): Promise<void>;
+    /**
+     * Get the full set of tuning parameters used by the firmware driving this axis.
+     * @param paramset The paramset to get tuning for.
+     * @return The raw representation of the current tuning.
+     */
+    getTuning(paramset: ServoTuningParamset): Promise<ParamsetInfo>;
+    /**
+     * Set individual tuning parameters.
+     * Only use this method if you have a strong understanding of Zaber specific tuning parameters.
+     * @param paramset The paramset to set tuning of.
+     * @param tuningParams The params to set.
+     */
+    setTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[]): Promise<void>;
+    /**
+     * Sets the tuning of a paramset using the PID method.
+     * @param paramset The paramset to get tuning for.
+     * @param p The proportional gain. Must be in units of N/m.
+     * @param i The integral gain. Must be in units of N/m⋅s.
+     * @param d The derivative gain. Must be in units of N⋅s/m.
+     * @param fc The cutoff frequency. Must be in units of Hz.
+     * @return The PID representation of the current tuning after your changes have been applied.
+     */
+    setPidTuning(paramset: ServoTuningParamset, p: number, i: number, d: number, fc: number): Promise<PidTuning>;
+    /**
+     * Gets the PID representation of this paramset's servo tuning.
+     * @param paramset The paramset to get tuning for.
+     * @return The PID representation of the current tuning.
+     */
+    getPidTuning(paramset: ServoTuningParamset): Promise<PidTuning>;
+    /**
+     * Gets the parameters that are required to tune this device.
+     * @return The tuning parameters.
+     */
+    getSimpleTuningParamList(): Promise<SimpleTuningParam[]>;
+    /**
+     * Set the tuning of this device using the simple input method.
+     * @param paramset The paramset to set tuning for.
+     * @param tuningParams The params used to tune this device.
+     * To get what parameters are expected, call GetSimpleTuningParamList.
+     * All values must be between 0 and 1.
+     * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
+     * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     */
+    setSimpleTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], loadMass: number, carriageMass?: number): Promise<void>;
+}

package/dist/lib/ascii/servo_tuner.js

@@ -0,0 +1,180 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ServoTuner = void 0;
+const gateway = __importStar(require("../gateway"));
+const paramset_info_1 = require("./paramset_info");
+const servo_tuning_param_1 = require("./servo_tuning_param");
+const pid_tuning_1 = require("./pid_tuning");
+const simple_tuning_param_1 = require("./simple_tuning_param");
+/**
+ * Exposes the capabilities to inspect and edit an axis' servo tuning.
+ */
+class ServoTuner {
+    constructor(axis) {
+        this._axis = axis;
+    }
+    /**
+     * The axis that will be tuned.
+     */
+    get axis() {
+        return this._axis;
+    }
+    /**
+     * Get the paramset that this device uses by default when it starts up.
+     * @return The paramset used at when the device restarts.
+     */
+    async getStartupParamset() {
+        const request = new gateway.GetStartupParamset();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        const response = await gateway.callAsync('servotuning/get_startup_set', request, gateway.StartupParamset);
+        return response.getParamset();
+    }
+    /**
+     * Set the paramset that this device uses by default when it starts up.
+     * @param paramset The paramset to use at startup.
+     */
+    async setStartupParamset(paramset) {
+        const request = new gateway.ServoTuningRequest();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setParamset(paramset);
+        await gateway.callAsync('servotuning/set_startup_set', request);
+    }
+    /**
+     * Load the values from one paramset into another.
+     * @param toParamset The paramset to load into.
+     * @param fromParamset The paramset to load from.
+     */
+    async loadParamset(toParamset, fromParamset) {
+        const request = new gateway.LoadParamset();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setToParamset(toParamset);
+        request.setFromParamset(fromParamset);
+        await gateway.callAsync('servotuning/load_paramset', request);
+    }
+    /**
+     * Get the full set of tuning parameters used by the firmware driving this axis.
+     * @param paramset The paramset to get tuning for.
+     * @return The raw representation of the current tuning.
+     */
+    async getTuning(paramset) {
+        const request = new gateway.ServoTuningRequest();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setParamset(paramset);
+        const response = await gateway.callAsync('servotuning/get_raw', request, gateway.ParamsetInfo);
+        return paramset_info_1.ParamsetInfo.fromProtobuf(response.toObject());
+    }
+    /**
+     * Set individual tuning parameters.
+     * Only use this method if you have a strong understanding of Zaber specific tuning parameters.
+     * @param paramset The paramset to set tuning of.
+     * @param tuningParams The params to set.
+     */
+    async setTuning(paramset, tuningParams) {
+        const request = new gateway.SetServoTuningRequest();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setParamset(paramset);
+        request.setTuningParamsList(tuningParams.map(servo_tuning_param_1.ServoTuningParam.toProtobuf));
+        await gateway.callAsync('servotuning/set_raw', request);
+    }
+    /**
+     * Sets the tuning of a paramset using the PID method.
+     * @param paramset The paramset to get tuning for.
+     * @param p The proportional gain. Must be in units of N/m.
+     * @param i The integral gain. Must be in units of N/m⋅s.
+     * @param d The derivative gain. Must be in units of N⋅s/m.
+     * @param fc The cutoff frequency. Must be in units of Hz.
+     * @return The PID representation of the current tuning after your changes have been applied.
+     */
+    async setPidTuning(paramset, p, i, d, fc) {
+        const request = new gateway.SetServoTuningPIDRequest();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setParamset(paramset);
+        request.setP(p);
+        request.setI(i);
+        request.setD(d);
+        request.setFc(fc);
+        const response = await gateway.callAsync('servotuning/set_pid', request, gateway.PidTuning);
+        return pid_tuning_1.PidTuning.fromProtobuf(response.toObject());
+    }
+    /**
+     * Gets the PID representation of this paramset's servo tuning.
+     * @param paramset The paramset to get tuning for.
+     * @return The PID representation of the current tuning.
+     */
+    async getPidTuning(paramset) {
+        const request = new gateway.ServoTuningRequest();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setParamset(paramset);
+        const response = await gateway.callAsync('servotuning/get_pid', request, gateway.PidTuning);
+        return pid_tuning_1.PidTuning.fromProtobuf(response.toObject());
+    }
+    /**
+     * Gets the parameters that are required to tune this device.
+     * @return The tuning parameters.
+     */
+    async getSimpleTuningParamList() {
+        const request = new gateway.GetSimpleTuningParamListRequest();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        const response = await gateway.callAsync('servotuning/get_simple_params', request, gateway.SimpleTuningParamList);
+        return response.toObject().paramsList.map(simple_tuning_param_1.SimpleTuningParam.fromProtobuf);
+    }
+    /**
+     * Set the tuning of this device using the simple input method.
+     * @param paramset The paramset to set tuning for.
+     * @param tuningParams The params used to tune this device.
+     * To get what parameters are expected, call GetSimpleTuningParamList.
+     * All values must be between 0 and 1.
+     * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
+     * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     */
+    async setSimpleTuning(paramset, tuningParams, loadMass, carriageMass = -1.0) {
+        const request = new gateway.SetSimpleTuning();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setParamset(paramset);
+        request.setTuningParamsList(tuningParams.map(servo_tuning_param_1.ServoTuningParam.toProtobuf));
+        request.setLoadMass(loadMass);
+        request.setCarriageMass(carriageMass);
+        await gateway.callAsync('servotuning/set_simple_tuning', request);
+    }
+}
+exports.ServoTuner = ServoTuner;
+//# sourceMappingURL=servo_tuner.js.map