@zaber/motion 2.10.0 → 2.11.1

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

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

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

@@ -0,0 +1,16 @@
+/**
+ * A parameter used to establish the servo tuning of an axis.
+ */
+export interface ServoTuningParam {
+    /**
+     * The name of the parameter to set.
+     */
+    name: string;
+    /**
+     * The value to use for this parameter.
+     */
+    value: number;
+}
+export declare namespace ServoTuningParam {
+    const __type = "ServoTuningParam";
+}

package/dist/lib/ascii/servo_tuning_param.js

@@ -0,0 +1,49 @@
+"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.ServoTuningParam = void 0;
+const gateway = __importStar(require("../gateway"));
+var ServoTuningParam;
+(function (ServoTuningParam) {
+    ServoTuningParam.__type = 'ServoTuningParam';
+    /** @internal */
+    function fromProtobuf(pbData) {
+        return {
+            name: pbData.name,
+            value: pbData.value,
+        };
+    }
+    ServoTuningParam.fromProtobuf = fromProtobuf;
+    /** @internal */
+    function toProtobuf(source) {
+        const pbData = new gateway.ServoTuningParam();
+        if (source == null) {
+            return pbData;
+        }
+        pbData.setName(source.name);
+        pbData.setValue(source.value);
+        return pbData;
+    }
+    ServoTuningParam.toProtobuf = toProtobuf;
+})(ServoTuningParam = exports.ServoTuningParam || (exports.ServoTuningParam = {}));
+//# sourceMappingURL=servo_tuning_param.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"servo_tuning_param.js","sourceRoot":"","sources":["../../../src/ascii/servo_tuning_param.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AAkBtC,IAAiB,gBAAgB,CAqBhC;AArBD,WAAiB,gBAAgB;IAClB,uBAAM,GAAG,kBAAkB,CAAC;IAEzC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAyC;QACpE,OAAO;YACL,IAAI,EAAE,MAAM,CAAC,IAAI;YACjB,KAAK,EAAE,MAAM,CAAC,KAAK;SACpB,CAAC;IACJ,CAAC;IALe,6BAAY,eAK3B,CAAA;IACD,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAA2C;QACpE,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC9C,IAAI,MAAM,IAAI,IAAI,EAAE;YAClB,OAAO,MAAM,CAAC;SACf;QAED,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAC5B,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QAC9B,OAAO,MAAM,CAAC;IAChB,CAAC;IATe,2BAAU,aASzB,CAAA;AACH,CAAC,EArBgB,gBAAgB,GAAhB,wBAAgB,KAAhB,wBAAgB,QAqBhC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\n\n/**\n * A parameter used to establish the servo tuning of an axis.\n */\nexport interface ServoTuningParam {\n  /**\n   * The name of the parameter to set.\n   */\n  name: string;\n\n  /**\n   * The value to use for this parameter.\n   */\n  value: number;\n\n}\n\nexport namespace ServoTuningParam {\n  export const __type = 'ServoTuningParam';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.ServoTuningParam.AsObject): ServoTuningParam {\n    return {\n      name: pbData.name,\n      value: pbData.value,\n    };\n  }\n  /** @internal */\n  export function toProtobuf(source: ServoTuningParam | null | undefined): gateway.ServoTuningParam {\n    const pbData = new gateway.ServoTuningParam();\n    if (source == null) {\n      return pbData;\n    }\n\n    pbData.setName(source.name);\n    pbData.setValue(source.value);\n    return pbData;\n  }\n}\n"]}

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

@@ -0,0 +1,17 @@
+/**
+ * Servo Tuning Parameter Set to target.
+ */
+export declare enum ServoTuningParamset {
+    LIVE = 0,
+    P_1 = 1,
+    P_2 = 2,
+    P_3 = 3,
+    P_4 = 4,
+    P_5 = 5,
+    P_6 = 6,
+    P_7 = 7,
+    P_8 = 8,
+    P_9 = 9,
+    STAGING = 10,
+    DEFAULT = 11
+}

package/dist/lib/ascii/servo_tuning_paramset.js

@@ -0,0 +1,24 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ServoTuningParamset = void 0;
+/**
+ * Servo Tuning Parameter Set to target.
+ */
+var ServoTuningParamset;
+(function (ServoTuningParamset) {
+    ServoTuningParamset[ServoTuningParamset["LIVE"] = 0] = "LIVE";
+    ServoTuningParamset[ServoTuningParamset["P_1"] = 1] = "P_1";
+    ServoTuningParamset[ServoTuningParamset["P_2"] = 2] = "P_2";
+    ServoTuningParamset[ServoTuningParamset["P_3"] = 3] = "P_3";
+    ServoTuningParamset[ServoTuningParamset["P_4"] = 4] = "P_4";
+    ServoTuningParamset[ServoTuningParamset["P_5"] = 5] = "P_5";
+    ServoTuningParamset[ServoTuningParamset["P_6"] = 6] = "P_6";
+    ServoTuningParamset[ServoTuningParamset["P_7"] = 7] = "P_7";
+    ServoTuningParamset[ServoTuningParamset["P_8"] = 8] = "P_8";
+    ServoTuningParamset[ServoTuningParamset["P_9"] = 9] = "P_9";
+    ServoTuningParamset[ServoTuningParamset["STAGING"] = 10] = "STAGING";
+    ServoTuningParamset[ServoTuningParamset["DEFAULT"] = 11] = "DEFAULT";
+})(ServoTuningParamset = exports.ServoTuningParamset || (exports.ServoTuningParamset = {}));
+//# sourceMappingURL=servo_tuning_paramset.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"servo_tuning_paramset.js","sourceRoot":"","sources":["../../../src/ascii/servo_tuning_paramset.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD;;GAEG;AACH,IAAY,mBAaX;AAbD,WAAY,mBAAmB;IAC7B,6DAAQ,CAAA;IACR,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,2DAAO,CAAA;IACP,oEAAY,CAAA;IACZ,oEAAY,CAAA;AACd,CAAC,EAbW,mBAAmB,GAAnB,2BAAmB,KAAnB,2BAAmB,QAa9B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\n/**\n * Servo Tuning Parameter Set to target.\n */\nexport enum ServoTuningParamset {\n  LIVE = 0,\n  P_1 = 1,\n  P_2 = 2,\n  P_3 = 3,\n  P_4 = 4,\n  P_5 = 5,\n  P_6 = 6,\n  P_7 = 7,\n  P_8 = 8,\n  P_9 = 9,\n  STAGING = 10,\n  DEFAULT = 11,\n}\n"]}

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

@@ -0,0 +1,24 @@
+/**
+ * Information about a parameter used for the simple tuning method.
+ */
+export interface SimpleTuningParam {
+    /**
+     * The name of the parameter.
+     */
+    name: string;
+    /**
+     * The human readable description of the effect of a lower value on this setting.
+     */
+    minLabel: string;
+    /**
+     * The human readable description of the effect of a higher value on this setting.
+     */
+    maxLabel: string;
+    /**
+     * How this parameter will be parsed by the tuner.
+     */
+    dataType: string;
+}
+export declare namespace SimpleTuningParam {
+    const __type = "SimpleTuningParam";
+}

package/dist/lib/ascii/simple_tuning_param.js

@@ -0,0 +1,20 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.SimpleTuningParam = void 0;
+var SimpleTuningParam;
+(function (SimpleTuningParam) {
+    SimpleTuningParam.__type = 'SimpleTuningParam';
+    /** @internal */
+    function fromProtobuf(pbData) {
+        return {
+            name: pbData.name,
+            minLabel: pbData.minLabel,
+            maxLabel: pbData.maxLabel,
+            dataType: pbData.dataType,
+        };
+    }
+    SimpleTuningParam.fromProtobuf = fromProtobuf;
+})(SimpleTuningParam = exports.SimpleTuningParam || (exports.SimpleTuningParam = {}));
+//# sourceMappingURL=simple_tuning_param.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"simple_tuning_param.js","sourceRoot":"","sources":["../../../src/ascii/simple_tuning_param.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AA8BtD,IAAiB,iBAAiB,CAYjC;AAZD,WAAiB,iBAAiB;IACnB,wBAAM,GAAG,mBAAmB,CAAC;IAE1C,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAA0C;QACrE,OAAO;YACL,IAAI,EAAE,MAAM,CAAC,IAAI;YACjB,QAAQ,EAAE,MAAM,CAAC,QAAQ;YACzB,QAAQ,EAAE,MAAM,CAAC,QAAQ;YACzB,QAAQ,EAAE,MAAM,CAAC,QAAQ;SAC1B,CAAC;IACJ,CAAC;IAPe,8BAAY,eAO3B,CAAA;AACH,CAAC,EAZgB,iBAAiB,GAAjB,yBAAiB,KAAjB,yBAAiB,QAYjC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\n\n/**\n * Information about a parameter used for the simple tuning method.\n */\nexport interface SimpleTuningParam {\n  /**\n   * The name of the parameter.\n   */\n  name: string;\n\n  /**\n   * The human readable description of the effect of a lower value on this setting.\n   */\n  minLabel: string;\n\n  /**\n   * The human readable description of the effect of a higher value on this setting.\n   */\n  maxLabel: string;\n\n  /**\n   * How this parameter will be parsed by the tuner.\n   */\n  dataType: string;\n\n}\n\nexport namespace SimpleTuningParam {\n  export const __type = 'SimpleTuningParam';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.SimpleTuningParam.AsObject): SimpleTuningParam {\n    return {\n      name: pbData.name,\n      minLabel: pbData.minLabel,\n      maxLabel: pbData.maxLabel,\n      dataType: pbData.dataType,\n    };\n  }\n}\n"]}

package/dist/lib/ascii_ns.d.ts

@@ -58,4 +58,16 @@ export declare namespace ascii {
     type StreamAxisDefinition = asciiImport.StreamAxisDefinition;
     const Transport: typeof asciiImport.Transport;
     type Transport = asciiImport.Transport;
+    const ServoTuner: typeof asciiImport.ServoTuner;
+    type ServoTuner = asciiImport.ServoTuner;
+    const ServoTuningParamset: typeof asciiImport.ServoTuningParamset;
+    type ServoTuningParamset = asciiImport.ServoTuningParamset;
+    const ParamsetInfo: typeof asciiImport.ParamsetInfo;
+    type ParamsetInfo = asciiImport.ParamsetInfo;
+    const PidTuning: typeof asciiImport.PidTuning;
+    type PidTuning = asciiImport.PidTuning;
+    const ServoTuningParam: typeof asciiImport.ServoTuningParam;
+    type ServoTuningParam = asciiImport.ServoTuningParam;
+    const SimpleTuningParam: typeof asciiImport.SimpleTuningParam;
+    type SimpleTuningParam = asciiImport.SimpleTuningParam;
 }

package/dist/lib/ascii_ns.js

@@ -52,5 +52,11 @@ var ascii;
     ascii.StreamAxisType = asciiImport.StreamAxisType;
     ascii.StreamAxisDefinition = asciiImport.StreamAxisDefinition;
     ascii.Transport = asciiImport.Transport;
+    ascii.ServoTuner = asciiImport.ServoTuner;
+    ascii.ServoTuningParamset = asciiImport.ServoTuningParamset;
+    ascii.ParamsetInfo = asciiImport.ParamsetInfo;
+    ascii.PidTuning = asciiImport.PidTuning;
+    ascii.ServoTuningParam = asciiImport.ServoTuningParam;
+    ascii.SimpleTuningParam = asciiImport.SimpleTuningParam;
 })(ascii = exports.ascii || (exports.ascii = {}));
 //# sourceMappingURL=ascii_ns.js.map

package/dist/lib/ascii_ns.js.map

@@ -1 +1 @@
-{"version":3,"file":"ascii_ns.js","sourceRoot":"","sources":["../../src/ascii_ns.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;AAAA,qDAAuC;AAEvC,IAAiB,KAAK,CA2DrB;AA3DD,WAAiB,KAAK;IACP,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,aAAO,GAAG,WAAW,CAAC,OAAO,CAAC;IAE9B,UAAI,GAAG,WAAW,CAAC,IAAI,CAAC;IAExB,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,YAAM,GAAG,WAAW,CAAC,MAAM,CAAC;IAE5B,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;IAE5C,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;IAE5C,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,mCAA6B,GAAG,WAAW,CAAC,6BAA6B,CAAC;IAE1E,iBAAW,GAAG,WAAW,CAAC,WAAW,CAAC;IAEtC,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,0BAAoB,GAAG,WAAW,CAAC,oBAAoB,CAAC;IAExD,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,YAAM,GAAG,WAAW,CAAC,MAAM,CAAC;IAE5B,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;IAE5C,0BAAoB,GAAG,WAAW,CAAC,oBAAoB,CAAC;IAExD,eAAS,GAAG,WAAW,CAAC,SAAS,CAAC;AAEjD,CAAC,EA3DgB,KAAK,GAAL,aAAK,KAAL,aAAK,QA2DrB","sourcesContent":["import * as asciiImport from './ascii';\n\nexport namespace ascii {\n  export const AlertEvent = asciiImport.AlertEvent;\n  export type AlertEvent = asciiImport.AlertEvent;\n  export const AllAxes = asciiImport.AllAxes;\n  export type AllAxes = asciiImport.AllAxes;\n  export const Axis = asciiImport.Axis;\n  export type Axis = asciiImport.Axis;\n  export const AxisIdentity = asciiImport.AxisIdentity;\n  export type AxisIdentity = asciiImport.AxisIdentity;\n  export const AxisSettings = asciiImport.AxisSettings;\n  export type AxisSettings = asciiImport.AxisSettings;\n  export const AxisType = asciiImport.AxisType;\n  export type AxisType = asciiImport.AxisType;\n  export const Connection = asciiImport.Connection;\n  export type Connection = asciiImport.Connection;\n  export const Device = asciiImport.Device;\n  export type Device = asciiImport.Device;\n  export const DeviceIO = asciiImport.DeviceIO;\n  export type DeviceIO = asciiImport.DeviceIO;\n  export const DeviceIOInfo = asciiImport.DeviceIOInfo;\n  export type DeviceIOInfo = asciiImport.DeviceIOInfo;\n  export const DeviceIdentity = asciiImport.DeviceIdentity;\n  export type DeviceIdentity = asciiImport.DeviceIdentity;\n  export const DeviceSettings = asciiImport.DeviceSettings;\n  export type DeviceSettings = asciiImport.DeviceSettings;\n  export const Lockstep = asciiImport.Lockstep;\n  export type Lockstep = asciiImport.Lockstep;\n  export const LockstepAxes = asciiImport.LockstepAxes;\n  export type LockstepAxes = asciiImport.LockstepAxes;\n  export const Oscilloscope = asciiImport.Oscilloscope;\n  export type Oscilloscope = asciiImport.Oscilloscope;\n  export const OscilloscopeData = asciiImport.OscilloscopeData;\n  export type OscilloscopeData = asciiImport.OscilloscopeData;\n  export const OscilloscopeCaptureProperties = asciiImport.OscilloscopeCaptureProperties;\n  export type OscilloscopeCaptureProperties = asciiImport.OscilloscopeCaptureProperties;\n  export const MessageType = asciiImport.MessageType;\n  export type MessageType = asciiImport.MessageType;\n  export const Response = asciiImport.Response;\n  export type Response = asciiImport.Response;\n  export const SettingConstants = asciiImport.SettingConstants;\n  export type SettingConstants = asciiImport.SettingConstants;\n  export const UnknownResponseEvent = asciiImport.UnknownResponseEvent;\n  export type UnknownResponseEvent = asciiImport.UnknownResponseEvent;\n  export const Warnings = asciiImport.Warnings;\n  export type Warnings = asciiImport.Warnings;\n  export const WarningFlags = asciiImport.WarningFlags;\n  export type WarningFlags = asciiImport.WarningFlags;\n  export const Stream = asciiImport.Stream;\n  export type Stream = asciiImport.Stream;\n  export const StreamBuffer = asciiImport.StreamBuffer;\n  export type StreamBuffer = asciiImport.StreamBuffer;\n  export const StreamMode = asciiImport.StreamMode;\n  export type StreamMode = asciiImport.StreamMode;\n  export const StreamAxisType = asciiImport.StreamAxisType;\n  export type StreamAxisType = asciiImport.StreamAxisType;\n  export const StreamAxisDefinition = asciiImport.StreamAxisDefinition;\n  export type StreamAxisDefinition = asciiImport.StreamAxisDefinition;\n  export const Transport = asciiImport.Transport;\n  export type Transport = asciiImport.Transport;\n}\n"]}
+{"version":3,"file":"ascii_ns.js","sourceRoot":"","sources":["../../src/ascii_ns.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;AAAA,qDAAuC;AAEvC,IAAiB,KAAK,CAuErB;AAvED,WAAiB,KAAK;IACP,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,aAAO,GAAG,WAAW,CAAC,OAAO,CAAC;IAE9B,UAAI,GAAG,WAAW,CAAC,IAAI,CAAC;IAExB,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,YAAM,GAAG,WAAW,CAAC,MAAM,CAAC;IAE5B,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;IAE5C,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;IAE5C,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,mCAA6B,GAAG,WAAW,CAAC,6BAA6B,CAAC;IAE1E,iBAAW,GAAG,WAAW,CAAC,WAAW,CAAC;IAEtC,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,0BAAoB,GAAG,WAAW,CAAC,oBAAoB,CAAC;IAExD,cAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC;IAEhC,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,YAAM,GAAG,WAAW,CAAC,MAAM,CAAC;IAE5B,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;IAE5C,0BAAoB,GAAG,WAAW,CAAC,oBAAoB,CAAC;IAExD,eAAS,GAAG,WAAW,CAAC,SAAS,CAAC;IAElC,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,yBAAmB,GAAG,WAAW,CAAC,mBAAmB,CAAC;IAEtD,kBAAY,GAAG,WAAW,CAAC,YAAY,CAAC;IAExC,eAAS,GAAG,WAAW,CAAC,SAAS,CAAC;IAElC,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,uBAAiB,GAAG,WAAW,CAAC,iBAAiB,CAAC;AAEjE,CAAC,EAvEgB,KAAK,GAAL,aAAK,KAAL,aAAK,QAuErB","sourcesContent":["import * as asciiImport from './ascii';\n\nexport namespace ascii {\n  export const AlertEvent = asciiImport.AlertEvent;\n  export type AlertEvent = asciiImport.AlertEvent;\n  export const AllAxes = asciiImport.AllAxes;\n  export type AllAxes = asciiImport.AllAxes;\n  export const Axis = asciiImport.Axis;\n  export type Axis = asciiImport.Axis;\n  export const AxisIdentity = asciiImport.AxisIdentity;\n  export type AxisIdentity = asciiImport.AxisIdentity;\n  export const AxisSettings = asciiImport.AxisSettings;\n  export type AxisSettings = asciiImport.AxisSettings;\n  export const AxisType = asciiImport.AxisType;\n  export type AxisType = asciiImport.AxisType;\n  export const Connection = asciiImport.Connection;\n  export type Connection = asciiImport.Connection;\n  export const Device = asciiImport.Device;\n  export type Device = asciiImport.Device;\n  export const DeviceIO = asciiImport.DeviceIO;\n  export type DeviceIO = asciiImport.DeviceIO;\n  export const DeviceIOInfo = asciiImport.DeviceIOInfo;\n  export type DeviceIOInfo = asciiImport.DeviceIOInfo;\n  export const DeviceIdentity = asciiImport.DeviceIdentity;\n  export type DeviceIdentity = asciiImport.DeviceIdentity;\n  export const DeviceSettings = asciiImport.DeviceSettings;\n  export type DeviceSettings = asciiImport.DeviceSettings;\n  export const Lockstep = asciiImport.Lockstep;\n  export type Lockstep = asciiImport.Lockstep;\n  export const LockstepAxes = asciiImport.LockstepAxes;\n  export type LockstepAxes = asciiImport.LockstepAxes;\n  export const Oscilloscope = asciiImport.Oscilloscope;\n  export type Oscilloscope = asciiImport.Oscilloscope;\n  export const OscilloscopeData = asciiImport.OscilloscopeData;\n  export type OscilloscopeData = asciiImport.OscilloscopeData;\n  export const OscilloscopeCaptureProperties = asciiImport.OscilloscopeCaptureProperties;\n  export type OscilloscopeCaptureProperties = asciiImport.OscilloscopeCaptureProperties;\n  export const MessageType = asciiImport.MessageType;\n  export type MessageType = asciiImport.MessageType;\n  export const Response = asciiImport.Response;\n  export type Response = asciiImport.Response;\n  export const SettingConstants = asciiImport.SettingConstants;\n  export type SettingConstants = asciiImport.SettingConstants;\n  export const UnknownResponseEvent = asciiImport.UnknownResponseEvent;\n  export type UnknownResponseEvent = asciiImport.UnknownResponseEvent;\n  export const Warnings = asciiImport.Warnings;\n  export type Warnings = asciiImport.Warnings;\n  export const WarningFlags = asciiImport.WarningFlags;\n  export type WarningFlags = asciiImport.WarningFlags;\n  export const Stream = asciiImport.Stream;\n  export type Stream = asciiImport.Stream;\n  export const StreamBuffer = asciiImport.StreamBuffer;\n  export type StreamBuffer = asciiImport.StreamBuffer;\n  export const StreamMode = asciiImport.StreamMode;\n  export type StreamMode = asciiImport.StreamMode;\n  export const StreamAxisType = asciiImport.StreamAxisType;\n  export type StreamAxisType = asciiImport.StreamAxisType;\n  export const StreamAxisDefinition = asciiImport.StreamAxisDefinition;\n  export type StreamAxisDefinition = asciiImport.StreamAxisDefinition;\n  export const Transport = asciiImport.Transport;\n  export type Transport = asciiImport.Transport;\n  export const ServoTuner = asciiImport.ServoTuner;\n  export type ServoTuner = asciiImport.ServoTuner;\n  export const ServoTuningParamset = asciiImport.ServoTuningParamset;\n  export type ServoTuningParamset = asciiImport.ServoTuningParamset;\n  export const ParamsetInfo = asciiImport.ParamsetInfo;\n  export type ParamsetInfo = asciiImport.ParamsetInfo;\n  export const PidTuning = asciiImport.PidTuning;\n  export type PidTuning = asciiImport.PidTuning;\n  export const ServoTuningParam = asciiImport.ServoTuningParam;\n  export type ServoTuningParam = asciiImport.ServoTuningParam;\n  export const SimpleTuningParam = asciiImport.SimpleTuningParam;\n  export type SimpleTuningParam = asciiImport.SimpleTuningParam;\n}\n"]}

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

@@ -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

@@ -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

@@ -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"]}
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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

@@ -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

@@ -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

@@ -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"]}
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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"]}