@zaber/motion 2.13.0 → 2.13.1

package/dist/lib/binary/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 { Device } from './device';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { ReplyOnlyEvent } from './reply_only_event';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection) using the legacy Binary protocol.\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 a reply-only command such as a move tracking message is received from a device.\n   */\n  public replyOnly!: Observable<ReplyOnlyEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 9600;\n\n  /**\n   * The interface ID identifies thisConnection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port.\n   * @param portName Name of the port to open.\n   * @param baudRate Optional baud rate (defaults to 9600).\n   * @param useMessageIds Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @return An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    baudRate: number = Connection.DEFAULT_BAUD_RATE,\n    useMessageIds: boolean = false\n  ): Promise<Connection> {\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/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 Optional port number (defaults to 8657).\n   * @param useMessageIds Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @return An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number = 0,\n    useMessageIds: boolean = false\n  ): Promise<Connection> {\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.TCP);\n    request.setHostName(hostName);\n    request.setPort(port);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\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   * Sends a generic Binary command to this connection.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    device: number,\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessage>(\n      'binary/interface/generic_command',\n      request,\n      gateway.BinaryMessage);\n    return Message.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic Binary command to this connection without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    device: number,\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection and expects responses from one or more devices.\n   * Responses are returned in order of arrival.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when any device rejects the command.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message[]> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessageCollection>(\n      'binary/interface/generic_command_multi_response',\n      request,\n      gateway.BinaryMessageCollection);\n    return response.toObject().messagesList.map(resp => Message.fromProtobuf(resp));\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, you must identify devices again.\n   * @return Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(): Promise<number> {\n    const request = new gateway.BinaryDeviceRenumberRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceRenumberResponse>(\n      'binary/device/renumber',\n      request,\n      gateway.BinaryDeviceRenumberResponse);\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.BinaryDeviceDetectRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIdentifyDevices(identifyDevices);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceDetectResponse>(\n      'binary/device/detect',\n      request,\n      gateway.BinaryDeviceDetectResponse);\n    return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\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   * 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  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.UnknownBinaryResponseEvent.AsObject>('binary/interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => UnknownResponseEvent.fromProtobuf(event))\n    );\n\n    this.replyOnly = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.BinaryReplyOnlyEvent.AsObject>('binary/interface/reply_only'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => ReplyOnlyEvent.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 { Device } from './device';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { ReplyOnlyEvent } from './reply_only_event';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection) using the legacy Binary protocol.\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 a reply-only command such as a move tracking message is received from a device.\n   */\n  public replyOnly!: Observable<ReplyOnlyEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 9600;\n\n  /**\n   * The interface ID identifies thisConnection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port.\n   * @param portName Name of the port to open.\n   * @param baudRate Optional baud rate (defaults to 9600).\n   * @param useMessageIds Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @return An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    baudRate: number = Connection.DEFAULT_BAUD_RATE,\n    useMessageIds: boolean = false\n  ): Promise<Connection> {\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/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 Optional port number (defaults to 8657).\n   * @param useMessageIds Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @return An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number = 0,\n    useMessageIds: boolean = false\n  ): Promise<Connection> {\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.TCP);\n    request.setHostName(hostName);\n    request.setPort(port);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Close the connection.\n   */\n  public async close(): Promise<void> {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    await gateway.callAsync('interface/close', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    device: number,\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessage>(\n      'binary/interface/generic_command',\n      request,\n      gateway.BinaryMessage);\n    return Message.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic Binary command to this connection without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    device: number,\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection and expects responses from one or more devices.\n   * Responses are returned in order of arrival.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when any device rejects the command.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message[]> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessageCollection>(\n      'binary/interface/generic_command_multi_response',\n      request,\n      gateway.BinaryMessageCollection);\n    return response.toObject().messagesList.map(resp => Message.fromProtobuf(resp));\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, you must identify devices again.\n   * @return Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(): Promise<number> {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'binary/device/renumber',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\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.BinaryDeviceDetectRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIdentifyDevices(identifyDevices);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceDetectResponse>(\n      'binary/device/detect',\n      request,\n      gateway.BinaryDeviceDetectResponse);\n    return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\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   * 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.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'interface/to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\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.UnknownBinaryResponseEvent.AsObject>('binary/interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => UnknownResponseEvent.fromProtobuf(event))\n    );\n\n    this.replyOnly = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.BinaryReplyOnlyEvent.AsObject>('binary/interface/reply_only'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => ReplyOnlyEvent.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/binary/device.js

@@ -170,8 +170,8 @@ class Device {
         request.setFromUnit(fromUnit);
         request.setToUnit(toUnit);
         request.setTimeout(timeout);
-        const response = await gateway.callAsync('binary/device/generic_command_with_units', request, gateway.BinaryGenericWithUnitsResponse);
-        return response.getData();
+        const response = await gateway.callAsync('binary/device/generic_command_with_units', request, gateway.DoubleResponse);
+        return response.getValue();
     }
     /**
      * Homes device. Device returns to its homing position.
@@ -185,8 +185,8 @@ class Device {
         request.setDevice(this.deviceAddress);
         request.setUnit(unit);
         request.setTimeout(timeout);
-        const response = await gateway.callAsync('binary/device/home', request, gateway.BinaryDeviceMovementResponse);
-        return response.getData();
+        const response = await gateway.callAsync('binary/device/home', request, gateway.DoubleResponse);
+        return response.getValue();
     }
     /**
      * Stops ongoing device movement. Decelerates until zero speed.
@@ -200,8 +200,8 @@ class Device {
         request.setDevice(this.deviceAddress);
         request.setUnit(unit);
         request.setTimeout(timeout);
-        const response = await gateway.callAsync('binary/device/stop', request, gateway.BinaryDeviceMovementResponse);
-        return response.getData();
+        const response = await gateway.callAsync('binary/device/stop', request, gateway.DoubleResponse);
+        return response.getValue();
     }
     /**
      * Move device to absolute position.
@@ -218,8 +218,8 @@ class Device {
         request.setArg(position);
         request.setUnit(unit);
         request.setTimeout(timeout);
-        const response = await gateway.callAsync('binary/device/move', request, gateway.BinaryDeviceMovementResponse);
-        return response.getData();
+        const response = await gateway.callAsync('binary/device/move', request, gateway.DoubleResponse);
+        return response.getValue();
     }
     /**
      * Move device to position relative to current position.
@@ -236,8 +236,8 @@ class Device {
         request.setArg(position);
         request.setUnit(unit);
         request.setTimeout(timeout);
-        const response = await gateway.callAsync('binary/device/move', request, gateway.BinaryDeviceMovementResponse);
-        return response.getData();
+        const response = await gateway.callAsync('binary/device/move', request, gateway.DoubleResponse);
+        return response.getValue();
     }
     /**
      * Begins to move device at specified speed.
@@ -252,14 +252,14 @@ class Device {
         request.setType(gateway.BinaryDeviceMoveRequest.MoveType.VEL);
         request.setArg(velocity);
         request.setUnit(unit);
-        const response = await gateway.callAsync('binary/device/move', request, gateway.BinaryDeviceMovementResponse);
-        return response.getData();
+        const response = await gateway.callAsync('binary/device/move', request, gateway.DoubleResponse);
+        return response.getValue();
     }
     /**
      * Waits until device stops moving.
      */
     async waitUntilIdle() {
-        const request = new gateway.BinaryDeviceWaitUntilIdleRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
         await gateway.callAsync('binary/device/wait_until_idle', request);
@@ -269,11 +269,11 @@ class Device {
      * @return True if the device is currently executing a motion command.
      */
     async isBusy() {
-        const request = new gateway.BinaryDeviceIsBusyRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
-        const response = await gateway.callAsync('binary/device/is_busy', request, gateway.BinaryDeviceIsBusyResponse);
-        return response.getIsBusy();
+        const response = await gateway.callAsync('binary/device/is_busy', request, gateway.BoolResponse);
+        return response.getValue();
     }
     /**
      * Queries the device and the database, gathering information about the product.
@@ -282,7 +282,7 @@ class Device {
      * @return Device identification data.
      */
     async identify() {
-        const request = new gateway.BinaryDeviceIdentifyRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
         const response = await gateway.callAsync('binary/device/identify', request, gateway.BinaryDeviceIdentity);
@@ -294,7 +294,7 @@ class Device {
      * It can later be unparked and moved without first having to home it.
      */
     async park() {
-        const request = new gateway.BinaryDeviceParkRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
         await gateway.callAsync('binary/device/park', request);
@@ -303,7 +303,7 @@ class Device {
      * Unparks axis. Axis will now be able to move.
      */
     async unpark() {
-        const request = new gateway.BinaryDeviceParkRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
         await gateway.callAsync('binary/device/unpark', request);
@@ -313,11 +313,11 @@ class Device {
      * @return True if the axis is currently parked. False otherwise.
      */
     async isParked() {
-        const request = new gateway.BinaryDeviceParkRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
-        const response = await gateway.callAsync('binary/device/is_parked', request, gateway.BinaryDeviceParkResponse);
-        return response.getIsParked();
+        const response = await gateway.callAsync('binary/device/is_parked', request, gateway.BoolResponse);
+        return response.getValue();
     }
     /**
      * Returns current device position.
@@ -330,7 +330,7 @@ class Device {
         request.setDevice(this.deviceAddress);
         request.setSetting(binary_settings_1.BinarySettings.CURRENT_POSITION);
         request.setUnit(unit);
-        const response = await gateway.callAsync('binary/device/get_setting', request, gateway.BinaryDeviceGetSettingResponse);
+        const response = await gateway.callAsync('binary/device/get_setting', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -338,18 +338,18 @@ class Device {
      * @return A string that represents the device.
      */
     toString() {
-        const request = new gateway.ToStringRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
-        const response = gateway.callSync('binary/device/device_to_string', request, gateway.ToStringResponse);
-        return response.getToStr();
+        const response = gateway.callSync('binary/device/device_to_string', request, gateway.StringResponse);
+        return response.getValue();
     }
     /**
      * Returns identity.
      * @return Device identity.
      */
     _retrieveIdentity() {
-        const request = new gateway.BinaryDeviceGetIdentityRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
         const response = gateway.callSync('binary/device/get_identity', request, gateway.BinaryDeviceGetIdentityResponse);
@@ -360,11 +360,11 @@ class Device {
      * @return True if the device has already been identified. False otherwise.
      */
     _retrieveIsIdentified() {
-        const request = new gateway.BinaryDeviceGetIsIdentifiedRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
-        const response = gateway.callSync('binary/device/get_is_identified', request, gateway.BinaryDeviceGetIsIdentifiedResponse);
-        return response.getIsIdentified();
+        const response = gateway.callSync('binary/device/get_is_identified', request, gateway.BoolResponse);
+        return response.getValue();
     }
 }
 exports.Device = Device;

package/dist/lib/binary/device.js.map

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { BinarySettings } from './binary_settings';\nimport { Connection } from './connection';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceSettings } from './device_settings';\nimport * as gateway from '../gateway';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Units } from '../units';\nimport { DeviceType } from './device_type';\nimport { FirmwareVersion } from '../firmware_version';\n\n/**\n * Represents a device using the binary protocol.\n */\nexport class Device {\n  /**\n   * Default timeout for move commands in seconds.\n   */\n  public static readonly DEFAULT_MOVEMENT_TIMEOUT: number = 60;\n\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * Indicates whether the device is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral hardware.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Determines the type of an device and units it accepts.\n   */\n  public get deviceType(): DeviceType {\n    return this.identity.deviceType;\n  }\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._settings = new DeviceSettings(this);\n    this._deviceAddress = deviceAddress;\n  }\n\n  /**\n   * Sends a generic Binary command to this device.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessage>(\n      'binary/interface/generic_command',\n      request,\n      gateway.BinaryMessage);\n    return Message.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic Binary command to this device without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command as any);\n    request.setData(data);\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this device with unit conversions for both sent data and retrieved data.\n   * @param command Command to send.\n   * @param data Data argument to the command. Set to zero if command does not require argument.\n   * @param fromUnit Unit to convert sent data from.\n   * @param toUnit Unit to convert retrieved data to.\n   * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @return Data that has been converted to the provided unit.\n   */\n  public async genericCommandWithUnits(\n    command: CommandCode,\n    data: number,\n    fromUnit: Units = Units.NATIVE,\n    toUnit: Units = Units.NATIVE,\n    timeout: number = 0.0\n  ): Promise<number> {\n    const request = new gateway.BinaryGenericWithUnitsRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setFromUnit(fromUnit);\n    request.setToUnit(toUnit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.BinaryGenericWithUnitsResponse>(\n      'binary/device/generic_command_with_units',\n      request,\n      gateway.BinaryGenericWithUnitsResponse);\n    return response.getData();\n  }\n\n  /**\n   * Homes device. Device returns to its homing position.\n   * @param unit Unit to convert returned position to.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async home(\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceHomeRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceMovementResponse>(\n      'binary/device/home',\n      request,\n      gateway.BinaryDeviceMovementResponse);\n    return response.getData();\n  }\n\n  /**\n   * Stops ongoing device movement. Decelerates until zero speed.\n   * @param unit Unit to convert returned position to.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async stop(\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceStopRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceMovementResponse>(\n      'binary/device/stop',\n      request,\n      gateway.BinaryDeviceMovementResponse);\n    return response.getData();\n  }\n\n  /**\n   * Move device to absolute position.\n   * @param position Absolute position.\n   * @param unit Unit for the provided position as well as position returned by the device.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceMoveRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setType(gateway.BinaryDeviceMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceMovementResponse>(\n      'binary/device/move',\n      request,\n      gateway.BinaryDeviceMovementResponse);\n    return response.getData();\n  }\n\n  /**\n   * Move device to position relative to current position.\n   * @param position Relative position.\n   * @param unit Unit for the provided position as well as position returned by the device.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceMoveRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setType(gateway.BinaryDeviceMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceMovementResponse>(\n      'binary/device/move',\n      request,\n      gateway.BinaryDeviceMovementResponse);\n    return response.getData();\n  }\n\n  /**\n   * Begins to move device at specified speed.\n   * @param velocity Movement velocity.\n   * @param unit Unit to convert returned velocity to.\n   * @return Device velocity that has been converted to the provided unit.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceMoveRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setType(gateway.BinaryDeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceMovementResponse>(\n      'binary/device/move',\n      request,\n      gateway.BinaryDeviceMovementResponse);\n    return response.getData();\n  }\n\n  /**\n   * Waits until device stops moving.\n   */\n  public async waitUntilIdle(): Promise<void> {\n    const request = new gateway.BinaryDeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    await gateway.callAsync('binary/device/wait_until_idle', request);\n  }\n\n  /**\n   * Check whether the device is moving.\n   * @return True if the device is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.BinaryDeviceIsBusyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceIsBusyResponse>(\n      'binary/device/is_busy',\n      request,\n      gateway.BinaryDeviceIsBusyResponse);\n    return response.getIsBusy();\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @return Device identification data.\n   */\n  public async identify(): Promise<DeviceIdentity> {\n    const request = new gateway.BinaryDeviceIdentifyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceIdentity>(\n      'binary/device/identify',\n      request,\n      gateway.BinaryDeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Parks the axis.\n   * Motor drivers remain enabled and hold current continues to be applied until the device is powered off.\n   * It can later be unparked and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.BinaryDeviceParkRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    await gateway.callAsync('binary/device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.BinaryDeviceParkRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    await gateway.callAsync('binary/device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @return True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.BinaryDeviceParkRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceParkResponse>(\n      'binary/device/is_parked',\n      request,\n      gateway.BinaryDeviceParkResponse);\n    return response.getIsParked();\n  }\n\n  /**\n   * Returns current device position.\n   * @param unit Units of position.\n   * @return Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceGetSettingRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setSetting(BinarySettings.CURRENT_POSITION);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceGetSettingResponse>(\n      'binary/device/get_setting',\n      request,\n      gateway.BinaryDeviceGetSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @return A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'binary/device/device_to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Returns identity.\n   * @return Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.BinaryDeviceGetIdentityRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BinaryDeviceGetIdentityResponse>(\n      'binary/device/get_identity',\n      request,\n      gateway.BinaryDeviceGetIdentityResponse);\n    return DeviceIdentity.fromProtobuf(response.getIdentity()!.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @return True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.BinaryDeviceGetIsIdentifiedRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BinaryDeviceGetIsIdentifiedResponse>(\n      'binary/device/get_is_identified',\n      request,\n      gateway.BinaryDeviceGetIsIdentifiedResponse);\n    return response.getIsIdentified();\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { BinarySettings } from './binary_settings';\nimport { Connection } from './connection';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceSettings } from './device_settings';\nimport * as gateway from '../gateway';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Units } from '../units';\nimport { DeviceType } from './device_type';\nimport { FirmwareVersion } from '../firmware_version';\n\n/**\n * Represents a device using the binary protocol.\n */\nexport class Device {\n  /**\n   * Default timeout for move commands in seconds.\n   */\n  public static readonly DEFAULT_MOVEMENT_TIMEOUT: number = 60;\n\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * Indicates whether the device is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral hardware.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Determines the type of an device and units it accepts.\n   */\n  public get deviceType(): DeviceType {\n    return this.identity.deviceType;\n  }\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._settings = new DeviceSettings(this);\n    this._deviceAddress = deviceAddress;\n  }\n\n  /**\n   * Sends a generic Binary command to this device.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessage>(\n      'binary/interface/generic_command',\n      request,\n      gateway.BinaryMessage);\n    return Message.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic Binary command to this device without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command as any);\n    request.setData(data);\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this device with unit conversions for both sent data and retrieved data.\n   * @param command Command to send.\n   * @param data Data argument to the command. Set to zero if command does not require argument.\n   * @param fromUnit Unit to convert sent data from.\n   * @param toUnit Unit to convert retrieved data to.\n   * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @return Data that has been converted to the provided unit.\n   */\n  public async genericCommandWithUnits(\n    command: CommandCode,\n    data: number,\n    fromUnit: Units = Units.NATIVE,\n    toUnit: Units = Units.NATIVE,\n    timeout: number = 0.0\n  ): Promise<number> {\n    const request = new gateway.BinaryGenericWithUnitsRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setFromUnit(fromUnit);\n    request.setToUnit(toUnit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/generic_command_with_units',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Homes device. Device returns to its homing position.\n   * @param unit Unit to convert returned position to.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async home(\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceHomeRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/home',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Stops ongoing device movement. Decelerates until zero speed.\n   * @param unit Unit to convert returned position to.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async stop(\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceStopRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/stop',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Move device to absolute position.\n   * @param position Absolute position.\n   * @param unit Unit for the provided position as well as position returned by the device.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceMoveRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setType(gateway.BinaryDeviceMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/move',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Move device to position relative to current position.\n   * @param position Relative position.\n   * @param unit Unit for the provided position as well as position returned by the device.\n   * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @return Current position that has been converted to the provided unit.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    timeout: number = Device.DEFAULT_MOVEMENT_TIMEOUT\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceMoveRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setType(gateway.BinaryDeviceMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/move',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Begins to move device at specified speed.\n   * @param velocity Movement velocity.\n   * @param unit Unit to convert returned velocity to.\n   * @return Device velocity that has been converted to the provided unit.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceMoveRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setType(gateway.BinaryDeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/move',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Waits until device stops moving.\n   */\n  public async waitUntilIdle(): Promise<void> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    await gateway.callAsync('binary/device/wait_until_idle', request);\n  }\n\n  /**\n   * Check whether the device is moving.\n   * @return True if the device is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'binary/device/is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @return Device identification data.\n   */\n  public async identify(): Promise<DeviceIdentity> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceIdentity>(\n      'binary/device/identify',\n      request,\n      gateway.BinaryDeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Parks the axis.\n   * Motor drivers remain enabled and hold current continues to be applied until the device is powered off.\n   * It can later be unparked and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    await gateway.callAsync('binary/device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    await gateway.callAsync('binary/device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @return True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'binary/device/is_parked',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns current device position.\n   * @param unit Units of position.\n   * @return Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceGetSettingRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setSetting(BinarySettings.CURRENT_POSITION);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/get_setting',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @return A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'binary/device/device_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns identity.\n   * @return Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BinaryDeviceGetIdentityResponse>(\n      'binary/device/get_identity',\n      request,\n      gateway.BinaryDeviceGetIdentityResponse);\n    return DeviceIdentity.fromProtobuf(response.getIdentity()!.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @return True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BoolResponse>(\n      'binary/device/get_is_identified',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n}\n"]}

package/dist/lib/binary/device_settings.js

@@ -43,7 +43,7 @@ class DeviceSettings {
         request.setDevice(this._device.deviceAddress);
         request.setSetting(setting);
         request.setUnit(unit);
-        const response = await gateway.callAsync('binary/device/get_setting', request, gateway.BinaryDeviceGetSettingResponse);
+        const response = await gateway.callAsync('binary/device/get_setting', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**

package/dist/lib/binary/device_settings.js.map

@@ -1 +1 @@
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+{"version":3,"file":"device_settings.js","sourceRoot":"","sources":["../../../src/binary/device_settings.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAItD,oCAAiC;AACjC,oDAAsC;AAEtC;;GAEG;AACH,MAAa,cAAc;IAGzB,YAAY,MAAc;QACxB,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;IACxB,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,GAAG,CACd,OAAuB,EACvB,OAAc,aAAK,CAAC,MAAM;QAE1B,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,6BAA6B,EAAE,CAAC;QAC5D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,OAAO,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC5D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,OAAO,CAAC,aAAa,CAAC,CAAC;QAC9C,OAAO,CAAC,UAAU,CAAC,OAAc,CAAC,CAAC;QACnC,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;QAEtB,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,2BAA2B,EAC3B,OAAO,EACP,OAAO,CAAC,cAAc,CAAC,CAAC;QAC1B,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,GAAG,CACd,OAAuB,EACvB,KAAa,EACb,OAAc,aAAK,CAAC,MAAM;QAE1B,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,6BAA6B,EAAE,CAAC;QAC5D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,OAAO,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC5D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,OAAO,CAAC,aAAa,CAAC,CAAC;QAC9C,OAAO,CAAC,UAAU,CAAC,OAAc,CAAC,CAAC;QACnC,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;QACxB,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;QAEtB,MAAM,OAAO,CAAC,SAAS,CAAC,2BAA2B,EAAE,OAAO,CAAC,CAAC;IAChE,CAAC;CACF;AAlDD,wCAkDC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { BinarySettings } from './binary_settings';\nimport { Units } from '../units';\nimport * as gateway from '../gateway';\n\n/**\n * Class providing access to various device settings and properties.\n */\nexport class DeviceSettings {\n  private _device: Device;\n\n  constructor(device: Device) {\n    this._device = device;\n  }\n\n  /**\n   * Returns any device setting or property.\n   * @param setting Setting to get.\n   * @param unit Units of setting.\n   * @return Setting value.\n   */\n  public async get(\n    setting: BinarySettings,\n    unit: Units = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.BinaryDeviceGetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting as any);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'binary/device/get_setting',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets any device setting.\n   * @param setting Setting to set.\n   * @param value Value of the setting.\n   * @param unit Units of setting.\n   */\n  public async set(\n    setting: BinarySettings,\n    value: number,\n    unit: Units = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.BinaryDeviceSetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting as any);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    await gateway.callAsync('binary/device/set_setting', request);\n  }\n}\n"]}

package/dist/lib/gcode/offline_translator.js

@@ -126,7 +126,7 @@ class OfflineTranslator {
         request.setTranslatorId(this.translatorId);
         request.setAxis(axis);
         request.setUnit(unit);
-        const response = gateway.callSync('gcode/get_axis_position', request, gateway.TranslatorGetAxisPositionResponse);
+        const response = gateway.callSync('gcode/get_axis_position', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -172,7 +172,7 @@ class OfflineTranslator {
         request.setCoordinateSystem(coordinateSystem);
         request.setAxis(axis);
         request.setUnit(unit);
-        const response = gateway.callSync('gcode/get_axis_offset', request, gateway.TranslatorGetAxisPositionResponse);
+        const response = gateway.callSync('gcode/get_axis_offset', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -210,7 +210,7 @@ class OfflineTranslator {
     _getCurrentCoordinateSystem() {
         const request = new gateway.TranslatorEmptyRequest();
         request.setTranslatorId(this.translatorId);
-        const response = gateway.callSync('gcode/get_current_coordinate_system', request, gateway.TranslatorGetCurrentCoordinateSystemResponse);
+        const response = gateway.callSync('gcode/get_current_coordinate_system', request, gateway.StringResponse);
         return response.getValue();
     }
     /**

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 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"]}
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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.DoubleResponse>(\n      'gcode/get_axis_position',\n      request,\n      gateway.DoubleResponse);\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.DoubleResponse>(\n      'gcode/get_axis_offset',\n      request,\n      gateway.DoubleResponse);\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.StringResponse>(\n      'gcode/get_current_coordinate_system',\n      request,\n      gateway.StringResponse);\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.js

@@ -140,7 +140,7 @@ class Translator {
         request.setTranslatorId(this.translatorId);
         request.setAxis(axis);
         request.setUnit(unit);
-        const response = gateway.callSync('gcode/get_axis_position', request, gateway.TranslatorGetAxisPositionResponse);
+        const response = gateway.callSync('gcode/get_axis_position', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -186,7 +186,7 @@ class Translator {
         request.setCoordinateSystem(coordinateSystem);
         request.setAxis(axis);
         request.setUnit(unit);
-        const response = gateway.callSync('gcode/get_axis_offset', request, gateway.TranslatorGetAxisPositionResponse);
+        const response = gateway.callSync('gcode/get_axis_offset', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -224,7 +224,7 @@ class Translator {
     _getCurrentCoordinateSystem() {
         const request = new gateway.TranslatorEmptyRequest();
         request.setTranslatorId(this.translatorId);
-        const response = gateway.callSync('gcode/get_current_coordinate_system', request, gateway.TranslatorGetCurrentCoordinateSystemResponse);
+        const response = gateway.callSync('gcode/get_current_coordinate_system', request, gateway.StringResponse);
         return response.getValue();
     }
     /**