@zaber/motion 2.15.3 → 3.0.0

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.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.BinaryDeviceIdentity>(\n      'binary/device/get_identity',\n      request,\n      gateway.BinaryDeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.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"]}
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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   * Requires at least Firmware 6.15 for devices or 6.24 for peripherals.\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=0] Optional data argument to the command. Defaults to zero.\n   * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    command: CommandCode,\n    data: number = 0,\n    options: Device.GenericCommandOptions = {}\n  ): Promise<Message> {\n    const {\n      timeout = 0.0,\n      checkErrors = true,\n    } = options;\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=0] 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=0] Data argument to the command. Defaults to zero.\n   * @param [fromUnit=Units.NATIVE] Unit to convert sent data from.\n   * @param [toUnit=Units.NATIVE] Unit to convert retrieved data to.\n   * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @returns Data that has been converted to the provided unit.\n   */\n  public async genericCommandWithUnits(\n    command: CommandCode,\n    data: number = 0,\n    fromUnit: Units = Units.NATIVE,\n    toUnit: Units = Units.NATIVE,\n    options: Device.GenericCommandWithUnitsOptions = {}\n  ): Promise<number> {\n    const {\n      timeout = 0.0,\n    } = options;\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 [options.unit=Units.NATIVE] Unit to convert returned position to.\n   * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @returns Current position that has been converted to the provided unit.\n   */\n  public async home(\n    options: Device.HomeOptions = {}\n  ): Promise<number> {\n    const {\n      unit = Units.NATIVE,\n      timeout = Device.DEFAULT_MOVEMENT_TIMEOUT,\n    } = options;\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 [options.unit=Units.NATIVE] Unit to convert returned position to.\n   * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @returns Current position that has been converted to the provided unit.\n   */\n  public async stop(\n    options: Device.StopOptions = {}\n  ): Promise<number> {\n    const {\n      unit = Units.NATIVE,\n      timeout = Device.DEFAULT_MOVEMENT_TIMEOUT,\n    } = options;\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=Units.NATIVE] Unit for the provided position as well as position returned by the device.\n   * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @returns 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    options: Device.MoveAbsoluteOptions = {}\n  ): Promise<number> {\n    const {\n      timeout = Device.DEFAULT_MOVEMENT_TIMEOUT,\n    } = options;\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=Units.NATIVE] Unit for the provided position as well as position returned by the device.\n   * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).\n   * @returns 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    options: Device.MoveRelativeOptions = {}\n  ): Promise<number> {\n    const {\n      timeout = Device.DEFAULT_MOVEMENT_TIMEOUT,\n    } = options;\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=Units.NATIVE] Unit to convert returned velocity to.\n   * @returns 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   * @returns 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   * @returns 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   * Requires at least Firmware 6.06.\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   * Requires at least Firmware 6.06.\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   * Requires at least Firmware 6.06.\n   * @returns 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.NATIVE] Units of position.\n   * @returns 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   * @returns 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   * @returns 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.BinaryDeviceIdentity>(\n      'binary/device/get_identity',\n      request,\n      gateway.BinaryDeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @returns 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\nnamespace Device {\n  export interface GenericCommandOptions {\n      timeout?: number;\n      checkErrors?: boolean;\n  }\n  export interface GenericCommandWithUnitsOptions {\n      timeout?: number;\n  }\n  export interface HomeOptions {\n      unit?: Length | Angle | Native;\n      timeout?: number;\n  }\n  export interface StopOptions {\n      unit?: Length | Angle | Native;\n      timeout?: number;\n  }\n  export interface MoveAbsoluteOptions {\n      timeout?: number;\n  }\n  export interface MoveRelativeOptions {\n      timeout?: number;\n  }\n}\n"]}

package/dist/lib/binary/device_identity.d.ts

@@ -10,6 +10,7 @@ export interface DeviceIdentity {
     deviceId: number;
     /**
      * Serial number of the device.
+     * Requires at least Firmware 6.15 for devices or 6.24 for peripherals.
      */
     serialNumber: number;
     /**

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

@@ -1 +1 @@
-{"version":3,"file":"device_identity.js","sourceRoot":"","sources":["../../../src/binary/device_identity.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAGtD,0DAAsD;AAiDtD,IAAiB,cAAc,CAgB9B;AAhBD,WAAiB,cAAc;IAChB,qBAAM,GAAG,gBAAgB,CAAC;IAEvC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAA6C;QACxE,OAAO;YACL,QAAQ,EAAE,MAAM,CAAC,QAAQ;YACzB,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,IAAI,EAAE,MAAM,CAAC,IAAI;YACjB,eAAe,EAAE,kCAAe,CAAC,YAAY,CAAC,MAAM,CAAC,eAAgB,CAAC;YACtE,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,cAAc,EAAE,MAAM,CAAC,cAAc;YACrC,UAAU,EAAE,MAAM,CAAC,UAAiB;SACrC,CAAC;IACJ,CAAC;IAXe,2BAAY,eAW3B,CAAA;AACH,CAAC,EAhBgB,cAAc,GAAd,sBAAc,KAAd,sBAAc,QAgB9B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { FirmwareVersion } from '../firmware_version';\nimport { DeviceType } from './device_type';\n\n/**\n * Representation of data gathered during device identification.\n */\nexport interface DeviceIdentity {\n  /**\n   * Unique ID of the device hardware.\n   */\n  deviceId: number;\n\n  /**\n   * Serial number of the device.\n   */\n  serialNumber: number;\n\n  /**\n   * Name of the product.\n   */\n  name: string;\n\n  /**\n   * Version of the firmware.\n   */\n  firmwareVersion: FirmwareVersion;\n\n  /**\n   * Indicates whether the device is a peripheral or part of an integrated device.\n   */\n  isPeripheral: boolean;\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  peripheralId: number;\n\n  /**\n   * Name of the peripheral hardware.\n   */\n  peripheralName: string;\n\n  /**\n   * Determines the type of an device and units it accepts.\n   */\n  deviceType: DeviceType;\n\n}\n\nexport namespace DeviceIdentity {\n  export const __type = 'DeviceIdentity';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.BinaryDeviceIdentity.AsObject): DeviceIdentity {\n    return {\n      deviceId: pbData.deviceId,\n      serialNumber: pbData.serialNumber,\n      name: pbData.name,\n      firmwareVersion: FirmwareVersion.fromProtobuf(pbData.firmwareVersion!),\n      isPeripheral: pbData.isPeripheral,\n      peripheralId: pbData.peripheralId,\n      peripheralName: pbData.peripheralName,\n      deviceType: pbData.deviceType as any,\n    };\n  }\n}\n"]}
+{"version":3,"file":"device_identity.js","sourceRoot":"","sources":["../../../src/binary/device_identity.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAGtD,0DAAsD;AAkDtD,IAAiB,cAAc,CAgB9B;AAhBD,WAAiB,cAAc;IAChB,qBAAM,GAAG,gBAAgB,CAAC;IAEvC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAA6C;QACxE,OAAO;YACL,QAAQ,EAAE,MAAM,CAAC,QAAQ;YACzB,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,IAAI,EAAE,MAAM,CAAC,IAAI;YACjB,eAAe,EAAE,kCAAe,CAAC,YAAY,CAAC,MAAM,CAAC,eAAgB,CAAC;YACtE,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,cAAc,EAAE,MAAM,CAAC,cAAc;YACrC,UAAU,EAAE,MAAM,CAAC,UAAiB;SACrC,CAAC;IACJ,CAAC;IAXe,2BAAY,eAW3B,CAAA;AACH,CAAC,EAhBgB,cAAc,GAAd,sBAAc,KAAd,sBAAc,QAgB9B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { FirmwareVersion } from '../firmware_version';\nimport { DeviceType } from './device_type';\n\n/**\n * Representation of data gathered during device identification.\n */\nexport interface DeviceIdentity {\n  /**\n   * Unique ID of the device hardware.\n   */\n  deviceId: number;\n\n  /**\n   * Serial number of the device.\n   * Requires at least Firmware 6.15 for devices or 6.24 for peripherals.\n   */\n  serialNumber: number;\n\n  /**\n   * Name of the product.\n   */\n  name: string;\n\n  /**\n   * Version of the firmware.\n   */\n  firmwareVersion: FirmwareVersion;\n\n  /**\n   * Indicates whether the device is a peripheral or part of an integrated device.\n   */\n  isPeripheral: boolean;\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  peripheralId: number;\n\n  /**\n   * Name of the peripheral hardware.\n   */\n  peripheralName: string;\n\n  /**\n   * Determines the type of an device and units it accepts.\n   */\n  deviceType: DeviceType;\n\n}\n\nexport namespace DeviceIdentity {\n  export const __type = 'DeviceIdentity';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.BinaryDeviceIdentity.AsObject): DeviceIdentity {\n    return {\n      deviceId: pbData.deviceId,\n      serialNumber: pbData.serialNumber,\n      name: pbData.name,\n      firmwareVersion: FirmwareVersion.fromProtobuf(pbData.firmwareVersion!),\n      isPeripheral: pbData.isPeripheral,\n      peripheralId: pbData.peripheralId,\n      peripheralName: pbData.peripheralName,\n      deviceType: pbData.deviceType as any,\n    };\n  }\n}\n"]}

package/dist/lib/binary/device_settings.d.ts

@@ -10,15 +10,15 @@ export declare class DeviceSettings {
     /**
      * Returns any device setting or property.
      * @param setting Setting to get.
-     * @param unit Units of setting.
-     * @return Setting value.
+     * @param [unit=Units.NATIVE] Units of setting.
+     * @returns Setting value.
      */
     get(setting: BinarySettings, unit?: Units): Promise<number>;
     /**
      * Sets any device setting.
      * @param setting Setting to set.
      * @param value Value of the setting.
-     * @param unit Units of setting.
+     * @param [unit=Units.NATIVE] Units of setting.
      */
     set(setting: BinarySettings, value: number, unit?: Units): Promise<void>;
 }

package/dist/lib/binary/device_settings.js

@@ -38,8 +38,8 @@ class DeviceSettings {
     /**
      * Returns any device setting or property.
      * @param setting Setting to get.
-     * @param unit Units of setting.
-     * @return Setting value.
+     * @param [unit=Units.NATIVE] Units of setting.
+     * @returns Setting value.
      */
     async get(setting, unit = units_1.Units.NATIVE) {
         const request = new gateway.BinaryDeviceGetSettingRequest();
@@ -54,7 +54,7 @@ class DeviceSettings {
      * Sets any device setting.
      * @param setting Setting to set.
      * @param value Value of the setting.
-     * @param unit Units of setting.
+     * @param [unit=Units.NATIVE] Units of setting.
      */
     async set(setting, value, unit = units_1.Units.NATIVE) {
         const request = new gateway.BinaryDeviceSetSettingRequest();

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

@@ -1 +1 @@
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package/dist/lib/exceptions/binary_command_failed_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/command_failed_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/command_preempted_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/command_too_long_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/connection_closed_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/connection_failed_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/conversion_failed_exception.js.map

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package/dist/lib/exceptions/device_address_conflict_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/device_busy_exception.js.map

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package/dist/lib/exceptions/device_db_failed_exception.js.map

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package/dist/lib/exceptions/device_failed_exception.js.map

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package/dist/lib/exceptions/device_not_identified_exception.js.map

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package/dist/lib/exceptions/g_code_execution_exception.js.map

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package/dist/lib/exceptions/g_code_syntax_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/internal_error_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/invalid_argument_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/invalid_data_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/invalid_operation_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/invalid_packet_exception.js.map

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package/dist/lib/exceptions/invalid_park_state_exception.js.map

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package/dist/lib/exceptions/invalid_response_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/io_channel_out_of_range_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/io_failed_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/lockstep_enabled_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/lockstep_not_enabled_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/motion_lib_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/movement_failed_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/movement_interrupted_exception.js.map

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package/dist/lib/exceptions/no_device_found_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/no_value_for_key_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/not_supported_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/os_failed_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/out_of_request_ids_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/request_timeout_exception.js.map

@@ -1 +1 @@
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package/dist/lib/exceptions/serial_port_busy_exception.js.map

@@ -1 +1 @@
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