@zaber/motion 2.15.4 → 3.0.0

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

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

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

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

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

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

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

@@ -1 +1 @@
-{"version":3,"file":"stream_movement_interrupted_exception.js","sourceRoot":"","sources":["../../../src/exceptions/stream_movement_interrupted_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAC5D,kDAAoG;AACpG,6GAAsG;AAEtG;;GAEG;AACH,MAAa,kCAAmC,SAAQ,yCAAkB;IACxE;;OAEG;IACH,IAAW,OAAO;QAChB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IAGD,YACE,OAAe,EACf,UAA2D;QAE3D,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,kCAAkC,CAAC,SAAS,CAAC,CAAC;QAE1E,IAAI,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAC,EAAE;YAC/B,MAAM,WAAW,GAAG,gDAAkB,CAAC,iBAAiB,CAAC,UAAU,CAAC,CAAC;YACrE,IAAI,CAAC,QAAQ,GAAG,mFAAsC,CAAC,YAAY,CAAC,WAAW,CAAC,QAAQ,EAAE,CAAC,CAAC;SAC7F;aAAM;YACL,IAAI,CAAC,QAAQ,GAAG,UAAU,CAAC;SAC5B;IACH,CAAC;CACF;AAvBD,gFAuBC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\nimport { StreamMovementInterruptedExceptionData as CustomDataProtobuf } from '../protobufs/main_pb';\nimport { StreamMovementInterruptedExceptionData } from './stream_movement_interrupted_exception_data';\n\n/**\n * Thrown when ongoing stream movement is interrupted by another command or user input.\n */\nexport class StreamMovementInterruptedException extends MotionLibException {\n  /**\n   * Additional data for StreamMovementInterruptedException\n   */\n  public get details(): StreamMovementInterruptedExceptionData {\n    return this._details;\n  }\n  private _details: StreamMovementInterruptedExceptionData;\n\n  constructor(\n    message: string,\n    customData: Buffer | StreamMovementInterruptedExceptionData\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, StreamMovementInterruptedException.prototype);\n\n    if (Buffer.isBuffer(customData)) {\n      const protobufObj = CustomDataProtobuf.deserializeBinary(customData);\n      this._details = StreamMovementInterruptedExceptionData.fromProtobuf(protobufObj.toObject());\n    } else {\n      this._details = customData;\n    }\n  }\n}\n"]}
+{"version":3,"file":"stream_movement_interrupted_exception.js","sourceRoot":"","sources":["../../../src/exceptions/stream_movement_interrupted_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAC5D,kDAAoG;AACpG,6GAAsG;AAEtG;;GAEG;AACH,MAAa,kCAAmC,SAAQ,yCAAkB;IACxE;;OAEG;IACH,IAAW,OAAO;QAChB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IAED,YACE,OAAe,EACf,UAA2D;QAE3D,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,kCAAkC,CAAC,SAAS,CAAC,CAAC;QAE1E,IAAI,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAC,EAAE;YAC/B,MAAM,WAAW,GAAG,gDAAkB,CAAC,iBAAiB,CAAC,UAAU,CAAC,CAAC;YACrE,IAAI,CAAC,QAAQ,GAAG,mFAAsC,CAAC,YAAY,CAAC,WAAW,CAAC,QAAQ,EAAE,CAAC,CAAC;SAC7F;aAAM;YACL,IAAI,CAAC,QAAQ,GAAG,UAAU,CAAC;SAC5B;IACH,CAAC;CACF;AAtBD,gFAsBC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\nimport { StreamMovementInterruptedExceptionData as CustomDataProtobuf } from '../protobufs/main_pb';\nimport { StreamMovementInterruptedExceptionData } from './stream_movement_interrupted_exception_data';\n\n/**\n * Thrown when ongoing stream movement is interrupted by another command or user input.\n */\nexport class StreamMovementInterruptedException extends MotionLibException {\n  /**\n   * Additional data for StreamMovementInterruptedException\n   */\n  public get details(): StreamMovementInterruptedExceptionData {\n    return this._details;\n  }\n  private _details: StreamMovementInterruptedExceptionData;\n  constructor(\n    message: string,\n    customData: Buffer | StreamMovementInterruptedExceptionData\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, StreamMovementInterruptedException.prototype);\n\n    if (Buffer.isBuffer(customData)) {\n      const protobufObj = CustomDataProtobuf.deserializeBinary(customData);\n      this._details = StreamMovementInterruptedExceptionData.fromProtobuf(protobufObj.toObject());\n    } else {\n      this._details = customData;\n    }\n  }\n}\n"]}

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

@@ -1 +1 @@
-{"version":3,"file":"stream_setup_failed_exception.js","sourceRoot":"","sources":["../../../src/exceptions/stream_setup_failed_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAE5D;;GAEG;AACH,MAAa,0BAA2B,SAAQ,yCAAkB;IAEhE,YACE,OAAe;QAEf,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,0BAA0B,CAAC,SAAS,CAAC,CAAC;IACpE,CAAC;CACF;AARD,gEAQC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\n\n/**\n * Thrown when setting up a stream fails.\n */\nexport class StreamSetupFailedException extends MotionLibException {\n\n  constructor(\n    message: string\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, StreamSetupFailedException.prototype);\n  }\n}\n"]}
+{"version":3,"file":"stream_setup_failed_exception.js","sourceRoot":"","sources":["../../../src/exceptions/stream_setup_failed_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAE5D;;GAEG;AACH,MAAa,0BAA2B,SAAQ,yCAAkB;IAChE,YACE,OAAe;QAEf,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,0BAA0B,CAAC,SAAS,CAAC,CAAC;IACpE,CAAC;CACF;AAPD,gEAOC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\n\n/**\n * Thrown when setting up a stream fails.\n */\nexport class StreamSetupFailedException extends MotionLibException {\n  constructor(\n    message: string\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, StreamSetupFailedException.prototype);\n  }\n}\n"]}

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

@@ -1 +1 @@
-{"version":3,"file":"transport_already_used_exception.js","sourceRoot":"","sources":["../../../src/exceptions/transport_already_used_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAE5D;;GAEG;AACH,MAAa,6BAA8B,SAAQ,yCAAkB;IAEnE,YACE,OAAe;QAEf,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,6BAA6B,CAAC,SAAS,CAAC,CAAC;IACvE,CAAC;CACF;AARD,sEAQC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\n\n/**\n * Thrown when a transport has already been used to open another connection.\n */\nexport class TransportAlreadyUsedException extends MotionLibException {\n\n  constructor(\n    message: string\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, TransportAlreadyUsedException.prototype);\n  }\n}\n"]}
+{"version":3,"file":"transport_already_used_exception.js","sourceRoot":"","sources":["../../../src/exceptions/transport_already_used_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAE5D;;GAEG;AACH,MAAa,6BAA8B,SAAQ,yCAAkB;IACnE,YACE,OAAe;QAEf,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,6BAA6B,CAAC,SAAS,CAAC,CAAC;IACvE,CAAC;CACF;AAPD,sEAOC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\n\n/**\n * Thrown when a transport has already been used to open another connection.\n */\nexport class TransportAlreadyUsedException extends MotionLibException {\n  constructor(\n    message: string\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, TransportAlreadyUsedException.prototype);\n  }\n}\n"]}

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

@@ -1 +1 @@
-{"version":3,"file":"unknown_request_exception.js","sourceRoot":"","sources":["../../../src/exceptions/unknown_request_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAE5D;;GAEG;AACH,MAAa,uBAAwB,SAAQ,yCAAkB;IAE7D,YACE,OAAe;QAEf,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,uBAAuB,CAAC,SAAS,CAAC,CAAC;IACjE,CAAC;CACF;AARD,0DAQC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\n\n/**\n * Used for internal error handling. Indicates mixed library binary files. Reinstall the library.\n */\nexport class UnknownRequestException extends MotionLibException {\n\n  constructor(\n    message: string\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, UnknownRequestException.prototype);\n  }\n}\n"]}
+{"version":3,"file":"unknown_request_exception.js","sourceRoot":"","sources":["../../../src/exceptions/unknown_request_exception.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD,iEAA4D;AAE5D;;GAEG;AACH,MAAa,uBAAwB,SAAQ,yCAAkB;IAC7D,YACE,OAAe;QAEf,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,uBAAuB,CAAC,SAAS,CAAC,CAAC;IACjE,CAAC;CACF;AAPD,0DAOC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { MotionLibException } from './motion_lib_exception';\n\n/**\n * Used for internal error handling. Indicates mixed library binary files. Reinstall the library.\n */\nexport class UnknownRequestException extends MotionLibException {\n  constructor(\n    message: string\n  ) {\n    super(message);\n    Object.setPrototypeOf(this, UnknownRequestException.prototype);\n  }\n}\n"]}

package/dist/lib/gateway/events.js

@@ -4,7 +4,6 @@ exports.filterEvent = exports.events = void 0;
 const rxjs_1 = require("rxjs");
 const operators_1 = require("rxjs/operators");
 const main_pb_1 = require("../protobufs/main_pb");
-const main_pb_2 = require("../protobufs/main_pb");
 const bindings_1 = require("./bindings");
 const serialization_1 = require("./serialization");
 const subscriptions = new Set();
@@ -22,10 +21,10 @@ exports.events = rxjs_1.Observable.create((observer) => {
 });
 const eventParsers = {
     'test/event': main_pb_1.TestEvent,
-    'interface/unknown_response': main_pb_2.UnknownResponseEvent,
-    'binary/interface/unknown_response': main_pb_2.UnknownBinaryResponseEvent,
-    'interface/alert': main_pb_2.AlertEvent,
-    'binary/interface/reply_only': main_pb_2.BinaryReplyOnlyEvent,
+    'interface/unknown_response': main_pb_1.UnknownResponseEvent,
+    'binary/interface/unknown_response': main_pb_1.UnknownBinaryResponseEvent,
+    'interface/alert': main_pb_1.AlertEvent,
+    'binary/interface/reply_only': main_pb_1.BinaryReplyOnlyEvent,
     'interface/disconnected': main_pb_1.DisconnectedEvent,
 };
 const eventHandler = (eventBuffer) => {

package/dist/lib/gateway/events.js.map

@@ -1 +1 @@
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+{"version":3,"file":"events.js","sourceRoot":"","sources":["../../../src/gateway/events.ts"],"names":[],"mappings":";;;AACA,+BAA4C;AAC5C,8CAA6C;AAE7C,kDAE8B;AAE9B,yCAAyD;AACzD,mDAA8C;AAO9C,MAAM,aAAa,GAAG,IAAI,GAAG,EAAsB,CAAC;AAEvC,QAAA,MAAM,GAAyB,iBAAU,CAAC,MAAM,CAAC,CAAC,QAA4B,EAAE,EAAE;IAC7F,IAAI,aAAa,CAAC,IAAI,KAAK,CAAC,EAAE;QAC5B,IAAA,qBAAU,GAAE,CAAC,gBAAgB,CAAC,IAAI,CAAC,CAAC;KACrC;IAED,aAAa,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;IAE5B,OAAO,GAAG,EAAE;QACV,aAAa,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;QAE/B,IAAI,aAAa,CAAC,IAAI,KAAK,CAAC,EAAE;YAC5B,IAAA,qBAAU,GAAE,CAAC,gBAAgB,CAAC,KAAK,CAAC,CAAC;SACtC;IACH,CAAC,CAAC;AACJ,CAAC,CAAC,CAAC;AAEH,MAAM,YAAY,GAA4E;IAC5F,YAAY,EAAE,mBAAS;IACvB,4BAA4B,EAAE,8BAAoB;IAClD,mCAAmC,EAAE,oCAA0B;IAC/D,iBAAiB,EAAE,oBAAU;IAC7B,6BAA6B,EAAE,8BAAoB;IACnD,wBAAwB,EAAE,2BAAiB;CAC5C,CAAC;AAEF,MAAM,YAAY,GAAG,CAAC,WAAmB,EAAE,EAAE;IAC3C,MAAM,aAAa,GAAG,IAAA,2BAAW,EAAC,WAAW,CAAC,CAAC;IAC/C,MAAM,KAAK,GAAG,eAAK,CAAC,iBAAiB,CAAC,aAAa,CAAC,CAAC,CAAC,CAAC,CAAC;IACxD,MAAM,SAAS,GAAG,aAAa,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC;IAE3C,MAAM,SAAS,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC;IACnC,wBAAwB;IACxB,IAAI,CAAC,CAAC,SAAS,IAAI,YAAY,CAAC,EAAE;QAChC,MAAM,IAAI,KAAK,CAAC,kBAAkB,SAAS,EAAE,CAAC,CAAC;KAChD;IACD,MAAM,WAAW,GAAG,YAAY,CAAC,SAAS,CAAC,IAAI,IAAI,CAAC;IAEpD,wBAAwB;IACxB,IAAI,CAAC,WAAW,KAAK,CAAC,SAAS,EAAE;QAC/B,MAAM,IAAI,KAAK,CAAC,iDAAiD,SAAS,EAAE,CAAC,CAAC;KAC/E;IAED,IAAI,cAAc,GAAmC,IAAI,CAAC;IAC1D,IAAI,SAAS,EAAE;QACb,cAAc,GAAG,WAAW,CAAC,iBAAiB,CAAC,SAAS,CAAC,CAAC,QAAQ,EAAE,CAAC;KACtE;IAED,MAAM,WAAW,GAAa,EAAE,SAAS,EAAE,KAAK,CAAC,QAAQ,EAAE,EAAE,KAAK,EAAE,cAAc,EAAE,CAAC;IAErF,KAAK,MAAM,QAAQ,IAAI,aAAa,EAAE;QACpC,QAAQ,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;KAC5B;AACH,CAAC,CAAC;AAEF,IAAA,0BAAe,EAAC,GAAG,EAAE,CAAC,IAAA,qBAAU,GAAE,CAAC,eAAe,CAAC,YAAY,CAAC,CAAC,CAAC;AAE3D,MAAM,WAAW,GAAG,CAAI,iBAAyB,EAAE,EAAE,CAAC,CAAC,MAA4B,EAAE,EAAE,CAC5F,MAAM,CAAC,IAAI,CACT,IAAA,kBAAM,EAAC,CAAC,EAAE,SAAS,EAAE,EAAE,EAAE,CAAC,SAAS,KAAK,iBAAiB,CAAC,EAC1D,IAAA,eAAG,EAAc,CAAC,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,KAAU,CAAC,CAC5C,CAAC;AAJS,QAAA,WAAW,eAIpB","sourcesContent":["import { Message } from 'google-protobuf';\nimport { Observable, Observer } from 'rxjs';\nimport { filter, map } from 'rxjs/operators';\n\nimport {\n  Event, TestEvent, DisconnectedEvent, UnknownResponseEvent, UnknownBinaryResponseEvent, AlertEvent, BinaryReplyOnlyEvent\n} from '../protobufs/main_pb';\n\nimport { addInitCallback, getBinding } from './bindings';\nimport { deserialize } from './serialization';\n\ninterface SdkEvent {\n  eventType: string;\n  event: unknown;\n}\n\nconst subscriptions = new Set<Observer<SdkEvent>>();\n\nexport const events: Observable<SdkEvent> = Observable.create((observer: Observer<SdkEvent>) => {\n  if (subscriptions.size === 0) {\n    getBinding().setEventsEnabled(true);\n  }\n\n  subscriptions.add(observer);\n\n  return () => {\n    subscriptions.delete(observer);\n\n    if (subscriptions.size === 0) {\n      getBinding().setEventsEnabled(false);\n    }\n  };\n});\n\nconst eventParsers: { [event: string]: { deserializeBinary(buffer: Uint8Array): Message } } = {\n  'test/event': TestEvent,\n  'interface/unknown_response': UnknownResponseEvent,\n  'binary/interface/unknown_response': UnknownBinaryResponseEvent,\n  'interface/alert': AlertEvent,\n  'binary/interface/reply_only': BinaryReplyOnlyEvent,\n  'interface/disconnected': DisconnectedEvent,\n};\n\nconst eventHandler = (eventBuffer: Buffer) => {\n  const structBuffers = deserialize(eventBuffer);\n  const event = Event.deserializeBinary(structBuffers[0]);\n  const eventData = structBuffers[1] || null;\n\n  const eventName = event.getEvent();\n  /* istanbul ignore if */\n  if (!(eventName in eventParsers)) {\n    throw new Error(`Unknown event: ${eventName}`);\n  }\n  const eventParser = eventParsers[eventName] || null;\n\n  /* istanbul ignore if */\n  if (!eventParser !== !eventData) {\n    throw new Error(`Event data ignored or parser not provided for ${eventName}`);\n  }\n\n  let eventDataProto: Record<string, unknown> | null = null;\n  if (eventData) {\n    eventDataProto = eventParser.deserializeBinary(eventData).toObject();\n  }\n\n  const eventObject: SdkEvent = { eventType: event.getEvent(), event: eventDataProto };\n\n  for (const observer of subscriptions) {\n    observer.next(eventObject);\n  }\n};\n\naddInitCallback(() => getBinding().setEventHandler(eventHandler));\n\nexport const filterEvent = <T>(eventTypeToFilter: string) => (source: Observable<SdkEvent>) =>\n  source.pipe(\n    filter(({ eventType }) => eventType === eventTypeToFilter),\n    map<SdkEvent, T>(({ event }) => event as T)\n  );\n"]}

package/dist/lib/gateway/serialization.js.map

@@ -1 +1 @@
-{"version":3,"file":"serialization.js","sourceRoot":"","sources":["../../../src/gateway/serialization.ts"],"names":[],"mappings":";;;AAEA,MAAM,cAAc,GAAG,CAAC,CAAC,CAAC,SAAS;AAE5B,MAAM,SAAS,GAAG,CAAC,GAAG,QAAyC,EAAE,EAAE;IACxE,MAAM,OAAO,GAAa,EAAE,CAAC;IAE7B,IAAI,IAAI,GAAG,cAAc,CAAC,CAAC,eAAe;IAC1C,KAAK,MAAM,OAAO,IAAI,QAAQ,CAAC,MAAM,CAAC,kBAAkB,CAAC,EAAE,CAAC,kBAAkB,CAAC,EAAE;QAC/E,MAAM,KAAK,GAAG,OAAQ,CAAC,eAAe,EAAE,CAAC;QACzC,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;QACjC,IAAI,IAAI,cAAc,GAAG,KAAK,CAAC,MAAM,CAAC,CAAC,qBAAqB;KAC7D;IAED,MAAM,MAAM,GAAG,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAClC,IAAI,MAAM,GAAG,CAAC,CAAC;IAEf,MAAM,CAAC,aAAa,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;IACnC,MAAM,IAAI,cAAc,CAAC;IAEzB,KAAK,MAAM,OAAO,IAAI,OAAO,EAAE;QAC7B,MAAM,CAAC,aAAa,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QAC7C,MAAM,IAAI,cAAc,CAAC;QAEzB,OAAO,CAAC,IAAI,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QAC7B,MAAM,IAAI,OAAO,CAAC,MAAM,CAAC;KAC1B;IAED,OAAO,MAAM,CAAC;AAChB,CAAC,CAAC;AAzBW,QAAA,SAAS,aAyBpB;AAEK,MAAM,WAAW,GAAG,CAAC,MAAc,EAAE,EAAE;IAC5C,IAAI,MAAM,GAAG,cAAc,CAAC;IAC5B,MAAM,OAAO,GAAa,EAAE,CAAC;IAC7B,OAAO,MAAM,GAAG,MAAM,CAAC,MAAM,EAAE;QAC7B,MAAM,IAAI,GAAG,MAAM,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;QACzC,MAAM,IAAI,cAAc,CAAC;QAEzB,MAAM,YAAY,GAAG,MAAM,CAAC,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC,CAAC;QACzD,OAAO,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;QAE3B,MAAM,IAAI,IAAI,CAAC;KAChB;IACD,OAAO,OAAO,CAAC;AACjB,CAAC,CAAC;AAbW,QAAA,WAAW,eAatB","sourcesContent":["export interface Serializable { serializeBinary(): Uint8Array; }\n\nconst SIZE_TYPE_SIZE = 4; // uint32\n\nexport const serialize = (...messages: Array<Serializable | undefined>) => {\n  const buffers: Buffer[] = [];\n\n  let size = SIZE_TYPE_SIZE; // total length\n  for (const message of messages.filter(mesasgeOrUndefined => mesasgeOrUndefined)) {\n    const bytes = message!.serializeBinary();\n    buffers.push(Buffer.from(bytes));\n    size += SIZE_TYPE_SIZE + bytes.length; // length + structure\n  }\n\n  const buffer = Buffer.alloc(size);\n  let offset = 0;\n\n  buffer.writeUInt32LE(size, offset);\n  offset += SIZE_TYPE_SIZE;\n\n  for (const message of buffers) {\n    buffer.writeUInt32LE(message.length, offset);\n    offset += SIZE_TYPE_SIZE;\n\n    message.copy(buffer, offset);\n    offset += message.length;\n  }\n\n  return buffer;\n};\n\nexport const deserialize = (buffer: Buffer) => {\n  let offset = SIZE_TYPE_SIZE;\n  const buffers: Buffer[] = [];\n  while (offset < buffer.length) {\n    const size = buffer.readUInt32LE(offset);\n    offset += SIZE_TYPE_SIZE;\n\n    const structBuffer = buffer.slice(offset, offset + size);\n    buffers.push(structBuffer);\n\n    offset += size;\n  }\n  return buffers;\n};\n"]}
+{"version":3,"file":"serialization.js","sourceRoot":"","sources":["../../../src/gateway/serialization.ts"],"names":[],"mappings":";;;AAEA,MAAM,cAAc,GAAG,CAAC,CAAC,CAAC,SAAS;AAE5B,MAAM,SAAS,GAAG,CAAC,GAAG,QAAyC,EAAE,EAAE;IACxE,MAAM,OAAO,GAAa,EAAE,CAAC;IAE7B,IAAI,IAAI,GAAG,cAAc,CAAC,CAAC,eAAe;IAC1C,KAAK,MAAM,OAAO,IAAI,QAAQ,CAAC,MAAM,CAAC,kBAAkB,CAAC,EAAE,CAAC,kBAAkB,CAAC,EAAE;QAC/E,MAAM,KAAK,GAAG,OAAQ,CAAC,eAAe,EAAE,CAAC;QACzC,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;QACjC,IAAI,IAAI,cAAc,GAAG,KAAK,CAAC,MAAM,CAAC,CAAC,qBAAqB;KAC7D;IAED,MAAM,MAAM,GAAG,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAClC,IAAI,MAAM,GAAG,CAAC,CAAC;IAEf,MAAM,CAAC,aAAa,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;IACnC,MAAM,IAAI,cAAc,CAAC;IAEzB,KAAK,MAAM,OAAO,IAAI,OAAO,EAAE;QAC7B,MAAM,CAAC,aAAa,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QAC7C,MAAM,IAAI,cAAc,CAAC;QAEzB,OAAO,CAAC,IAAI,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QAC7B,MAAM,IAAI,OAAO,CAAC,MAAM,CAAC;KAC1B;IAED,OAAO,MAAM,CAAC;AAChB,CAAC,CAAC;AAzBW,QAAA,SAAS,aAyBpB;AAEK,MAAM,WAAW,GAAG,CAAC,MAAc,EAAE,EAAE;IAC5C,IAAI,MAAM,GAAG,cAAc,CAAC;IAC5B,MAAM,OAAO,GAAa,EAAE,CAAC;IAC7B,OAAO,MAAM,GAAG,MAAM,CAAC,MAAM,EAAE;QAC7B,MAAM,IAAI,GAAG,MAAM,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;QACzC,MAAM,IAAI,cAAc,CAAC;QAEzB,MAAM,YAAY,GAAG,MAAM,CAAC,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC,CAAC;QACzD,OAAO,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;QAE3B,MAAM,IAAI,IAAI,CAAC;KAChB;IACD,OAAO,OAAO,CAAC;AACjB,CAAC,CAAC;AAbW,QAAA,WAAW,eAatB","sourcesContent":["export interface Serializable { serializeBinary(): Uint8Array }\n\nconst SIZE_TYPE_SIZE = 4; // uint32\n\nexport const serialize = (...messages: Array<Serializable | undefined>) => {\n  const buffers: Buffer[] = [];\n\n  let size = SIZE_TYPE_SIZE; // total length\n  for (const message of messages.filter(mesasgeOrUndefined => mesasgeOrUndefined)) {\n    const bytes = message!.serializeBinary();\n    buffers.push(Buffer.from(bytes));\n    size += SIZE_TYPE_SIZE + bytes.length; // length + structure\n  }\n\n  const buffer = Buffer.alloc(size);\n  let offset = 0;\n\n  buffer.writeUInt32LE(size, offset);\n  offset += SIZE_TYPE_SIZE;\n\n  for (const message of buffers) {\n    buffer.writeUInt32LE(message.length, offset);\n    offset += SIZE_TYPE_SIZE;\n\n    message.copy(buffer, offset);\n    offset += message.length;\n  }\n\n  return buffer;\n};\n\nexport const deserialize = (buffer: Buffer) => {\n  let offset = SIZE_TYPE_SIZE;\n  const buffers: Buffer[] = [];\n  while (offset < buffer.length) {\n    const size = buffer.readUInt32LE(offset);\n    offset += SIZE_TYPE_SIZE;\n\n    const structBuffer = buffer.slice(offset, offset + size);\n    buffers.push(structBuffer);\n\n    offset += size;\n  }\n  return buffers;\n};\n"]}

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

@@ -7,6 +7,7 @@ import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
  * Represents an offline G-Code translator.
  * It allows to translate G-Code blocks to Zaber ASCII protocol stream commands.
  * This translator does not need a connected device to perform translation.
+ * Requires at least Firmware 7.11.
  */
 export declare class OfflineTranslator {
     /**
@@ -24,7 +25,7 @@ export declare class OfflineTranslator {
      * @param definition Definition of device and its peripherals.
      * The definition must match a device that later performs the commands.
      * @param config? Configuration of the translator.
-     * @return New instance of translator.
+     * @returns New instance of translator.
      */
     static setup(definition: DeviceDefinition, config?: TranslatorConfig): Promise<OfflineTranslator>;
     /**
@@ -33,19 +34,19 @@ export declare class OfflineTranslator {
      * @param axes Axis numbers that are later used to setup the stream.
      * For a lockstep group specify only the first axis of the group.
      * @param config? Configuration of the translator.
-     * @return New instance of translator.
+     * @returns New instance of translator.
      */
     static setupFromDevice(device: Device, axes: number[], config?: TranslatorConfig): Promise<OfflineTranslator>;
     /**
      * Translates a single block (line) of G-code.
      * @param block Block (line) of G-code.
-     * @return Result of translation containing the stream commands.
+     * @returns Result of translation containing the stream commands.
      */
     translate(block: string): TranslateResult;
     /**
      * Flushes the remaining stream commands waiting in optimization buffer.
      * The flush is also performed by M2 and M30 codes.
-     * @return The remaining stream commands.
+     * @returns The remaining stream commands.
      */
     flush(): string[];
     /**
@@ -68,7 +69,7 @@ export declare class OfflineTranslator {
      * This method does not query device but returns value from translator's state.
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Position of translator's axis.
+     * @returns Position of translator's axis.
      */
     getAxisPosition(axis: string, unit: Length | Angle | Native): number;
     /**
@@ -92,7 +93,7 @@ export declare class OfflineTranslator {
      * @param coordinateSystem Coordinate system (e.g. G54).
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Offset in translator units of the axis.
+     * @returns Offset in translator units of the axis.
      */
     getAxisCoordinateSystemOffset(coordinateSystem: string, axis: string, unit: Length | Angle | Native): number;
     /**
@@ -112,7 +113,7 @@ export declare class OfflineTranslator {
     private static _free;
     /**
      * Gets current coordinate system (e.g. G54).
-     * @return Current coordinate system.
+     * @returns Current coordinate system.
      */
     private _getCurrentCoordinateSystem;
     /**

package/dist/lib/gcode/offline_translator.js

@@ -35,6 +35,7 @@ const finalizer_1 = require("../finalizer");
  * Represents an offline G-Code translator.
  * It allows to translate G-Code blocks to Zaber ASCII protocol stream commands.
  * This translator does not need a connected device to perform translation.
+ * Requires at least Firmware 7.11.
  */
 class OfflineTranslator {
     /**
@@ -58,7 +59,7 @@ class OfflineTranslator {
      * @param definition Definition of device and its peripherals.
      * The definition must match a device that later performs the commands.
      * @param config? Configuration of the translator.
-     * @return New instance of translator.
+     * @returns New instance of translator.
      */
     static async setup(definition, config) {
         const request = new gateway.TranslatorCreateRequest();
@@ -73,7 +74,7 @@ class OfflineTranslator {
      * @param axes Axis numbers that are later used to setup the stream.
      * For a lockstep group specify only the first axis of the group.
      * @param config? Configuration of the translator.
-     * @return New instance of translator.
+     * @returns New instance of translator.
      */
     static async setupFromDevice(device, axes, config) {
         const request = new gateway.TranslatorCreateFromDeviceRequest();
@@ -87,7 +88,7 @@ class OfflineTranslator {
     /**
      * Translates a single block (line) of G-code.
      * @param block Block (line) of G-code.
-     * @return Result of translation containing the stream commands.
+     * @returns Result of translation containing the stream commands.
      */
     translate(block) {
         const request = new gateway.TranslatorTranslateRequest();
@@ -99,7 +100,7 @@ class OfflineTranslator {
     /**
      * Flushes the remaining stream commands waiting in optimization buffer.
      * The flush is also performed by M2 and M30 codes.
-     * @return The remaining stream commands.
+     * @returns The remaining stream commands.
      */
     flush() {
         const request = new gateway.TranslatorEmptyRequest();
@@ -140,7 +141,7 @@ class OfflineTranslator {
      * This method does not query device but returns value from translator's state.
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Position of translator's axis.
+     * @returns Position of translator's axis.
      */
     getAxisPosition(axis, unit) {
         const request = new gateway.TranslatorGetAxisPositionRequest();
@@ -185,7 +186,7 @@ class OfflineTranslator {
      * @param coordinateSystem Coordinate system (e.g. G54).
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Offset in translator units of the axis.
+     * @returns Offset in translator units of the axis.
      */
     getAxisCoordinateSystemOffset(coordinateSystem, axis, unit) {
         const request = new gateway.TranslatorGetAxisOffsetRequest();
@@ -226,7 +227,7 @@ class OfflineTranslator {
     }
     /**
      * Gets current coordinate system (e.g. G54).
-     * @return Current coordinate system.
+     * @returns Current coordinate system.
      */
     _getCurrentCoordinateSystem() {
         const request = new gateway.TranslatorEmptyRequest();

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 { Device } from '../ascii/device';\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   * Sets up an offline translator from provided device, axes, and configuration.\n   * @param device Device that later performs the command streaming.\n   * @param axes Axis numbers that are later used to setup the stream.\n   * For a lockstep group specify only the first axis of the group.\n   * @param config? Configuration of the translator.\n   * @return New instance of translator.\n   */\n  public static async setupFromDevice(\n    device: Device,\n    axes: number[],\n    config?: TranslatorConfig\n  ): Promise<OfflineTranslator> {\n    const request = new gateway.TranslatorCreateFromDeviceRequest();\n    request.setInterfaceId(device.connection.interfaceId);\n    request.setDevice(device.deviceAddress);\n    request.setAxesList(axes);\n    request.setConfig(TranslatorConfig.toProtobuf(config));\n\n    const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n      'gcode/create_from_device',\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"]}
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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 { Device } from '../ascii/device';\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 * Requires at least Firmware 7.11.\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   * @returns 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   * Sets up an offline translator from provided device, axes, and configuration.\n   * @param device Device that later performs the command streaming.\n   * @param axes Axis numbers that are later used to setup the stream.\n   * For a lockstep group specify only the first axis of the group.\n   * @param config? Configuration of the translator.\n   * @returns New instance of translator.\n   */\n  public static async setupFromDevice(\n    device: Device,\n    axes: number[],\n    config?: TranslatorConfig\n  ): Promise<OfflineTranslator> {\n    const request = new gateway.TranslatorCreateFromDeviceRequest();\n    request.setInterfaceId(device.connection.interfaceId);\n    request.setDevice(device.deviceAddress);\n    request.setAxesList(axes);\n    request.setConfig(TranslatorConfig.toProtobuf(config));\n\n    const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n      'gcode/create_from_device',\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   * @returns 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   * @returns 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   * @returns 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   * @returns 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   * @returns 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.d.ts

@@ -6,6 +6,7 @@ import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
  * Represents a live G-Code translator.
  * It allows to stream G-Code blocks to a connected device.
  * It requires a stream to be setup on the device.
+ * Requires at least Firmware 7.11.
  */
 export declare class Translator {
     /**
@@ -23,7 +24,7 @@ export declare class Translator {
      * @param stream The stream to setup the translator on.
      * The stream must be already setup in a live or a store mode.
      * @param config? Configuration of the translator.
-     * @return New instance of translator.
+     * @returns New instance of translator.
      */
     static setup(stream: Stream, config?: TranslatorConfig): Promise<Translator>;
     /**
@@ -31,16 +32,16 @@ export declare class Translator {
      * The commands are queued in the underlying stream to ensure smooth continues movement.
      * Returning of this method indicates that the commands are queued (not necessarily executed).
      * @param block Block (line) of G-code.
-     * @return Result of translation containing the commands sent to the device.
+     * @returns Result of translation containing the commands sent to the device.
      */
     translate(block: string): Promise<TranslateResult>;
     /**
      * Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.
      * The flush is also performed by M2 and M30 codes.
-     * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.
-     * @return The remaining stream commands.
+     * @param [options.waitUntilIdle=true] Determines whether to wait for the stream to finish all the movements.
+     * @returns The remaining stream commands.
      */
-    flush(waitUntilIdle?: boolean): Promise<string[]>;
+    flush(options?: Translator.FlushOptions): Promise<string[]>;
     /**
      * Resets position of the translator from the underlying stream.
      * Call this method after performing a movement outside of translator.
@@ -66,7 +67,7 @@ export declare class Translator {
      * This method does not query device but returns value from translator's state.
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Position of translator's axis.
+     * @returns Position of translator's axis.
      */
     getAxisPosition(axis: string, unit: Length | Angle | Native): number;
     /**
@@ -90,7 +91,7 @@ export declare class Translator {
      * @param coordinateSystem Coordinate system (e.g. G54).
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Offset in translator units of the axis.
+     * @returns Offset in translator units of the axis.
      */
     getAxisCoordinateSystemOffset(coordinateSystem: string, axis: string, unit: Length | Angle | Native): number;
     /**
@@ -110,7 +111,7 @@ export declare class Translator {
     private static _free;
     /**
      * Gets current coordinate system (e.g. G54).
-     * @return Current coordinate system.
+     * @returns Current coordinate system.
      */
     private _getCurrentCoordinateSystem;
     /**
@@ -120,3 +121,9 @@ export declare class Translator {
      */
     free(): void;
 }
+declare namespace Translator {
+    interface FlushOptions {
+        waitUntilIdle?: boolean;
+    }
+}
+export {};

package/dist/lib/gcode/translator.js

@@ -34,6 +34,7 @@ const finalizer_1 = require("../finalizer");
  * Represents a live G-Code translator.
  * It allows to stream G-Code blocks to a connected device.
  * It requires a stream to be setup on the device.
+ * Requires at least Firmware 7.11.
  */
 class Translator {
     /**
@@ -57,7 +58,7 @@ class Translator {
      * @param stream The stream to setup the translator on.
      * The stream must be already setup in a live or a store mode.
      * @param config? Configuration of the translator.
-     * @return New instance of translator.
+     * @returns New instance of translator.
      */
     static async setup(stream, config) {
         const request = new gateway.TranslatorCreateLiveRequest();
@@ -73,7 +74,7 @@ class Translator {
      * The commands are queued in the underlying stream to ensure smooth continues movement.
      * Returning of this method indicates that the commands are queued (not necessarily executed).
      * @param block Block (line) of G-code.
-     * @return Result of translation containing the commands sent to the device.
+     * @returns Result of translation containing the commands sent to the device.
      */
     async translate(block) {
         const request = new gateway.TranslatorTranslateRequest();
@@ -85,10 +86,11 @@ class Translator {
     /**
      * Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.
      * The flush is also performed by M2 and M30 codes.
-     * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.
-     * @return The remaining stream commands.
+     * @param [options.waitUntilIdle=true] Determines whether to wait for the stream to finish all the movements.
+     * @returns The remaining stream commands.
      */
-    async flush(waitUntilIdle = true) {
+    async flush(options = {}) {
+        const { waitUntilIdle = true, } = options;
         const request = new gateway.TranslatorFlushLiveRequest();
         request.setTranslatorId(this.translatorId);
         request.setWaitUntilIdle(waitUntilIdle);
@@ -137,7 +139,7 @@ class Translator {
      * This method does not query device but returns value from translator's state.
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Position of translator's axis.
+     * @returns Position of translator's axis.
      */
     getAxisPosition(axis, unit) {
         const request = new gateway.TranslatorGetAxisPositionRequest();
@@ -182,7 +184,7 @@ class Translator {
      * @param coordinateSystem Coordinate system (e.g. G54).
      * @param axis Letter of the axis.
      * @param unit Units of position.
-     * @return Offset in translator units of the axis.
+     * @returns Offset in translator units of the axis.
      */
     getAxisCoordinateSystemOffset(coordinateSystem, axis, unit) {
         const request = new gateway.TranslatorGetAxisOffsetRequest();
@@ -223,7 +225,7 @@ class Translator {
     }
     /**
      * Gets current coordinate system (e.g. G54).
-     * @return Current coordinate system.
+     * @returns Current coordinate system.
      */
     _getCurrentCoordinateSystem() {
         const request = new gateway.TranslatorEmptyRequest();

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

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { TranslateResult } from './translate_result';\nimport { TranslatorConfig } from './translator_config';\nimport { Stream } from '../ascii/stream';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\n/**\n * Represents a live G-Code translator.\n * It allows to stream G-Code blocks to a connected device.\n * It requires a stream to be setup on the device.\n */\nexport class Translator {\n  /**\n   * The ID of the translator that serves to identify native resources.\n   */\n  public get translatorId(): number {\n    return this._translatorId;\n  }\n  private _translatorId: number;\n\n  /**\n   * Current coordinate system.\n   */\n  public get coordinateSystem(): string {\n    return this._getCurrentCoordinateSystem();\n  }\n\n  constructor(translatorId: number) {\n    this._translatorId = translatorId;\n    registerForFinalization(this, Translator._free.bind(null, translatorId));\n  }\n\n  /**\n   * Sets up the translator on top of a provided stream.\n   * @param stream The stream to setup the translator on.\n   * The stream must be already setup in a live or a store mode.\n   * @param config? Configuration of the translator.\n   * @return New instance of translator.\n   */\n  public static async setup(\n    stream: Stream,\n    config?: TranslatorConfig\n  ): Promise<Translator> {\n    const request = new gateway.TranslatorCreateLiveRequest();\n    request.setDevice(stream.device.deviceAddress);\n    request.setInterfaceId(stream.device.connection.interfaceId);\n    request.setStreamId(stream.streamId);\n    request.setConfig(TranslatorConfig.toProtobuf(config));\n\n    const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n      'gcode/create_live',\n      request,\n      gateway.TranslatorCreateResponse);\n    return new Translator(response.getTranslatorId());\n  }\n\n  /**\n   * Translates a single block (line) of G-code.\n   * The commands are queued in the underlying stream to ensure smooth continues movement.\n   * Returning of this method indicates that the commands are queued (not necessarily executed).\n   * @param block Block (line) of G-code.\n   * @return Result of translation containing the commands sent to the device.\n   */\n  public async translate(\n    block: string\n  ): Promise<TranslateResult> {\n    const request = new gateway.TranslatorTranslateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setBlock(block);\n\n    const response = await gateway.callAsync<gateway.TranslatorTranslateResponse>(\n      'gcode/translate_live',\n      request,\n      gateway.TranslatorTranslateResponse);\n    return TranslateResult.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.\n   * The flush is also performed by M2 and M30 codes.\n   * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.\n   * @return The remaining stream commands.\n   */\n  public async flush(\n    waitUntilIdle: boolean = true\n  ): Promise<string[]> {\n    const request = new gateway.TranslatorFlushLiveRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    const response = await gateway.callAsync<gateway.TranslatorFlushResponse>(\n      'gcode/flush_live',\n      request,\n      gateway.TranslatorFlushResponse);\n    return response.getCommandsList();\n  }\n\n  /**\n   * Resets position of the translator from the underlying stream.\n   * Call this method after performing a movement outside of translator.\n   */\n  public async resetPosition(): Promise<void> {\n    const request = new gateway.TranslatorEmptyRequest();\n    request.setTranslatorId(this.translatorId);\n\n    await gateway.callAsync('gcode/reset_position_from_stream', request);\n  }\n\n  /**\n   * Sets the speed at which the device moves when traversing (G0).\n   * @param traverseRate The traverse rate.\n   * @param unit Units of the traverse rate.\n   */\n  public setTraverseRate(\n    traverseRate: number,\n    unit: Velocity | AngularVelocity | Native\n  ): void {\n    const request = new gateway.TranslatorSetTraverseRateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setTraverseRate(traverseRate);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_traverse_rate', request);\n  }\n\n  /**\n   * Sets position of translator's axis.\n   * Use this method to set position after performing movement outside of the translator.\n   * This method does not cause any movement.\n   * @param axis Letter of the axis.\n   * @param position The position.\n   * @param unit Units of position.\n   */\n  public setAxisPosition(\n    axis: string,\n    position: number,\n    unit: Length | Angle | Native\n  ): void {\n    const request = new gateway.TranslatorSetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setPosition(position);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_axis_position', request);\n  }\n\n  /**\n   * Gets position of translator's axis.\n   * This method does not query device but returns value from translator's state.\n   * @param axis Letter of the axis.\n   * @param unit Units of position.\n   * @return Position of translator's axis.\n   */\n  public getAxisPosition(\n    axis: string,\n    unit: Length | Angle | Native\n  ): number {\n    const request = new gateway.TranslatorGetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.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    Translator._free(this.translatorId);\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { TranslateResult } from './translate_result';\nimport { TranslatorConfig } from './translator_config';\nimport { Stream } from '../ascii/stream';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\n/**\n * Represents a live G-Code translator.\n * It allows to stream G-Code blocks to a connected device.\n * It requires a stream to be setup on the device.\n * Requires at least Firmware 7.11.\n */\nexport class Translator {\n  /**\n   * The ID of the translator that serves to identify native resources.\n   */\n  public get translatorId(): number {\n    return this._translatorId;\n  }\n  private _translatorId: number;\n\n  /**\n   * Current coordinate system.\n   */\n  public get coordinateSystem(): string {\n    return this._getCurrentCoordinateSystem();\n  }\n\n  constructor(translatorId: number) {\n    this._translatorId = translatorId;\n    registerForFinalization(this, Translator._free.bind(null, translatorId));\n  }\n\n  /**\n   * Sets up the translator on top of a provided stream.\n   * @param stream The stream to setup the translator on.\n   * The stream must be already setup in a live or a store mode.\n   * @param config? Configuration of the translator.\n   * @returns New instance of translator.\n   */\n  public static async setup(\n    stream: Stream,\n    config?: TranslatorConfig\n  ): Promise<Translator> {\n    const request = new gateway.TranslatorCreateLiveRequest();\n    request.setDevice(stream.device.deviceAddress);\n    request.setInterfaceId(stream.device.connection.interfaceId);\n    request.setStreamId(stream.streamId);\n    request.setConfig(TranslatorConfig.toProtobuf(config));\n\n    const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n      'gcode/create_live',\n      request,\n      gateway.TranslatorCreateResponse);\n    return new Translator(response.getTranslatorId());\n  }\n\n  /**\n   * Translates a single block (line) of G-code.\n   * The commands are queued in the underlying stream to ensure smooth continues movement.\n   * Returning of this method indicates that the commands are queued (not necessarily executed).\n   * @param block Block (line) of G-code.\n   * @returns Result of translation containing the commands sent to the device.\n   */\n  public async translate(\n    block: string\n  ): Promise<TranslateResult> {\n    const request = new gateway.TranslatorTranslateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setBlock(block);\n\n    const response = await gateway.callAsync<gateway.TranslatorTranslateResponse>(\n      'gcode/translate_live',\n      request,\n      gateway.TranslatorTranslateResponse);\n    return TranslateResult.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.\n   * The flush is also performed by M2 and M30 codes.\n   * @param [options.waitUntilIdle=true] Determines whether to wait for the stream to finish all the movements.\n   * @returns The remaining stream commands.\n   */\n  public async flush(\n    options: Translator.FlushOptions = {}\n  ): Promise<string[]> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.TranslatorFlushLiveRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    const response = await gateway.callAsync<gateway.TranslatorFlushResponse>(\n      'gcode/flush_live',\n      request,\n      gateway.TranslatorFlushResponse);\n    return response.getCommandsList();\n  }\n\n  /**\n   * Resets position of the translator from the underlying stream.\n   * Call this method after performing a movement outside of translator.\n   */\n  public async resetPosition(): Promise<void> {\n    const request = new gateway.TranslatorEmptyRequest();\n    request.setTranslatorId(this.translatorId);\n\n    await gateway.callAsync('gcode/reset_position_from_stream', request);\n  }\n\n  /**\n   * Sets the speed at which the device moves when traversing (G0).\n   * @param traverseRate The traverse rate.\n   * @param unit Units of the traverse rate.\n   */\n  public setTraverseRate(\n    traverseRate: number,\n    unit: Velocity | AngularVelocity | Native\n  ): void {\n    const request = new gateway.TranslatorSetTraverseRateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setTraverseRate(traverseRate);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_traverse_rate', request);\n  }\n\n  /**\n   * Sets position of translator's axis.\n   * Use this method to set position after performing movement outside of the translator.\n   * This method does not cause any movement.\n   * @param axis Letter of the axis.\n   * @param position The position.\n   * @param unit Units of position.\n   */\n  public setAxisPosition(\n    axis: string,\n    position: number,\n    unit: Length | Angle | Native\n  ): void {\n    const request = new gateway.TranslatorSetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setPosition(position);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_axis_position', request);\n  }\n\n  /**\n   * Gets position of translator's axis.\n   * This method does not query device but returns value from translator's state.\n   * @param axis Letter of the axis.\n   * @param unit Units of position.\n   * @returns 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   * @returns 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   * @returns 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    Translator._free(this.translatorId);\n  }\n}\n\nnamespace Translator {\n  export interface FlushOptions {\n      waitUntilIdle?: boolean;\n  }\n}\n"]}