@zaber/motion 2.15.4 → 3.0.1

package/dist/lib/binary/connection.js

@@ -52,12 +52,13 @@ class Connection {
     /**
      * Opens a serial port.
      * @param portName Name of the port to open.
-     * @param baudRate Optional baud rate (defaults to 9600).
-     * @param useMessageIds Enable use of message IDs (defaults to disabled).
+     * @param [options.baudRate=Connection.DEFAULT_BAUD_RATE] Optional baud rate (defaults to 9600).
+     * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).
      * All your devices must be pre-configured to match.
-     * @return An object representing the port.
+     * @returns An object representing the port.
      */
-    static async openSerialPort(portName, baudRate = Connection.DEFAULT_BAUD_RATE, useMessageIds = false) {
+    static async openSerialPort(portName, options = {}) {
+        const { baudRate = Connection.DEFAULT_BAUD_RATE, useMessageIds = false, } = options;
         const request = new gateway.OpenBinaryInterfaceRequest();
         request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);
         request.setPortName(portName);
@@ -69,12 +70,13 @@ class Connection {
     /**
      * Opens a TCP connection.
      * @param hostName Hostname or IP address.
-     * @param port Optional port number (defaults to 8657).
-     * @param useMessageIds Enable use of message IDs (defaults to disabled).
+     * @param port Port number.
+     * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).
      * All your devices must be pre-configured to match.
-     * @return An object representing the connection.
+     * @returns An object representing the connection.
      */
-    static async openTcp(hostName, port = 0, useMessageIds = false) {
+    static async openTcp(hostName, port, options = {}) {
+        const { useMessageIds = false, } = options;
         const request = new gateway.OpenBinaryInterfaceRequest();
         request.setInterfaceType(gateway.InterfaceType.TCP);
         request.setHostName(hostName);
@@ -97,12 +99,13 @@ class Connection {
      * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).
      * @param device Device address to send the command to. Use zero for broadcast.
      * @param command Command to send.
-     * @param data Optional data argument to the command. Defaults to zero.
-     * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
-     * @param checkErrors Controls whether to throw an exception when the device rejects the command.
-     * @return A response to the command.
+     * @param [data=0] Optional data argument to the command. Defaults to zero.
+     * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
+     * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.
+     * @returns A response to the command.
      */
-    async genericCommand(device, command, data = 0, timeout = 0.0, checkErrors = true) {
+    async genericCommand(device, command, data = 0, options = {}) {
+        const { timeout = 0.0, checkErrors = true, } = options;
         const request = new gateway.GenericBinaryRequest();
         request.setInterfaceId(this.interfaceId);
         request.setDevice(device);
@@ -119,7 +122,7 @@ class Connection {
      * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).
      * @param device Device address to send the command to. Use zero for broadcast.
      * @param command Command to send.
-     * @param data Optional data argument to the command. Defaults to zero.
+     * @param [data=0] Optional data argument to the command. Defaults to zero.
      */
     async genericCommandNoResponse(device, command, data = 0) {
         const request = new gateway.GenericBinaryRequest();
@@ -135,12 +138,13 @@ class Connection {
      * For more information please refer to the
      * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).
      * @param command Command to send.
-     * @param data Optional data argument to the command. Defaults to zero.
-     * @param timeout Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.
-     * @param checkErrors Controls whether to throw an exception when any device rejects the command.
-     * @return All responses to the command.
+     * @param [data=0] Optional data argument to the command. Defaults to zero.
+     * @param [options.timeout=0.0] Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.
+     * @param [options.checkErrors=true] Controls whether to throw an exception when any device rejects the command.
+     * @returns All responses to the command.
      */
-    async genericCommandMultiResponse(command, data = 0, timeout = 0.0, checkErrors = true) {
+    async genericCommandMultiResponse(command, data = 0, options = {}) {
+        const { timeout = 0.0, checkErrors = true, } = options;
         const request = new gateway.GenericBinaryRequest();
         request.setInterfaceId(this.interfaceId);
         request.setCommand(command);
@@ -152,7 +156,7 @@ class Connection {
     }
     /**
      * Renumbers devices present on this connection. After renumbering, you must identify devices again.
-     * @return Total number of devices that responded to the renumber.
+     * @returns Total number of devices that responded to the renumber.
      */
     async renumberDevices() {
         const request = new gateway.InterfaceEmptyRequest();
@@ -162,10 +166,11 @@ class Connection {
     }
     /**
      * Attempts to detect any devices present on this connection.
-     * @param identifyDevices Determines whether device identification should be performed as well.
-     * @return Array of detected devices.
+     * @param [options.identifyDevices=true] Determines whether device identification should be performed as well.
+     * @returns Array of detected devices.
      */
-    async detectDevices(identifyDevices = true) {
+    async detectDevices(options = {}) {
+        const { identifyDevices = true, } = options;
         const request = new gateway.BinaryDeviceDetectRequest();
         request.setInterfaceId(this.interfaceId);
         request.setIdentifyDevices(identifyDevices);
@@ -176,7 +181,7 @@ class Connection {
      * Gets a Device class instance which allows you to control a particular device on this connection.
      * Devices are numbered from 1.
      * @param deviceAddress Address of device intended to control. Address is configured for each device.
-     * @return Device instance.
+     * @returns Device instance.
      */
     getDevice(deviceAddress) {
         if (deviceAddress <= 0) {
@@ -186,7 +191,7 @@ class Connection {
     }
     /**
      * Returns a string that represents the connection.
-     * @return A string that represents the connection.
+     * @returns A string that represents the connection.
      */
     toString() {
         const request = new gateway.InterfaceEmptyRequest();

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

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Observable, ReplaySubject } from 'rxjs';\nimport { map, filter, takeUntil, take } from 'rxjs/operators';\nimport * as gateway from '../gateway';\nimport { events, filterEvent } from '../gateway';\nimport { Device } from './device';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { ReplyOnlyEvent } from './reply_only_event';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection) using the legacy Binary protocol.\n */\nexport class Connection {\n\n  /**\n   * Event invoked when a response from a device cannot be matched to any known request.\n   */\n  public unknownResponse!: Observable<UnknownResponseEvent>;\n\n  /**\n   * Event invoked when a reply-only command such as a move tracking message is received from a device.\n   */\n  public replyOnly!: Observable<ReplyOnlyEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 9600;\n\n  /**\n   * The interface ID identifies thisConnection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port.\n   * @param portName Name of the port to open.\n   * @param baudRate Optional baud rate (defaults to 9600).\n   * @param useMessageIds Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @return An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    baudRate: number = Connection.DEFAULT_BAUD_RATE,\n    useMessageIds: boolean = false\n  ): Promise<Connection> {\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a TCP connection.\n   * @param hostName Hostname or IP address.\n   * @param port Optional port number (defaults to 8657).\n   * @param useMessageIds Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @return An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number = 0,\n    useMessageIds: boolean = false\n  ): Promise<Connection> {\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.TCP);\n    request.setHostName(hostName);\n    request.setPort(port);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Close the connection.\n   */\n  public async close(): Promise<void> {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    await gateway.callAsync('interface/close', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    device: number,\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessage>(\n      'binary/interface/generic_command',\n      request,\n      gateway.BinaryMessage);\n    return Message.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic Binary command to this connection without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    device: number,\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection and expects responses from one or more devices.\n   * Responses are returned in order of arrival.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param data Optional data argument to the command. Defaults to zero.\n   * @param timeout Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n   * @param checkErrors Controls whether to throw an exception when any device rejects the command.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: CommandCode,\n    data: number = 0,\n    timeout: number = 0.0,\n    checkErrors: boolean = true\n  ): Promise<Message[]> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessageCollection>(\n      'binary/interface/generic_command_multi_response',\n      request,\n      gateway.BinaryMessageCollection);\n    return response.getMessagesList().map(a => Message.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, you must identify devices again.\n   * @return Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(): Promise<number> {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'binary/device/renumber',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param identifyDevices Determines whether device identification should be performed as well.\n   * @return Array of detected devices.\n   */\n  public async detectDevices(\n    identifyDevices: boolean = true\n  ): Promise<Device[]> {\n    const request = new gateway.BinaryDeviceDetectRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIdentifyDevices(identifyDevices);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceDetectResponse>(\n      'binary/device/detect',\n      request,\n      gateway.BinaryDeviceDetectResponse);\n    return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\n  }\n\n  /**\n   * Gets a Device class instance which allows you to control a particular device on this connection.\n   * Devices are numbered from 1.\n   * @param deviceAddress Address of device intended to control. Address is configured for each device.\n   * @return Device instance.\n   */\n  public getDevice(\n    deviceAddress: number\n  ): Device {\n    if (deviceAddress <= 0) {\n      throw new TypeError('Invalid value; physical devices are numbered from 1.');\n    }\n    return new Device(this, deviceAddress);\n  }\n\n  /**\n   * Returns a string that represents the connection.\n   * @return A string that represents the connection.\n   */\n  public toString(): string {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'interface/to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  private _disconnected = new ReplaySubject<MotionLibException>();\n\n  /**\n   * Event invoked when connection is interrupted or closed.\n   */\n  public get disconnected(): Observable<MotionLibException> {\n    return this._disconnected;\n  }\n\n  private _subscribe(): void {\n    this.unknownResponse = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.UnknownBinaryResponseEvent.AsObject>('binary/interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => UnknownResponseEvent.fromProtobuf(event))\n    );\n\n    this.replyOnly = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.BinaryReplyOnlyEvent.AsObject>('binary/interface/reply_only'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => ReplyOnlyEvent.fromProtobuf(event))\n    );\n\n    events.pipe(\n      filterEvent<gateway.DisconnectedEvent.AsObject>('interface/disconnected'),\n      filter(event => event.interfaceId === this.interfaceId),\n      take(1),\n      map(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))\n    ).subscribe(this._disconnected);\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Observable, ReplaySubject } from 'rxjs';\nimport { map, filter, takeUntil, take } from 'rxjs/operators';\nimport * as gateway from '../gateway';\nimport { events, filterEvent } from '../gateway';\nimport { Device } from './device';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { ReplyOnlyEvent } from './reply_only_event';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection) using the legacy Binary protocol.\n */\nexport class Connection {\n  /**\n   * Event invoked when a response from a device cannot be matched to any known request.\n   */\n  public unknownResponse!: Observable<UnknownResponseEvent>;\n\n  /**\n   * Event invoked when a reply-only command such as a move tracking message is received from a device.\n   */\n  public replyOnly!: Observable<ReplyOnlyEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 9600;\n\n  /**\n   * The interface ID identifies thisConnection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port.\n   * @param portName Name of the port to open.\n   * @param [options.baudRate=Connection.DEFAULT_BAUD_RATE] Optional baud rate (defaults to 9600).\n   * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @returns An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    options: Connection.OpenSerialPortOptions = {}\n  ): Promise<Connection> {\n    const {\n      baudRate = Connection.DEFAULT_BAUD_RATE,\n      useMessageIds = false,\n    } = options;\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a TCP connection.\n   * @param hostName Hostname or IP address.\n   * @param port Port number.\n   * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @returns An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number,\n    options: Connection.OpenTcpOptions = {}\n  ): Promise<Connection> {\n    const {\n      useMessageIds = false,\n    } = options;\n    const request = new gateway.OpenBinaryInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.TCP);\n    request.setHostName(hostName);\n    request.setPort(port);\n    request.setUseMessageIds(useMessageIds);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Close the connection.\n   */\n  public async close(): Promise<void> {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    await gateway.callAsync('interface/close', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param [data=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    device: number,\n    command: CommandCode,\n    data: number = 0,\n    options: Connection.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.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessage>(\n      'binary/interface/generic_command',\n      request,\n      gateway.BinaryMessage);\n    return Message.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic Binary command to this connection without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    device: number,\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setDevice(device);\n    request.setCommand(command as any);\n    request.setData(data);\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection and expects responses from one or more devices.\n   * Responses are returned in order of arrival.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   * @param [options.timeout=0.0] Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when any device rejects the command.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: CommandCode,\n    data: number = 0,\n    options: Connection.GenericCommandMultiResponseOptions = {}\n  ): Promise<Message[]> {\n    const {\n      timeout = 0.0,\n      checkErrors = true,\n    } = options;\n    const request = new gateway.GenericBinaryRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command as any);\n    request.setData(data);\n    request.setTimeout(timeout);\n    request.setCheckErrors(checkErrors);\n\n    const response = await gateway.callAsync<gateway.BinaryMessageCollection>(\n      'binary/interface/generic_command_multi_response',\n      request,\n      gateway.BinaryMessageCollection);\n    return response.getMessagesList().map(a => Message.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, you must identify devices again.\n   * @returns Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(): Promise<number> {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'binary/device/renumber',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param [options.identifyDevices=true] Determines whether device identification should be performed as well.\n   * @returns Array of detected devices.\n   */\n  public async detectDevices(\n    options: Connection.DetectDevicesOptions = {}\n  ): Promise<Device[]> {\n    const {\n      identifyDevices = true,\n    } = options;\n    const request = new gateway.BinaryDeviceDetectRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIdentifyDevices(identifyDevices);\n\n    const response = await gateway.callAsync<gateway.BinaryDeviceDetectResponse>(\n      'binary/device/detect',\n      request,\n      gateway.BinaryDeviceDetectResponse);\n    return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\n  }\n\n  /**\n   * Gets a Device class instance which allows you to control a particular device on this connection.\n   * Devices are numbered from 1.\n   * @param deviceAddress Address of device intended to control. Address is configured for each device.\n   * @returns Device instance.\n   */\n  public getDevice(\n    deviceAddress: number\n  ): Device {\n    if (deviceAddress <= 0) {\n      throw new TypeError('Invalid value; physical devices are numbered from 1.');\n    }\n    return new Device(this, deviceAddress);\n  }\n\n  /**\n   * Returns a string that represents the connection.\n   * @returns A string that represents the connection.\n   */\n  public toString(): string {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'interface/to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  private _disconnected = new ReplaySubject<MotionLibException>();\n\n  /**\n   * Event invoked when connection is interrupted or closed.\n   */\n  public get disconnected(): Observable<MotionLibException> {\n    return this._disconnected;\n  }\n\n  private _subscribe(): void {\n    this.unknownResponse = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.UnknownBinaryResponseEvent.AsObject>('binary/interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => UnknownResponseEvent.fromProtobuf(event))\n    );\n\n    this.replyOnly = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.BinaryReplyOnlyEvent.AsObject>('binary/interface/reply_only'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => ReplyOnlyEvent.fromProtobuf(event))\n    );\n\n    events.pipe(\n      filterEvent<gateway.DisconnectedEvent.AsObject>('interface/disconnected'),\n      filter(event => event.interfaceId === this.interfaceId),\n      take(1),\n      map(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))\n    ).subscribe(this._disconnected);\n  }\n}\n\nnamespace Connection {\n  export interface OpenSerialPortOptions {\n      baudRate?: number;\n      useMessageIds?: boolean;\n  }\n  export interface OpenTcpOptions {\n      useMessageIds?: boolean;\n  }\n  export interface GenericCommandOptions {\n      timeout?: number;\n      checkErrors?: boolean;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      timeout?: number;\n      checkErrors?: boolean;\n  }\n  export interface DetectDevicesOptions {\n      identifyDevices?: boolean;\n  }\n}\n"]}

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

@@ -44,6 +44,7 @@ export declare class Device {
     get deviceId(): number;
     /**
      * Serial number of the device.
+     * Requires at least Firmware 6.15 for devices or 6.24 for peripherals.
      */
     get serialNumber(): number;
     /**
@@ -76,65 +77,65 @@ export declare class Device {
      * For more information please refer to the
      * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).
      * @param command Command to send.
-     * @param data Optional data argument to the command. Defaults to zero.
-     * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
-     * @param checkErrors Controls whether to throw an exception when the device rejects the command.
-     * @return A response to the command.
+     * @param [data=0] Optional data argument to the command. Defaults to zero.
+     * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
+     * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.
+     * @returns A response to the command.
      */
-    genericCommand(command: CommandCode, data?: number, timeout?: number, checkErrors?: boolean): Promise<Message>;
+    genericCommand(command: CommandCode, data?: number, options?: Device.GenericCommandOptions): Promise<Message>;
     /**
      * Sends a generic Binary command to this device without expecting a response.
      * For more information please refer to the
      * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).
      * @param command Command to send.
-     * @param data Optional data argument to the command. Defaults to zero.
+     * @param [data=0] Optional data argument to the command. Defaults to zero.
      */
     genericCommandNoResponse(command: CommandCode, data?: number): Promise<void>;
     /**
      * Sends a generic Binary command to this device with unit conversions for both sent data and retrieved data.
      * @param command Command to send.
-     * @param data Data argument to the command. Set to zero if command does not require argument.
-     * @param fromUnit Unit to convert sent data from.
-     * @param toUnit Unit to convert retrieved data to.
-     * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
-     * @return Data that has been converted to the provided unit.
+     * @param [data=0] Data argument to the command. Defaults to zero.
+     * @param [fromUnit=Units.NATIVE] Unit to convert sent data from.
+     * @param [toUnit=Units.NATIVE] Unit to convert retrieved data to.
+     * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
+     * @returns Data that has been converted to the provided unit.
      */
-    genericCommandWithUnits(command: CommandCode, data: number, fromUnit?: Units, toUnit?: Units, timeout?: number): Promise<number>;
+    genericCommandWithUnits(command: CommandCode, data?: number, fromUnit?: Units, toUnit?: Units, options?: Device.GenericCommandWithUnitsOptions): Promise<number>;
     /**
      * Homes device. Device returns to its homing position.
-     * @param unit Unit to convert returned position to.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [options.unit=Units.NATIVE] Unit to convert returned position to.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    home(unit?: Length | Angle | Native, timeout?: number): Promise<number>;
+    home(options?: Device.HomeOptions): Promise<number>;
     /**
      * Stops ongoing device movement. Decelerates until zero speed.
-     * @param unit Unit to convert returned position to.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [options.unit=Units.NATIVE] Unit to convert returned position to.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    stop(unit?: Length | Angle | Native, timeout?: number): Promise<number>;
+    stop(options?: Device.StopOptions): Promise<number>;
     /**
      * Move device to absolute position.
      * @param position Absolute position.
-     * @param unit Unit for the provided position as well as position returned by the device.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [unit=Units.NATIVE] Unit for the provided position as well as position returned by the device.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    moveAbsolute(position: number, unit?: Length | Angle | Native, timeout?: number): Promise<number>;
+    moveAbsolute(position: number, unit?: Length | Angle | Native, options?: Device.MoveAbsoluteOptions): Promise<number>;
     /**
      * Move device to position relative to current position.
      * @param position Relative position.
-     * @param unit Unit for the provided position as well as position returned by the device.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [unit=Units.NATIVE] Unit for the provided position as well as position returned by the device.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    moveRelative(position: number, unit?: Length | Angle | Native, timeout?: number): Promise<number>;
+    moveRelative(position: number, unit?: Length | Angle | Native, options?: Device.MoveRelativeOptions): Promise<number>;
     /**
      * Begins to move device at specified speed.
      * @param velocity Movement velocity.
-     * @param unit Unit to convert returned velocity to.
-     * @return Device velocity that has been converted to the provided unit.
+     * @param [unit=Units.NATIVE] Unit to convert returned velocity to.
+     * @returns Device velocity that has been converted to the provided unit.
      */
     moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native): Promise<number>;
     /**
@@ -143,50 +144,77 @@ export declare class Device {
     waitUntilIdle(): Promise<void>;
     /**
      * Check whether the device is moving.
-     * @return True if the device is currently executing a motion command.
+     * @returns True if the device is currently executing a motion command.
      */
     isBusy(): Promise<boolean>;
     /**
      * Queries the device and the database, gathering information about the product.
      * Without this information features such as unit conversions will not work.
      * Usually, called automatically by detect devices method.
-     * @return Device identification data.
+     * @returns Device identification data.
      */
     identify(): Promise<DeviceIdentity>;
     /**
      * Parks the axis.
      * Motor drivers remain enabled and hold current continues to be applied until the device is powered off.
      * It can later be unparked and moved without first having to home it.
+     * Requires at least Firmware 6.06.
      */
     park(): Promise<void>;
     /**
      * Unparks axis. Axis will now be able to move.
+     * Requires at least Firmware 6.06.
      */
     unpark(): Promise<void>;
     /**
      * Returns bool indicating whether the axis is parked or not.
-     * @return True if the axis is currently parked. False otherwise.
+     * Requires at least Firmware 6.06.
+     * @returns True if the axis is currently parked. False otherwise.
      */
     isParked(): Promise<boolean>;
     /**
      * Returns current device position.
-     * @param unit Units of position.
-     * @return Axis position.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @returns Axis position.
      */
     getPosition(unit?: Length | Angle | Native): Promise<number>;
     /**
      * Returns a string that represents the device.
-     * @return A string that represents the device.
+     * @returns A string that represents the device.
      */
     toString(): string;
     /**
      * Returns identity.
-     * @return Device identity.
+     * @returns Device identity.
      */
     private _retrieveIdentity;
     /**
      * Returns whether or not the device have been identified.
-     * @return True if the device has already been identified. False otherwise.
+     * @returns True if the device has already been identified. False otherwise.
      */
     private _retrieveIsIdentified;
 }
+declare namespace Device {
+    interface GenericCommandOptions {
+        timeout?: number;
+        checkErrors?: boolean;
+    }
+    interface GenericCommandWithUnitsOptions {
+        timeout?: number;
+    }
+    interface HomeOptions {
+        unit?: Length | Angle | Native;
+        timeout?: number;
+    }
+    interface StopOptions {
+        unit?: Length | Angle | Native;
+        timeout?: number;
+    }
+    interface MoveAbsoluteOptions {
+        timeout?: number;
+    }
+    interface MoveRelativeOptions {
+        timeout?: number;
+    }
+}
+export {};

package/dist/lib/binary/device.js

@@ -75,6 +75,7 @@ class Device {
     }
     /**
      * Serial number of the device.
+     * Requires at least Firmware 6.15 for devices or 6.24 for peripherals.
      */
     get serialNumber() {
         return this.identity.serialNumber;
@@ -125,12 +126,13 @@ class Device {
      * For more information please refer to the
      * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).
      * @param command Command to send.
-     * @param data Optional data argument to the command. Defaults to zero.
-     * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
-     * @param checkErrors Controls whether to throw an exception when the device rejects the command.
-     * @return A response to the command.
+     * @param [data=0] Optional data argument to the command. Defaults to zero.
+     * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
+     * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.
+     * @returns A response to the command.
      */
-    async genericCommand(command, data = 0, timeout = 0.0, checkErrors = true) {
+    async genericCommand(command, data = 0, options = {}) {
+        const { timeout = 0.0, checkErrors = true, } = options;
         const request = new gateway.GenericBinaryRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
@@ -146,7 +148,7 @@ class Device {
      * For more information please refer to the
      * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).
      * @param command Command to send.
-     * @param data Optional data argument to the command. Defaults to zero.
+     * @param [data=0] Optional data argument to the command. Defaults to zero.
      */
     async genericCommandNoResponse(command, data = 0) {
         const request = new gateway.GenericBinaryRequest();
@@ -159,13 +161,14 @@ class Device {
     /**
      * Sends a generic Binary command to this device with unit conversions for both sent data and retrieved data.
      * @param command Command to send.
-     * @param data Data argument to the command. Set to zero if command does not require argument.
-     * @param fromUnit Unit to convert sent data from.
-     * @param toUnit Unit to convert retrieved data to.
-     * @param timeout Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
-     * @return Data that has been converted to the provided unit.
+     * @param [data=0] Data argument to the command. Defaults to zero.
+     * @param [fromUnit=Units.NATIVE] Unit to convert sent data from.
+     * @param [toUnit=Units.NATIVE] Unit to convert retrieved data to.
+     * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.
+     * @returns Data that has been converted to the provided unit.
      */
-    async genericCommandWithUnits(command, data, fromUnit = units_1.Units.NATIVE, toUnit = units_1.Units.NATIVE, timeout = 0.0) {
+    async genericCommandWithUnits(command, data = 0, fromUnit = units_1.Units.NATIVE, toUnit = units_1.Units.NATIVE, options = {}) {
+        const { timeout = 0.0, } = options;
         const request = new gateway.BinaryGenericWithUnitsRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
@@ -179,11 +182,12 @@ class Device {
     }
     /**
      * Homes device. Device returns to its homing position.
-     * @param unit Unit to convert returned position to.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [options.unit=Units.NATIVE] Unit to convert returned position to.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    async home(unit = units_1.Units.NATIVE, timeout = Device.DEFAULT_MOVEMENT_TIMEOUT) {
+    async home(options = {}) {
+        const { unit = units_1.Units.NATIVE, timeout = Device.DEFAULT_MOVEMENT_TIMEOUT, } = options;
         const request = new gateway.BinaryDeviceHomeRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
@@ -194,11 +198,12 @@ class Device {
     }
     /**
      * Stops ongoing device movement. Decelerates until zero speed.
-     * @param unit Unit to convert returned position to.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [options.unit=Units.NATIVE] Unit to convert returned position to.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    async stop(unit = units_1.Units.NATIVE, timeout = Device.DEFAULT_MOVEMENT_TIMEOUT) {
+    async stop(options = {}) {
+        const { unit = units_1.Units.NATIVE, timeout = Device.DEFAULT_MOVEMENT_TIMEOUT, } = options;
         const request = new gateway.BinaryDeviceStopRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
@@ -210,11 +215,12 @@ class Device {
     /**
      * Move device to absolute position.
      * @param position Absolute position.
-     * @param unit Unit for the provided position as well as position returned by the device.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [unit=Units.NATIVE] Unit for the provided position as well as position returned by the device.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    async moveAbsolute(position, unit = units_1.Units.NATIVE, timeout = Device.DEFAULT_MOVEMENT_TIMEOUT) {
+    async moveAbsolute(position, unit = units_1.Units.NATIVE, options = {}) {
+        const { timeout = Device.DEFAULT_MOVEMENT_TIMEOUT, } = options;
         const request = new gateway.BinaryDeviceMoveRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
@@ -228,11 +234,12 @@ class Device {
     /**
      * Move device to position relative to current position.
      * @param position Relative position.
-     * @param unit Unit for the provided position as well as position returned by the device.
-     * @param timeout Number of seconds to wait for response from the device chain (defaults to 60s).
-     * @return Current position that has been converted to the provided unit.
+     * @param [unit=Units.NATIVE] Unit for the provided position as well as position returned by the device.
+     * @param [options.timeout=Device.DEFAULT_MOVEMENT_TIMEOUT] Number of seconds to wait for response from the device chain (defaults to 60s).
+     * @returns Current position that has been converted to the provided unit.
      */
-    async moveRelative(position, unit = units_1.Units.NATIVE, timeout = Device.DEFAULT_MOVEMENT_TIMEOUT) {
+    async moveRelative(position, unit = units_1.Units.NATIVE, options = {}) {
+        const { timeout = Device.DEFAULT_MOVEMENT_TIMEOUT, } = options;
         const request = new gateway.BinaryDeviceMoveRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
@@ -246,8 +253,8 @@ class Device {
     /**
      * Begins to move device at specified speed.
      * @param velocity Movement velocity.
-     * @param unit Unit to convert returned velocity to.
-     * @return Device velocity that has been converted to the provided unit.
+     * @param [unit=Units.NATIVE] Unit to convert returned velocity to.
+     * @returns Device velocity that has been converted to the provided unit.
      */
     async moveVelocity(velocity, unit = units_1.Units.NATIVE) {
         const request = new gateway.BinaryDeviceMoveRequest();
@@ -270,7 +277,7 @@ class Device {
     }
     /**
      * Check whether the device is moving.
-     * @return True if the device is currently executing a motion command.
+     * @returns True if the device is currently executing a motion command.
      */
     async isBusy() {
         const request = new gateway.DeviceEmptyRequest();
@@ -283,7 +290,7 @@ class Device {
      * Queries the device and the database, gathering information about the product.
      * Without this information features such as unit conversions will not work.
      * Usually, called automatically by detect devices method.
-     * @return Device identification data.
+     * @returns Device identification data.
      */
     async identify() {
         const request = new gateway.DeviceEmptyRequest();
@@ -296,6 +303,7 @@ class Device {
      * Parks the axis.
      * Motor drivers remain enabled and hold current continues to be applied until the device is powered off.
      * It can later be unparked and moved without first having to home it.
+     * Requires at least Firmware 6.06.
      */
     async park() {
         const request = new gateway.DeviceEmptyRequest();
@@ -305,6 +313,7 @@ class Device {
     }
     /**
      * Unparks axis. Axis will now be able to move.
+     * Requires at least Firmware 6.06.
      */
     async unpark() {
         const request = new gateway.DeviceEmptyRequest();
@@ -314,7 +323,8 @@ class Device {
     }
     /**
      * Returns bool indicating whether the axis is parked or not.
-     * @return True if the axis is currently parked. False otherwise.
+     * Requires at least Firmware 6.06.
+     * @returns True if the axis is currently parked. False otherwise.
      */
     async isParked() {
         const request = new gateway.DeviceEmptyRequest();
@@ -325,8 +335,8 @@ class Device {
     }
     /**
      * Returns current device position.
-     * @param unit Units of position.
-     * @return Axis position.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @returns Axis position.
      */
     async getPosition(unit = units_1.Units.NATIVE) {
         const request = new gateway.BinaryDeviceGetSettingRequest();
@@ -339,7 +349,7 @@ class Device {
     }
     /**
      * Returns a string that represents the device.
-     * @return A string that represents the device.
+     * @returns A string that represents the device.
      */
     toString() {
         const request = new gateway.DeviceEmptyRequest();
@@ -350,7 +360,7 @@ class Device {
     }
     /**
      * Returns identity.
-     * @return Device identity.
+     * @returns Device identity.
      */
     _retrieveIdentity() {
         const request = new gateway.DeviceEmptyRequest();
@@ -361,7 +371,7 @@ class Device {
     }
     /**
      * Returns whether or not the device have been identified.
-     * @return True if the device has already been identified. False otherwise.
+     * @returns True if the device has already been identified. False otherwise.
      */
     _retrieveIsIdentified() {
         const request = new gateway.DeviceEmptyRequest();