@zaber/motion 2.6.1 → 2.7.0-load-state-checks

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

@@ -164,6 +164,24 @@ export declare class Axis {
      * @return A string that represents the axis.
      */
     toString(): string;
+    /**
+     * Returns a serialization of the current axis state that can be saved and reapplied.
+     * @return A serialization of the current state of the axis.
+     */
+    getState(): Promise<string>;
+    /**
+     * Applies a saved state to an axis.
+     * @param state The state object to apply to this axis.
+     */
+    setState(state: string): Promise<void>;
+    /**
+     * Checks if a state can be applied to this axis.
+     * This only covers exceptions that can be determined statically such as mismatches of ID or version,
+     * the process of applying the state can still fail when running.
+     * @param state The state object to check against.
+     * @return An explanation of why this state cannot be set to this axis.
+     */
+    canSetState(state: string): Promise<string>;
     /**
      * Returns identity.
      * @return Axis identity.

package/dist/lib/ascii/axis.js

@@ -350,6 +350,46 @@ class Axis {
         const response = gateway.callSync('device/axis_to_string', request, gateway.ToStringResponse);
         return response.getToStr();
     }
+    /**
+     * Returns a serialization of the current axis state that can be saved and reapplied.
+     * @return A serialization of the current state of the axis.
+     */
+    async getState() {
+        const request = new gateway.GetStateRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setAxis(this.axisNumber);
+        const response = await gateway.callAsync('device/get_state', request, gateway.GetStateResponse);
+        return response.getState();
+    }
+    /**
+     * Applies a saved state to an axis.
+     * @param state The state object to apply to this axis.
+     */
+    async setState(state) {
+        const request = new gateway.SetStateRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setAxis(this.axisNumber);
+        request.setState(state);
+        await gateway.callAsync('device/set_state', request);
+    }
+    /**
+     * Checks if a state can be applied to this axis.
+     * This only covers exceptions that can be determined statically such as mismatches of ID or version,
+     * the process of applying the state can still fail when running.
+     * @param state The state object to check against.
+     * @return An explanation of why this state cannot be set to this axis.
+     */
+    async canSetState(state) {
+        const request = new gateway.CanSetStateRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setAxis(this.axisNumber);
+        request.setState(state);
+        const response = await gateway.callAsync('device/can_set_state', request, gateway.CanSetStateAxisResponse);
+        return response.getError();
+    }
     /**
      * Returns identity.
      * @return Axis identity.

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis movement. Decelerates until zero speed.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @return True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceIsParkedResponse>(\n      'device/is_parked',\n      request,\n      gateway.DeviceIsParkedResponse);\n    return response.getIsParked();\n  }\n\n  /**\n   * Waits until axis stops moving.\n   * @param throwErrorOnFault Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    throwErrorOnFault: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @return True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.DeviceIsBusyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceIsBusyResponse>(\n      'device/is_busy',\n      request,\n      gateway.DeviceIsBusyResponse);\n    return response.getIsBusy();\n  }\n\n  /**\n   * Move axis to absolute position.\n   * @param position Absolute position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveMax(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveMin(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\n   * @param position Relative position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\n   * @param velocity Movement velocity.\n   * @param unit Units of velocity.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param unit Units of position.\n   * @return Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setSetting('pos');\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DeviceGetSettingResponse>(\n      'device/get_setting',\n      request,\n      gateway.DeviceGetSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this axis and this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @return Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request = new gateway.PrepareCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.PrepareCommandResponse>(\n      'device/prepare_command',\n      request,\n      gateway.PrepareCommandResponse);\n    return response.getCommand();\n  }\n\n  /**\n   * Returns a string that represents the axis.\n   * @return A string that represents the axis.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'device/axis_to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Returns identity.\n   * @return Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request = new gateway.DeviceGetAxisIdentityRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.DeviceGetAxisIdentityResponse>(\n      'device/get_axis_identity',\n      request,\n      gateway.DeviceGetAxisIdentityResponse);\n    return AxisIdentity.fromProtobuf(response.getIdentity()!.toObject());\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis movement. Decelerates until zero speed.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @return True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceIsParkedResponse>(\n      'device/is_parked',\n      request,\n      gateway.DeviceIsParkedResponse);\n    return response.getIsParked();\n  }\n\n  /**\n   * Waits until axis stops moving.\n   * @param throwErrorOnFault Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    throwErrorOnFault: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @return True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.DeviceIsBusyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceIsBusyResponse>(\n      'device/is_busy',\n      request,\n      gateway.DeviceIsBusyResponse);\n    return response.getIsBusy();\n  }\n\n  /**\n   * Move axis to absolute position.\n   * @param position Absolute position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveMax(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveMin(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\n   * @param position Relative position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\n   * @param velocity Movement velocity.\n   * @param unit Units of velocity.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param unit Units of position.\n   * @return Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setSetting('pos');\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DeviceGetSettingResponse>(\n      'device/get_setting',\n      request,\n      gateway.DeviceGetSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this axis and this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @return Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request = new gateway.PrepareCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.PrepareCommandResponse>(\n      'device/prepare_command',\n      request,\n      gateway.PrepareCommandResponse);\n    return response.getCommand();\n  }\n\n  /**\n   * Returns a string that represents the axis.\n   * @return A string that represents the axis.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'device/axis_to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Returns a serialization of the current axis state that can be saved and reapplied.\n   * @return A serialization of the current state of the axis.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.GetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.GetStateResponse>(\n      'device/get_state',\n      request,\n      gateway.GetStateResponse);\n    return response.getState();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   */\n  public async setState(\n    state: string\n  ): Promise<void> {\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to this axis.\n   * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n   * the process of applying the state can still fail when running.\n   * @param state The state object to check against.\n   * @return An explanation of why this state cannot be set to this axis.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<string> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateAxisResponse);\n    return response.getError();\n  }\n\n  /**\n   * Returns identity.\n   * @return Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request = new gateway.DeviceGetAxisIdentityRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.DeviceGetAxisIdentityResponse>(\n      'device/get_axis_identity',\n      request,\n      gateway.DeviceGetAxisIdentityResponse);\n    return AxisIdentity.fromProtobuf(response.getIdentity()!.toObject());\n  }\n}\n"]}

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

@@ -22,6 +22,20 @@ export declare class AxisSettings {
      * @param unit Units of setting.
      */
     set(setting: string, value: number, unit?: Units): Promise<void>;
+    /**
+     * Returns any axis setting or property as a string.
+     * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
+     * @param setting Name of the setting.
+     * @return Setting value.
+     */
+    getString(setting: string): Promise<string>;
+    /**
+     * Sets any axis setting as a string.
+     * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
+     * @param setting Name of the setting.
+     * @param value Value of the setting.
+     */
+    setString(setting: string, value: string): Promise<void>;
     /**
      * Convert arbitrary setting value to Zaber native units.
      * @param setting Name of the setting.

package/dist/lib/ascii/axis_settings.js

@@ -65,6 +65,36 @@ class AxisSettings {
         request.setUnit(unit);
         await gateway.callAsync('device/set_setting', request);
     }
+    /**
+     * Returns any axis setting or property as a string.
+     * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
+     * @param setting Name of the setting.
+     * @return Setting value.
+     */
+    async getString(setting) {
+        const request = new gateway.DeviceGetSettingRequest();
+        request.setInterfaceId(this._axis.device.connection.interfaceId);
+        request.setDevice(this._axis.device.deviceAddress);
+        request.setAxis(this._axis.axisNumber);
+        request.setSetting(setting);
+        const response = await gateway.callAsync('device/get_setting_str', request, gateway.DeviceGetSettingStrResponse);
+        return response.getValue();
+    }
+    /**
+     * Sets any axis setting as a string.
+     * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
+     * @param setting Name of the setting.
+     * @param value Value of the setting.
+     */
+    async setString(setting, value) {
+        const request = new gateway.DeviceSetSettingStrRequest();
+        request.setInterfaceId(this._axis.device.connection.interfaceId);
+        request.setDevice(this._axis.device.deviceAddress);
+        request.setAxis(this._axis.axisNumber);
+        request.setSetting(setting);
+        request.setValue(value);
+        await gateway.callAsync('device/set_setting_str', request);
+    }
     /**
      * Convert arbitrary setting value to Zaber native units.
      * @param setting Name of the setting.

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport { Units } from '../units';\nimport * as gateway from '../gateway';\n\n/**\n * Class providing access to various axis settings and properties.\n */\nexport class AxisSettings {\n  private _axis: Axis;\n\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Returns any axis setting or property.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param unit Units of setting.\n   * @return Setting value.\n   */\n  public async get(\n    setting: string,\n    unit: Units = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DeviceGetSettingResponse>(\n      'device/get_setting',\n      request,\n      gateway.DeviceGetSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets any axis setting.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param value Value of the setting.\n   * @param unit Units of setting.\n   */\n  public async set(\n    setting: string,\n    value: number,\n    unit: Units = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceSetSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/set_setting', request);\n  }\n\n  /**\n   * Convert arbitrary setting value to Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in units specified by following argument.\n   * @param unit Units of the value.\n   * @return Setting value.\n   */\n  public convertToNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DeviceConvertSettingResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DeviceConvertSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Convert arbitrary setting value from Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in Zaber native units.\n   * @param unit Units to convert value to.\n   * @return Setting value.\n   */\n  public convertFromNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setFromNative(true);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DeviceConvertSettingResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DeviceConvertSettingResponse);\n    return response.getValue();\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport { Units } from '../units';\nimport * as gateway from '../gateway';\n\n/**\n * Class providing access to various axis settings and properties.\n */\nexport class AxisSettings {\n  private _axis: Axis;\n\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Returns any axis setting or property.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param unit Units of setting.\n   * @return Setting value.\n   */\n  public async get(\n    setting: string,\n    unit: Units = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DeviceGetSettingResponse>(\n      'device/get_setting',\n      request,\n      gateway.DeviceGetSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets any axis setting.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param value Value of the setting.\n   * @param unit Units of setting.\n   */\n  public async set(\n    setting: string,\n    value: number,\n    unit: Units = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceSetSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/set_setting', request);\n  }\n\n  /**\n   * Returns any axis setting or property as a string.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @return Setting value.\n   */\n  public async getString(\n    setting: string\n  ): Promise<string> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n\n    const response = await gateway.callAsync<gateway.DeviceGetSettingStrResponse>(\n      'device/get_setting_str',\n      request,\n      gateway.DeviceGetSettingStrResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets any axis setting as a string.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param value Value of the setting.\n   */\n  public async setString(\n    setting: string,\n    value: string\n  ): Promise<void> {\n    const request = new gateway.DeviceSetSettingStrRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n    request.setValue(value);\n\n    await gateway.callAsync('device/set_setting_str', request);\n  }\n\n  /**\n   * Convert arbitrary setting value to Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in units specified by following argument.\n   * @param unit Units of the value.\n   * @return Setting value.\n   */\n  public convertToNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DeviceConvertSettingResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DeviceConvertSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Convert arbitrary setting value from Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in Zaber native units.\n   * @param unit Units to convert value to.\n   * @return Setting value.\n   */\n  public convertFromNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._axis.device.connection.interfaceId);\n    request.setDevice(this._axis.device.deviceAddress);\n    request.setAxis(this._axis.axisNumber);\n    request.setFromNative(true);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DeviceConvertSettingResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DeviceConvertSettingResponse);\n    return response.getValue();\n  }\n}\n"]}

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

@@ -70,7 +70,7 @@ export declare class Connection {
     static openCustom(transport: Transport): Promise<Connection>;
     /**
      * Opens a unauthenticated connection to a cloud connected device chain.
-     * Use this method to connect to Virtual Device Demo instance.
+     * Use this method to connect to Virtual Device free trial instances.
      * The connection is not secured.
      * @param cloudId The cloud ID to connect to.
      * @param connectionName The name of the connection to open.

package/dist/lib/ascii/connection.js

@@ -124,7 +124,7 @@ class Connection {
     }
     /**
      * Opens a unauthenticated connection to a cloud connected device chain.
-     * Use this method to connect to Virtual Device Demo instance.
+     * Use this method to connect to Virtual Device free trial instances.
      * The connection is not secured.
      * @param cloudId The cloud ID to connect to.
      * @param connectionName The name of the connection to open.

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Observable, ReplaySubject } from 'rxjs';\nimport { map, filter, takeUntil, take } from 'rxjs/operators';\nimport * as gateway from '../gateway';\nimport { events, filterEvent } from '../gateway';\nimport { Transport } from './transport';\nimport { Device } from './device';\nimport { Response } from './response';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { AlertEvent } from './alert_event';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection).\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 an alert is received from a device.\n   */\n  public alert!: Observable<AlertEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 115200;\n\n  /**\n   * The interface ID identifies this Connection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  /**\n   * The default timeout, in milliseconds, for a device to respond to a request.\n   * Setting the timeout to a too low value may cause request timeout exceptions.\n   */\n  public get defaultRequestTimeout(): number {\n    return this._retrieveTimeout();\n  }\n\n  public set defaultRequestTimeout(value: number) {\n    this._changeTimeout(value);\n  }\n\n  /**\n   * Controls whether outgoing messages contain checksum.\n   */\n  public get checksumEnabled(): boolean {\n    return this._retrieveChecksumEnabled();\n  }\n\n  public set checksumEnabled(value: boolean) {\n    this._changeChecksumEnabled(value);\n  }\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher.\n   * Zaber Launcher allows sharing of the port between multiple applications.\n   * Use openSerialPortDirectly if sharing is not desirable.\n   * @param portName Name of the port to open.\n   * @param baudRate Optional baud rate (defaults to 115200).\n   * @return An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    baudRate: number = Connection.DEFAULT_BAUD_RATE\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a serial port, bypassing Zaber Launcher.\n   * If the port is already opened by Zaber Launcher, this will fail.\n   * @param portName Name of the port to open.\n   * @param baudRate Optional baud rate (defaults to 115200).\n   * @return An object representing the port.\n   */\n  public static async openSerialPortDirectly(\n    portName: string,\n    baudRate: number = Connection.DEFAULT_BAUD_RATE\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setRejectRoutedConnection(true);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      '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   * @return An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.TCP);\n    request.setHostName(hostName);\n    request.setPort(port);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a connection using a custom transport.\n   * @param transport The custom connection transport.\n   * @return An object representing the connection.\n   */\n  public static async openCustom(\n    transport: Transport\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.CUSTOM);\n    request.setTransport(transport.transportId);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a unauthenticated connection to a cloud connected device chain.\n   * Use this method to connect to Virtual Device Demo instance.\n   * The connection is not secured.\n   * @param cloudId The cloud ID to connect to.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @param api The URL of the API to receive connection info from.\n   * @return An object representing the connection.\n   */\n  public static async openIotUnauthenticated(\n    cloudId: string,\n    connectionName: string = '',\n    api: string = 'https://api.zaber.io'\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.IOT);\n    request.setRealm('unauthenticated');\n    request.setToken('unauthenticated');\n    request.setCloudId(cloudId);\n    request.setConnectionName(connectionName);\n    request.setApi(api);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a secured connection to a cloud connected device chain.\n   * Use this method to connect to devices on your account.\n   * @param cloudId The cloud ID to connect to.\n   * @param token The token to authenticate with.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @param realm The realm to connect to.\n   * Can be left empty for the default account realm.\n   * @param api The URL of the API to receive connection info from.\n   * @return An object representing the connection.\n   */\n  public static async openIotAuthenticated(\n    cloudId: string,\n    token: string,\n    connectionName: string = '',\n    realm: string = '',\n    api: string = 'https://api.zaber.io'\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.IOT);\n    request.setCloudId(cloudId);\n    request.setToken(token);\n    request.setConnectionName(connectionName);\n    request.setRealm(realm);\n    request.setApi(api);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a connection to Zaber Launcher in your Local Area Network.\n   * The connection is not secured.\n   * @param hostName Hostname or IP address.\n   * @param port Port number.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @return An object representing the connection.\n   */\n  public static async openNetworkShare(\n    hostName: string,\n    port: number,\n    connectionName: string = ''\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.NETWORK_SHARE);\n    request.setHostName(hostName);\n    request.setPort(port);\n    request.setConnectionName(connectionName);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param device Optional device address to send the command to.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    device: number = 0,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command);\n    request.setDevice(device);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection without expecting a response and without adding a message ID.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param device Optional device address to send the command to.\n   * @param axis Optional axis number to send the command to.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    device: number = 0,\n    axis: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command);\n    request.setDevice(device);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection and expect multiple responses,\n   * either from one device or from many devices.\n   * Responses are returned in order of arrival.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param device Optional device address to send the command to.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    device: number = 0,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command);\n    request.setDevice(device);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n  }\n\n  /**\n   * Resets ASCII protocol message IDs. Only for testing purposes.\n   */\n  public resetIds(): void {\n    const request = new gateway.EmptyInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    gateway.callSync('interface/reset_ids', request);\n  }\n\n  /**\n   * Close the connection.\n   */\n  public async close(): Promise<void> {\n    const request = new gateway.CloseInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    await gateway.callAsync('interface/close', request);\n  }\n\n  /**\n   * 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   * Renumbers devices present on this connection. After renumbering, devices need to be identified again.\n   * @param firstAddress This is the address that the device closest to the computer is given.\n   * Remaining devices are numbered consecutively.\n   * @return Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(\n    firstAddress: number = 1\n  ): Promise<number> {\n    if (firstAddress <= 0) {\n      throw new TypeError('Invalid value; device addresses are numbered from 1.');\n    }\n    const request = new gateway.DeviceRenumberRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setFirstAddress(firstAddress);\n\n    const response = await gateway.callAsync<gateway.DeviceRenumberResponse>(\n      'device/renumber',\n      request,\n      gateway.DeviceRenumberResponse);\n    return response.getNumberDevices();\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param identifyDevices Determines whether device identification should be performed as well.\n   * @return Array of detected devices.\n   */\n  public async detectDevices(\n    identifyDevices: boolean = true\n  ): Promise<Device[]> {\n    const request = new gateway.DeviceDetectRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIdentifyDevices(identifyDevices);\n\n    const response = await gateway.callAsync<gateway.DeviceDetectResponse>(\n      'device/detect',\n      request,\n      gateway.DeviceDetectResponse);\n    return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\n  }\n\n  /**\n   * Stops all of the devices on this connection.\n   * @param waitUntilIdle Determines whether the function should return immediately\n   * or wait until the devices are stopped.\n   * @return The addresses of the devices that were stopped by this command.\n   */\n  public async stopAll(\n    waitUntilIdle: boolean = true\n  ): Promise<number[]> {\n    const request = new gateway.DeviceOnAllRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n      'device/stop_all',\n      request,\n      gateway.DeviceOnAllResponse);\n    return response.getDeviceAddressesList();\n  }\n\n  /**\n   * Homes all of the devices on this connection.\n   * @param waitUntilIdle Determines whether the function should return immediately\n   * or wait until the devices are homed.\n   * @return The addresses of the devices that were homed by this command.\n   */\n  public async homeAll(\n    waitUntilIdle: boolean = true\n  ): Promise<number[]> {\n    const request = new gateway.DeviceOnAllRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n      'device/home_all',\n      request,\n      gateway.DeviceOnAllResponse);\n    return response.getDeviceAddressesList();\n  }\n\n  /**\n   * Returns a string that represents the connection.\n   * @return A string that represents the connection.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'interface/to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Returns default request timeout.\n   * @return Default request timeout.\n   */\n  private _retrieveTimeout(): number {\n    const request = new gateway.EmptyInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.GetInterfaceTimeoutResponse>(\n      'interface/get_timeout',\n      request,\n      gateway.GetInterfaceTimeoutResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets default request timeout.\n   * @param timeout Default request timeout.\n   */\n  private _changeTimeout(\n    timeout: number\n  ): void {\n    const request = new gateway.SetInterfaceTimeoutRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setTimeout(timeout);\n\n    gateway.callSync('interface/set_timeout', request);\n  }\n\n  /**\n   * Returns checksum enabled.\n   * @return Checksum enabled.\n   */\n  private _retrieveChecksumEnabled(): boolean {\n    const request = new gateway.EmptyInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.GetInterfaceChecksumEnabledResponse>(\n      'interface/get_checksum_enabled',\n      request,\n      gateway.GetInterfaceChecksumEnabledResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets checksum enabled.\n   * @param isEnabled Checksum enabled.\n   */\n  private _changeChecksumEnabled(\n    isEnabled: boolean\n  ): void {\n    const request = new gateway.SetInterfaceChecksumEnabledRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIsEnabled(isEnabled);\n\n    gateway.callSync('interface/set_checksum_enabled', request);\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.UnknownResponseEvent.AsObject>('interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => UnknownResponseEvent.fromProtobuf(event))\n    );\n\n    this.alert = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.AlertEvent.AsObject>('interface/alert'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => AlertEvent.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 { Transport } from './transport';\nimport { Device } from './device';\nimport { Response } from './response';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { AlertEvent } from './alert_event';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection).\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 an alert is received from a device.\n   */\n  public alert!: Observable<AlertEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 115200;\n\n  /**\n   * The interface ID identifies this Connection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  /**\n   * The default timeout, in milliseconds, for a device to respond to a request.\n   * Setting the timeout to a too low value may cause request timeout exceptions.\n   */\n  public get defaultRequestTimeout(): number {\n    return this._retrieveTimeout();\n  }\n\n  public set defaultRequestTimeout(value: number) {\n    this._changeTimeout(value);\n  }\n\n  /**\n   * Controls whether outgoing messages contain checksum.\n   */\n  public get checksumEnabled(): boolean {\n    return this._retrieveChecksumEnabled();\n  }\n\n  public set checksumEnabled(value: boolean) {\n    this._changeChecksumEnabled(value);\n  }\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher.\n   * Zaber Launcher allows sharing of the port between multiple applications.\n   * Use openSerialPortDirectly if sharing is not desirable.\n   * @param portName Name of the port to open.\n   * @param baudRate Optional baud rate (defaults to 115200).\n   * @return An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    baudRate: number = Connection.DEFAULT_BAUD_RATE\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a serial port, bypassing Zaber Launcher.\n   * If the port is already opened by Zaber Launcher, this will fail.\n   * @param portName Name of the port to open.\n   * @param baudRate Optional baud rate (defaults to 115200).\n   * @return An object representing the port.\n   */\n  public static async openSerialPortDirectly(\n    portName: string,\n    baudRate: number = Connection.DEFAULT_BAUD_RATE\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.SERIAL_PORT);\n    request.setRejectRoutedConnection(true);\n    request.setPortName(portName);\n    request.setBaudRate(baudRate);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      '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   * @return An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.TCP);\n    request.setHostName(hostName);\n    request.setPort(port);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a connection using a custom transport.\n   * @param transport The custom connection transport.\n   * @return An object representing the connection.\n   */\n  public static async openCustom(\n    transport: Transport\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.CUSTOM);\n    request.setTransport(transport.transportId);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a unauthenticated connection to a cloud connected device chain.\n   * Use this method to connect to Virtual Device free trial instances.\n   * The connection is not secured.\n   * @param cloudId The cloud ID to connect to.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @param api The URL of the API to receive connection info from.\n   * @return An object representing the connection.\n   */\n  public static async openIotUnauthenticated(\n    cloudId: string,\n    connectionName: string = '',\n    api: string = 'https://api.zaber.io'\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.IOT);\n    request.setRealm('unauthenticated');\n    request.setToken('unauthenticated');\n    request.setCloudId(cloudId);\n    request.setConnectionName(connectionName);\n    request.setApi(api);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a secured connection to a cloud connected device chain.\n   * Use this method to connect to devices on your account.\n   * @param cloudId The cloud ID to connect to.\n   * @param token The token to authenticate with.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @param realm The realm to connect to.\n   * Can be left empty for the default account realm.\n   * @param api The URL of the API to receive connection info from.\n   * @return An object representing the connection.\n   */\n  public static async openIotAuthenticated(\n    cloudId: string,\n    token: string,\n    connectionName: string = '',\n    realm: string = '',\n    api: string = 'https://api.zaber.io'\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.IOT);\n    request.setCloudId(cloudId);\n    request.setToken(token);\n    request.setConnectionName(connectionName);\n    request.setRealm(realm);\n    request.setApi(api);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Opens a connection to Zaber Launcher in your Local Area Network.\n   * The connection is not secured.\n   * @param hostName Hostname or IP address.\n   * @param port Port number.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @return An object representing the connection.\n   */\n  public static async openNetworkShare(\n    hostName: string,\n    port: number,\n    connectionName: string = ''\n  ): Promise<Connection> {\n    const request = new gateway.OpenInterfaceRequest();\n    request.setInterfaceType(gateway.InterfaceType.NETWORK_SHARE);\n    request.setHostName(hostName);\n    request.setPort(port);\n    request.setConnectionName(connectionName);\n\n    const response = await gateway.callAsync<gateway.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      gateway.OpenInterfaceResponse);\n    return new Connection(response.getInterfaceId());\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param device Optional device address to send the command to.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    device: number = 0,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command);\n    request.setDevice(device);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection without expecting a response and without adding a message ID.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param device Optional device address to send the command to.\n   * @param axis Optional axis number to send the command to.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    device: number = 0,\n    axis: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command);\n    request.setDevice(device);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection and expect multiple responses,\n   * either from one device or from many devices.\n   * Responses are returned in order of arrival.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param device Optional device address to send the command to.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    device: number = 0,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setCommand(command);\n    request.setDevice(device);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n  }\n\n  /**\n   * Resets ASCII protocol message IDs. Only for testing purposes.\n   */\n  public resetIds(): void {\n    const request = new gateway.EmptyInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    gateway.callSync('interface/reset_ids', request);\n  }\n\n  /**\n   * Close the connection.\n   */\n  public async close(): Promise<void> {\n    const request = new gateway.CloseInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    await gateway.callAsync('interface/close', request);\n  }\n\n  /**\n   * 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   * Renumbers devices present on this connection. After renumbering, devices need to be identified again.\n   * @param firstAddress This is the address that the device closest to the computer is given.\n   * Remaining devices are numbered consecutively.\n   * @return Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(\n    firstAddress: number = 1\n  ): Promise<number> {\n    if (firstAddress <= 0) {\n      throw new TypeError('Invalid value; device addresses are numbered from 1.');\n    }\n    const request = new gateway.DeviceRenumberRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setFirstAddress(firstAddress);\n\n    const response = await gateway.callAsync<gateway.DeviceRenumberResponse>(\n      'device/renumber',\n      request,\n      gateway.DeviceRenumberResponse);\n    return response.getNumberDevices();\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param identifyDevices Determines whether device identification should be performed as well.\n   * @return Array of detected devices.\n   */\n  public async detectDevices(\n    identifyDevices: boolean = true\n  ): Promise<Device[]> {\n    const request = new gateway.DeviceDetectRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIdentifyDevices(identifyDevices);\n\n    const response = await gateway.callAsync<gateway.DeviceDetectResponse>(\n      'device/detect',\n      request,\n      gateway.DeviceDetectResponse);\n    return response.getDevicesList().map(deviceAddress => this.getDevice(deviceAddress));\n  }\n\n  /**\n   * Stops all of the devices on this connection.\n   * @param waitUntilIdle Determines whether the function should return immediately\n   * or wait until the devices are stopped.\n   * @return The addresses of the devices that were stopped by this command.\n   */\n  public async stopAll(\n    waitUntilIdle: boolean = true\n  ): Promise<number[]> {\n    const request = new gateway.DeviceOnAllRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n      'device/stop_all',\n      request,\n      gateway.DeviceOnAllResponse);\n    return response.getDeviceAddressesList();\n  }\n\n  /**\n   * Homes all of the devices on this connection.\n   * @param waitUntilIdle Determines whether the function should return immediately\n   * or wait until the devices are homed.\n   * @return The addresses of the devices that were homed by this command.\n   */\n  public async homeAll(\n    waitUntilIdle: boolean = true\n  ): Promise<number[]> {\n    const request = new gateway.DeviceOnAllRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    const response = await gateway.callAsync<gateway.DeviceOnAllResponse>(\n      'device/home_all',\n      request,\n      gateway.DeviceOnAllResponse);\n    return response.getDeviceAddressesList();\n  }\n\n  /**\n   * Returns a string that represents the connection.\n   * @return A string that represents the connection.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'interface/to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Returns default request timeout.\n   * @return Default request timeout.\n   */\n  private _retrieveTimeout(): number {\n    const request = new gateway.EmptyInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.GetInterfaceTimeoutResponse>(\n      'interface/get_timeout',\n      request,\n      gateway.GetInterfaceTimeoutResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets default request timeout.\n   * @param timeout Default request timeout.\n   */\n  private _changeTimeout(\n    timeout: number\n  ): void {\n    const request = new gateway.SetInterfaceTimeoutRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setTimeout(timeout);\n\n    gateway.callSync('interface/set_timeout', request);\n  }\n\n  /**\n   * Returns checksum enabled.\n   * @return Checksum enabled.\n   */\n  private _retrieveChecksumEnabled(): boolean {\n    const request = new gateway.EmptyInterfaceRequest();\n    request.setInterfaceId(this.interfaceId);\n\n    const response = gateway.callSync<gateway.GetInterfaceChecksumEnabledResponse>(\n      'interface/get_checksum_enabled',\n      request,\n      gateway.GetInterfaceChecksumEnabledResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets checksum enabled.\n   * @param isEnabled Checksum enabled.\n   */\n  private _changeChecksumEnabled(\n    isEnabled: boolean\n  ): void {\n    const request = new gateway.SetInterfaceChecksumEnabledRequest();\n    request.setInterfaceId(this.interfaceId);\n    request.setIsEnabled(isEnabled);\n\n    gateway.callSync('interface/set_checksum_enabled', request);\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.UnknownResponseEvent.AsObject>('interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => UnknownResponseEvent.fromProtobuf(event))\n    );\n\n    this.alert = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<gateway.AlertEvent.AsObject>('interface/alert'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => AlertEvent.fromProtobuf(event))\n    );\n\n    events.pipe(\n      filterEvent<gateway.DisconnectedEvent.AsObject>('interface/disconnected'),\n      filter(event => event.interfaceId === this.interfaceId),\n      take(1),\n      map(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))\n    ).subscribe(this._disconnected);\n  }\n}\n"]}

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

@@ -11,6 +11,7 @@ import { Stream } from './stream';
 import { StreamBuffer } from './stream_buffer';
 import { Measurement } from '../measurement';
 import { FirmwareVersion } from '../firmware_version';
+import { CanSetStateDeviceResponse } from '../can_set_state_device_response';
 /**
  * Represents the controller part of one device - may be either a standalone controller or an integrated controller.
  */
@@ -152,6 +153,25 @@ export declare class Device {
      * @return StreamBuffer instance.
      */
     getStreamBuffer(streamBufferId: number): StreamBuffer;
+    /**
+     * Returns a serialization of the current device state that can be saved and reapplied.
+     * @return A serialization of the current state of the device.
+     */
+    getState(): Promise<string>;
+    /**
+     * Applies a saved state to an axis.
+     * @param state The state object to apply to this axis.
+     * @param deviceOnly If true, only device scope settings and features will be set.
+     */
+    setState(state: string, deviceOnly?: boolean): Promise<void>;
+    /**
+     * Checks if a state can be applied to a device and its peripherals.
+     * This only covers exceptions that can be determined statically such as mismatches of ID or version,
+     * the process of applying the state can still fail when running.
+     * @param state The state object to check against.
+     * @return An object listing errors that come up when trying to set the state.
+     */
+    canSetState(state: string): Promise<CanSetStateDeviceResponse>;
     /**
      * Returns identity.
      * @return Device identity.

package/dist/lib/ascii/device.js

@@ -33,6 +33,7 @@ const lockstep_1 = require("./lockstep");
 const stream_1 = require("./stream");
 const stream_buffer_1 = require("./stream_buffer");
 const measurement_1 = require("../measurement");
+const can_set_state_device_response_1 = require("../can_set_state_device_response");
 const gateway = __importStar(require("../gateway"));
 /**
  * Represents the controller part of one device - may be either a standalone controller or an integrated controller.
@@ -269,6 +270,45 @@ class Device {
         }
         return new stream_buffer_1.StreamBuffer(this, streamBufferId);
     }
+    /**
+     * Returns a serialization of the current device state that can be saved and reapplied.
+     * @return A serialization of the current state of the device.
+     */
+    async getState() {
+        const request = new gateway.GetStateRequest();
+        request.setInterfaceId(this.connection.interfaceId);
+        request.setDevice(this.deviceAddress);
+        const response = await gateway.callAsync('device/get_state', request, gateway.GetStateResponse);
+        return response.getState();
+    }
+    /**
+     * Applies a saved state to an axis.
+     * @param state The state object to apply to this axis.
+     * @param deviceOnly If true, only device scope settings and features will be set.
+     */
+    async setState(state, deviceOnly = false) {
+        const request = new gateway.SetStateRequest();
+        request.setInterfaceId(this.connection.interfaceId);
+        request.setDevice(this.deviceAddress);
+        request.setState(state);
+        request.setDeviceOnly(deviceOnly);
+        await gateway.callAsync('device/set_state', request);
+    }
+    /**
+     * Checks if a state can be applied to a device and its peripherals.
+     * This only covers exceptions that can be determined statically such as mismatches of ID or version,
+     * the process of applying the state can still fail when running.
+     * @param state The state object to check against.
+     * @return An object listing errors that come up when trying to set the state.
+     */
+    async canSetState(state) {
+        const request = new gateway.CanSetStateRequest();
+        request.setInterfaceId(this.connection.interfaceId);
+        request.setDevice(this.deviceAddress);
+        request.setState(state);
+        const response = await gateway.callAsync('device/can_set_state', request, gateway.CanSetStateDeviceResponse);
+        return can_set_state_device_response_1.CanSetStateDeviceResponse.fromProtobuf(response.toObject());
+    }
     /**
      * Returns identity.
      * @return Device identity.