@zaber/motion 2.9.0 → 2.10.1

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

@@ -1,28 +1,51 @@
-import { TranslatorDefinition } from './translator_definition';
-import { TranslatorConfig } from './translator_config';
 import { TranslateResult } from './translate_result';
+import { TranslatorConfig } from './translator_config';
+import { Stream } from '../ascii/stream';
 import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
+/**
+ * Represents a live G-Code translator.
+ * It allows to stream G-Code blocks to a connected device.
+ * It requires a stream to be setup on the device.
+ */
 export declare class Translator {
     /**
      * The ID of the translator that serves to identify native resources.
      */
     get translatorId(): number;
     private _translatorId;
+    /**
+     * Current coordinate system.
+     */
+    get coordinateSystem(): string;
     constructor(translatorId: number);
     /**
-     * Sets up translator from provided device definition and configuration.
-     * @param definition Definition of device and its peripherals.
-     * The definition must match a device that later performs the commands.
-     * @param config Configuration of the translator.
+     * Sets up the translator on top of a provided stream.
+     * @param stream The stream to setup the translator on.
+     * The stream must be already setup in a live or a store mode.
+     * @param config? Configuration of the translator.
      * @return New instance of translator.
      */
-    static setup(definition: TranslatorDefinition, config: TranslatorConfig): Promise<Translator>;
+    static setup(stream: Stream, config?: TranslatorConfig): Promise<Translator>;
     /**
      * Translates a single block (line) of G-code.
+     * The commands are queued in the underlying stream to ensure smooth continues movement.
+     * Returning of this method indicates that the commands are queued (not necessarily executed).
      * @param block Block (line) of G-code.
-     * @return Result of translation containing the stream commands.
+     * @return Result of translation containing the commands sent to the device.
+     */
+    translate(block: string): Promise<TranslateResult>;
+    /**
+     * Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.
+     * The flush is also performed by M2 and M30 codes.
+     * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.
+     * @return The remaining stream commands.
      */
-    translate(block: string): TranslateResult;
+    flush(waitUntilIdle?: boolean): Promise<string[]>;
+    /**
+     * Resets position of the translator from the underlying stream.
+     * Call this method after performing a movement outside of translator.
+     */
+    resetPosition(): Promise<void>;
     /**
      * Sets the speed at which the device moves when traversing (G0).
      * @param traverseRate The traverse rate.
@@ -47,18 +70,49 @@ export declare class Translator {
      */
     getAxisPosition(axis: string, unit: Length | Angle | Native): number;
     /**
-     * Sets default position of translator's axis.
+     * Sets the home position of translator's axis.
      * This position is used by G28.
      * @param axis Letter of the axis.
-     * @param position The default position.
+     * @param position The home position.
+     * @param unit Units of position.
+     */
+    setAxisHomePosition(axis: string, position: number, unit: Length | Angle | Native): void;
+    /**
+     * Sets the secondary home position of translator's axis.
+     * This position is used by G30.
+     * @param axis Letter of the axis.
+     * @param position The home position.
+     * @param unit Units of position.
+     */
+    setAxisSecondaryHomePosition(axis: string, position: number, unit: Length | Angle | Native): void;
+    /**
+     * Gets offset of an axis in a given coordinate system.
+     * @param coordinateSystem Coordinate system (e.g. G54).
+     * @param axis Letter of the axis.
      * @param unit Units of position.
+     * @return Offset in translator units of the axis.
      */
-    setAxisDefaultPosition(axis: string, position: number, unit: Length | Angle | Native): void;
+    getAxisCoordinateSystemOffset(coordinateSystem: string, axis: string, unit: Length | Angle | Native): number;
+    /**
+     * Resets internal state after device rejected generated command.
+     * Axis positions become uninitialized.
+     */
+    resetAfterStreamError(): void;
+    /**
+     * Allows to scale feed rate of the translated code by a coefficient.
+     * @param coefficient Coefficient of the original feed rate.
+     */
+    setFeedRateOverride(coefficient: number): void;
     /**
      * Releases native resources of a translator.
      * @param translatorId The ID of the translator.
      */
     private static _free;
+    /**
+     * Gets current coordinate system (e.g. G54).
+     * @return Current coordinate system.
+     */
+    private _getCurrentCoordinateSystem;
     /**
      * Releases the native resources of the translator.
      * Should only be called if your environment does not support FinalizationRegistry.

package/dist/lib/gcode/translator.js

@@ -23,10 +23,14 @@ var __importStar = (this && this.__importStar) || function (mod) {
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.Translator = void 0;
 const gateway = __importStar(require("../gateway"));
-const translator_definition_1 = require("./translator_definition");
-const translator_config_1 = require("./translator_config");
 const translate_result_1 = require("./translate_result");
+const translator_config_1 = require("./translator_config");
 const finalizer_1 = require("../finalizer");
+/**
+ * Represents a live G-Code translator.
+ * It allows to stream G-Code blocks to a connected device.
+ * It requires a stream to be setup on the device.
+ */
 class Translator {
     constructor(translatorId) {
         this._translatorId = translatorId;
@@ -39,31 +43,63 @@ class Translator {
         return this._translatorId;
     }
     /**
-     * Sets up translator from provided device definition and configuration.
-     * @param definition Definition of device and its peripherals.
-     * The definition must match a device that later performs the commands.
-     * @param config Configuration of the translator.
+     * Current coordinate system.
+     */
+    get coordinateSystem() {
+        return this._getCurrentCoordinateSystem();
+    }
+    /**
+     * Sets up the translator on top of a provided stream.
+     * @param stream The stream to setup the translator on.
+     * The stream must be already setup in a live or a store mode.
+     * @param config? Configuration of the translator.
      * @return New instance of translator.
      */
-    static async setup(definition, config) {
-        const request = new gateway.TranslatorCreateRequest();
-        request.setDefinition(translator_definition_1.TranslatorDefinition.toProtobuf(definition));
+    static async setup(stream, config) {
+        const request = new gateway.TranslatorCreateLiveRequest();
+        request.setDevice(stream.device.deviceAddress);
+        request.setInterfaceId(stream.device.connection.interfaceId);
+        request.setStreamId(stream.streamId);
         request.setConfig(translator_config_1.TranslatorConfig.toProtobuf(config));
-        const response = await gateway.callAsync('gcode/create', request, gateway.TranslatorCreateResponse);
+        const response = await gateway.callAsync('gcode/create_live', request, gateway.TranslatorCreateResponse);
         return new Translator(response.getTranslatorId());
     }
     /**
      * Translates a single block (line) of G-code.
+     * The commands are queued in the underlying stream to ensure smooth continues movement.
+     * Returning of this method indicates that the commands are queued (not necessarily executed).
      * @param block Block (line) of G-code.
-     * @return Result of translation containing the stream commands.
+     * @return Result of translation containing the commands sent to the device.
      */
-    translate(block) {
+    async translate(block) {
         const request = new gateway.TranslatorTranslateRequest();
         request.setTranslatorId(this.translatorId);
         request.setBlock(block);
-        const response = gateway.callSync('gcode/translate', request, gateway.TranslatorTranslateResponse);
+        const response = await gateway.callAsync('gcode/translate_live', request, gateway.TranslatorTranslateResponse);
         return translate_result_1.TranslateResult.fromProtobuf(response.toObject());
     }
+    /**
+     * Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.
+     * The flush is also performed by M2 and M30 codes.
+     * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.
+     * @return The remaining stream commands.
+     */
+    async flush(waitUntilIdle = true) {
+        const request = new gateway.TranslatorFlushLiveRequest();
+        request.setTranslatorId(this.translatorId);
+        request.setWaitUntilIdle(waitUntilIdle);
+        const response = await gateway.callAsync('gcode/flush_live', request, gateway.TranslatorFlushResponse);
+        return response.getCommandsList();
+    }
+    /**
+     * Resets position of the translator from the underlying stream.
+     * Call this method after performing a movement outside of translator.
+     */
+    async resetPosition() {
+        const request = new gateway.TranslatorEmptyRequest();
+        request.setTranslatorId(this.translatorId);
+        await gateway.callAsync('gcode/reset_position_from_stream', request);
+    }
     /**
      * Sets the speed at which the device moves when traversing (G0).
      * @param traverseRate The traverse rate.
@@ -108,19 +144,69 @@ class Translator {
         return response.getValue();
     }
     /**
-     * Sets default position of translator's axis.
+     * Sets the home position of translator's axis.
      * This position is used by G28.
      * @param axis Letter of the axis.
-     * @param position The default position.
+     * @param position The home position.
+     * @param unit Units of position.
+     */
+    setAxisHomePosition(axis, position, unit) {
+        const request = new gateway.TranslatorSetAxisPositionRequest();
+        request.setTranslatorId(this.translatorId);
+        request.setAxis(axis);
+        request.setPosition(position);
+        request.setUnit(unit);
+        gateway.callSync('gcode/set_axis_home', request);
+    }
+    /**
+     * Sets the secondary home position of translator's axis.
+     * This position is used by G30.
+     * @param axis Letter of the axis.
+     * @param position The home position.
      * @param unit Units of position.
      */
-    setAxisDefaultPosition(axis, position, unit) {
+    setAxisSecondaryHomePosition(axis, position, unit) {
         const request = new gateway.TranslatorSetAxisPositionRequest();
         request.setTranslatorId(this.translatorId);
         request.setAxis(axis);
         request.setPosition(position);
         request.setUnit(unit);
-        gateway.callSync('gcode/set_axis_default', request);
+        gateway.callSync('gcode/set_axis_secondary_home', request);
+    }
+    /**
+     * Gets offset of an axis in a given coordinate system.
+     * @param coordinateSystem Coordinate system (e.g. G54).
+     * @param axis Letter of the axis.
+     * @param unit Units of position.
+     * @return Offset in translator units of the axis.
+     */
+    getAxisCoordinateSystemOffset(coordinateSystem, axis, unit) {
+        const request = new gateway.TranslatorGetAxisOffsetRequest();
+        request.setTranslatorId(this.translatorId);
+        request.setCoordinateSystem(coordinateSystem);
+        request.setAxis(axis);
+        request.setUnit(unit);
+        const response = gateway.callSync('gcode/get_axis_offset', request, gateway.TranslatorGetAxisPositionResponse);
+        return response.getValue();
+    }
+    /**
+     * Resets internal state after device rejected generated command.
+     * Axis positions become uninitialized.
+     */
+    resetAfterStreamError() {
+        const request = new gateway.TranslatorEmptyRequest();
+        request.setTranslatorId(this.translatorId);
+        gateway.callSync('gcode/reset_after_stream_error', request);
+    }
+    /**
+     * Allows to scale feed rate of the translated code by a coefficient.
+     * @param coefficient Coefficient of the original feed rate.
+     */
+    setFeedRateOverride(coefficient) {
+        const request = new gateway.TranslatorSetFeedRateOverrideRequest();
+        request.setTranslatorId(this.translatorId);
+        request.setCoefficient(coefficient);
+        gateway.callSync('gcode/set_feed_rate_override', request);
     }
     /**
      * Releases native resources of a translator.
@@ -131,6 +217,16 @@ class Translator {
         request.setTranslatorId(translatorId);
         gateway.callSync('gcode/free', request);
     }
+    /**
+     * Gets current coordinate system (e.g. G54).
+     * @return Current coordinate system.
+     */
+    _getCurrentCoordinateSystem() {
+        const request = new gateway.TranslatorEmptyRequest();
+        request.setTranslatorId(this.translatorId);
+        const response = gateway.callSync('gcode/get_current_coordinate_system', request, gateway.TranslatorGetCurrentCoordinateSystemResponse);
+        return response.getValue();
+    }
     /**
      * Releases the native resources of the translator.
      * Should only be called if your environment does not support FinalizationRegistry.

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

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { TranslatorDefinition } from './translator_definition';\nimport { TranslatorConfig } from './translator_config';\nimport { TranslateResult } from './translate_result';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\nexport class Translator {\n  /**\n   * The ID of the translator that serves to identify native resources.\n   */\n  public get translatorId(): number {\n    return this._translatorId;\n  }\n  private _translatorId: number;\n\n  constructor(translatorId: number) {\n    this._translatorId = translatorId;\n    registerForFinalization(this, Translator._free.bind(null, translatorId));\n  }\n\n  /**\n   * Sets up translator from provided device definition and configuration.\n   * @param definition Definition of device and its peripherals.\n   * The definition must match a device that later performs the commands.\n   * @param config Configuration of the translator.\n   * @return New instance of translator.\n   */\n  public static async setup(\n    definition: TranslatorDefinition,\n    config: TranslatorConfig\n  ): Promise<Translator> {\n    const request = new gateway.TranslatorCreateRequest();\n    request.setDefinition(TranslatorDefinition.toProtobuf(definition));\n    request.setConfig(TranslatorConfig.toProtobuf(config));\n\n    const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n      'gcode/create',\n      request,\n      gateway.TranslatorCreateResponse);\n    return new Translator(response.getTranslatorId());\n  }\n\n  /**\n   * Translates a single block (line) of G-code.\n   * @param block Block (line) of G-code.\n   * @return Result of translation containing the stream commands.\n   */\n  public translate(\n    block: string\n  ): TranslateResult {\n    const request = new gateway.TranslatorTranslateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setBlock(block);\n\n    const response = gateway.callSync<gateway.TranslatorTranslateResponse>(\n      'gcode/translate',\n      request,\n      gateway.TranslatorTranslateResponse);\n    return TranslateResult.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sets the speed at which the device moves when traversing (G0).\n   * @param traverseRate The traverse rate.\n   * @param unit Units of the traverse rate.\n   */\n  public setTraverseRate(\n    traverseRate: number,\n    unit: Velocity | AngularVelocity | Native\n  ): void {\n    const request = new gateway.TranslatorSetTraverseRateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setTraverseRate(traverseRate);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_traverse_rate', request);\n  }\n\n  /**\n   * Sets position of translator's axis.\n   * Use this method to set position after performing movement outside of the translator.\n   * This method does not cause any movement.\n   * @param axis Letter of the axis.\n   * @param position The position.\n   * @param unit Units of position.\n   */\n  public setAxisPosition(\n    axis: string,\n    position: number,\n    unit: Length | Angle | Native\n  ): void {\n    const request = new gateway.TranslatorSetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setPosition(position);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_axis_position', request);\n  }\n\n  /**\n   * Gets position of translator's axis.\n   * This method does not query device but returns value from translator's state.\n   * @param axis Letter of the axis.\n   * @param unit Units of position.\n   * @return Position of translator's axis.\n   */\n  public getAxisPosition(\n    axis: string,\n    unit: Length | Angle | Native\n  ): number {\n    const request = new gateway.TranslatorGetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n      'gcode/get_axis_position',\n      request,\n      gateway.TranslatorGetAxisPositionResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets default position of translator's axis.\n   * This position is used by G28.\n   * @param axis Letter of the axis.\n   * @param position The default position.\n   * @param unit Units of position.\n   */\n  public setAxisDefaultPosition(\n    axis: string,\n    position: number,\n    unit: Length | Angle | Native\n  ): void {\n    const request = new gateway.TranslatorSetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setPosition(position);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_axis_default', request);\n  }\n\n  /**\n   * Releases native resources of a translator.\n   * @param translatorId The ID of the translator.\n   */\n  private static _free(\n    translatorId: number\n  ): void {\n    const request = new gateway.TranslatorEmptyRequest();\n    request.setTranslatorId(translatorId);\n\n    gateway.callSync('gcode/free', request);\n  }\n\n  /**\n   * Releases the native resources of the translator.\n   * Should only be called if your environment does not support FinalizationRegistry.\n   * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n   */\n  public free(): void {\n    Translator._free(this.translatorId);\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { TranslateResult } from './translate_result';\nimport { TranslatorConfig } from './translator_config';\nimport { Stream } from '../ascii/stream';\nimport { Angle, Length, Native, AngularVelocity, Velocity } from '../units';\nimport { registerForFinalization } from '../finalizer';\n\n/**\n * Represents a live G-Code translator.\n * It allows to stream G-Code blocks to a connected device.\n * It requires a stream to be setup on the device.\n */\nexport class Translator {\n  /**\n   * The ID of the translator that serves to identify native resources.\n   */\n  public get translatorId(): number {\n    return this._translatorId;\n  }\n  private _translatorId: number;\n\n  /**\n   * Current coordinate system.\n   */\n  public get coordinateSystem(): string {\n    return this._getCurrentCoordinateSystem();\n  }\n\n  constructor(translatorId: number) {\n    this._translatorId = translatorId;\n    registerForFinalization(this, Translator._free.bind(null, translatorId));\n  }\n\n  /**\n   * Sets up the translator on top of a provided stream.\n   * @param stream The stream to setup the translator on.\n   * The stream must be already setup in a live or a store mode.\n   * @param config? Configuration of the translator.\n   * @return New instance of translator.\n   */\n  public static async setup(\n    stream: Stream,\n    config?: TranslatorConfig\n  ): Promise<Translator> {\n    const request = new gateway.TranslatorCreateLiveRequest();\n    request.setDevice(stream.device.deviceAddress);\n    request.setInterfaceId(stream.device.connection.interfaceId);\n    request.setStreamId(stream.streamId);\n    request.setConfig(TranslatorConfig.toProtobuf(config));\n\n    const response = await gateway.callAsync<gateway.TranslatorCreateResponse>(\n      'gcode/create_live',\n      request,\n      gateway.TranslatorCreateResponse);\n    return new Translator(response.getTranslatorId());\n  }\n\n  /**\n   * Translates a single block (line) of G-code.\n   * The commands are queued in the underlying stream to ensure smooth continues movement.\n   * Returning of this method indicates that the commands are queued (not necessarily executed).\n   * @param block Block (line) of G-code.\n   * @return Result of translation containing the commands sent to the device.\n   */\n  public async translate(\n    block: string\n  ): Promise<TranslateResult> {\n    const request = new gateway.TranslatorTranslateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setBlock(block);\n\n    const response = await gateway.callAsync<gateway.TranslatorTranslateResponse>(\n      'gcode/translate_live',\n      request,\n      gateway.TranslatorTranslateResponse);\n    return TranslateResult.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Flushes the remaining stream commands waiting in optimization buffer into the underlying stream.\n   * The flush is also performed by M2 and M30 codes.\n   * @param waitUntilIdle Determines whether to wait for the stream to finish all the movements.\n   * @return The remaining stream commands.\n   */\n  public async flush(\n    waitUntilIdle: boolean = true\n  ): Promise<string[]> {\n    const request = new gateway.TranslatorFlushLiveRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    const response = await gateway.callAsync<gateway.TranslatorFlushResponse>(\n      'gcode/flush_live',\n      request,\n      gateway.TranslatorFlushResponse);\n    return response.getCommandsList();\n  }\n\n  /**\n   * Resets position of the translator from the underlying stream.\n   * Call this method after performing a movement outside of translator.\n   */\n  public async resetPosition(): Promise<void> {\n    const request = new gateway.TranslatorEmptyRequest();\n    request.setTranslatorId(this.translatorId);\n\n    await gateway.callAsync('gcode/reset_position_from_stream', request);\n  }\n\n  /**\n   * Sets the speed at which the device moves when traversing (G0).\n   * @param traverseRate The traverse rate.\n   * @param unit Units of the traverse rate.\n   */\n  public setTraverseRate(\n    traverseRate: number,\n    unit: Velocity | AngularVelocity | Native\n  ): void {\n    const request = new gateway.TranslatorSetTraverseRateRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setTraverseRate(traverseRate);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_traverse_rate', request);\n  }\n\n  /**\n   * Sets position of translator's axis.\n   * Use this method to set position after performing movement outside of the translator.\n   * This method does not cause any movement.\n   * @param axis Letter of the axis.\n   * @param position The position.\n   * @param unit Units of position.\n   */\n  public setAxisPosition(\n    axis: string,\n    position: number,\n    unit: Length | Angle | Native\n  ): void {\n    const request = new gateway.TranslatorSetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setPosition(position);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_axis_position', request);\n  }\n\n  /**\n   * Gets position of translator's axis.\n   * This method does not query device but returns value from translator's state.\n   * @param axis Letter of the axis.\n   * @param unit Units of position.\n   * @return Position of translator's axis.\n   */\n  public getAxisPosition(\n    axis: string,\n    unit: Length | Angle | Native\n  ): number {\n    const request = new gateway.TranslatorGetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n      'gcode/get_axis_position',\n      request,\n      gateway.TranslatorGetAxisPositionResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the home position of translator's axis.\n   * This position is used by G28.\n   * @param axis Letter of the axis.\n   * @param position The home position.\n   * @param unit Units of position.\n   */\n  public setAxisHomePosition(\n    axis: string,\n    position: number,\n    unit: Length | Angle | Native\n  ): void {\n    const request = new gateway.TranslatorSetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setPosition(position);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_axis_home', request);\n  }\n\n  /**\n   * Sets the secondary home position of translator's axis.\n   * This position is used by G30.\n   * @param axis Letter of the axis.\n   * @param position The home position.\n   * @param unit Units of position.\n   */\n  public setAxisSecondaryHomePosition(\n    axis: string,\n    position: number,\n    unit: Length | Angle | Native\n  ): void {\n    const request = new gateway.TranslatorSetAxisPositionRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setAxis(axis);\n    request.setPosition(position);\n    request.setUnit(unit);\n\n    gateway.callSync('gcode/set_axis_secondary_home', request);\n  }\n\n  /**\n   * Gets offset of an axis in a given coordinate system.\n   * @param coordinateSystem Coordinate system (e.g. G54).\n   * @param axis Letter of the axis.\n   * @param unit Units of position.\n   * @return Offset in translator units of the axis.\n   */\n  public getAxisCoordinateSystemOffset(\n    coordinateSystem: string,\n    axis: string,\n    unit: Length | Angle | Native\n  ): number {\n    const request = new gateway.TranslatorGetAxisOffsetRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setCoordinateSystem(coordinateSystem);\n    request.setAxis(axis);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.TranslatorGetAxisPositionResponse>(\n      'gcode/get_axis_offset',\n      request,\n      gateway.TranslatorGetAxisPositionResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Resets internal state after device rejected generated command.\n   * Axis positions become uninitialized.\n   */\n  public resetAfterStreamError(): void {\n    const request = new gateway.TranslatorEmptyRequest();\n    request.setTranslatorId(this.translatorId);\n\n    gateway.callSync('gcode/reset_after_stream_error', request);\n  }\n\n  /**\n   * Allows to scale feed rate of the translated code by a coefficient.\n   * @param coefficient Coefficient of the original feed rate.\n   */\n  public setFeedRateOverride(\n    coefficient: number\n  ): void {\n    const request = new gateway.TranslatorSetFeedRateOverrideRequest();\n    request.setTranslatorId(this.translatorId);\n    request.setCoefficient(coefficient);\n\n    gateway.callSync('gcode/set_feed_rate_override', request);\n  }\n\n  /**\n   * Releases native resources of a translator.\n   * @param translatorId The ID of the translator.\n   */\n  private static _free(\n    translatorId: number\n  ): void {\n    const request = new gateway.TranslatorEmptyRequest();\n    request.setTranslatorId(translatorId);\n\n    gateway.callSync('gcode/free', request);\n  }\n\n  /**\n   * Gets current coordinate system (e.g. G54).\n   * @return Current coordinate system.\n   */\n  private _getCurrentCoordinateSystem(): string {\n    const request = new gateway.TranslatorEmptyRequest();\n    request.setTranslatorId(this.translatorId);\n\n    const response = gateway.callSync<gateway.TranslatorGetCurrentCoordinateSystemResponse>(\n      'gcode/get_current_coordinate_system',\n      request,\n      gateway.TranslatorGetCurrentCoordinateSystemResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Releases the native resources of the translator.\n   * Should only be called if your environment does not support FinalizationRegistry.\n   * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n   */\n  public free(): void {\n    Translator._free(this.translatorId);\n  }\n}\n"]}

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

@@ -1,17 +1,17 @@
-import { Measurement } from '../measurement';
 import { AxisMapping } from './axis_mapping';
+import { AxisTransformation } from './axis_transformation';
 /**
- * Configuration of translator.
+ * Configuration of a translator.
  */
 export interface TranslatorConfig {
     /**
-     * Speed at which the device moves when traversing (G0).
+     * Optional custom mapping of translator axes to stream axes.
      */
-    traverseRate: Measurement;
+    axisMappings?: AxisMapping[];
     /**
-     * Optional custom mapping of translator axes to stream axes.
+     * Optional transformation of axes.
      */
-    axesMapping?: AxisMapping[];
+    axisTransformations?: AxisTransformation[];
 }
 export declare namespace TranslatorConfig {
     const __type = "TranslatorConfig";

package/dist/lib/gcode/translator_config.js

@@ -23,17 +23,20 @@ var __importStar = (this && this.__importStar) || function (mod) {
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.TranslatorConfig = void 0;
 const gateway = __importStar(require("../gateway"));
-const measurement_1 = require("../measurement");
 const axis_mapping_1 = require("./axis_mapping");
+const axis_transformation_1 = require("./axis_transformation");
 var TranslatorConfig;
 (function (TranslatorConfig) {
     TranslatorConfig.__type = 'TranslatorConfig';
     /** @internal */
     function toProtobuf(source) {
-        var _a, _b;
+        var _a, _b, _c, _d;
         const pbData = new gateway.TranslatorConfig();
-        pbData.setTraverseRate(measurement_1.Measurement.toProtobuf(source.traverseRate));
-        pbData.setAxesMappingList((_b = (_a = source.axesMapping) === null || _a === void 0 ? void 0 : _a.map(item => axis_mapping_1.AxisMapping.toProtobuf(item))) !== null && _b !== void 0 ? _b : []);
+        if (source == null) {
+            return pbData;
+        }
+        pbData.setAxisMappingsList((_b = (_a = source.axisMappings) === null || _a === void 0 ? void 0 : _a.map(item => axis_mapping_1.AxisMapping.toProtobuf(item))) !== null && _b !== void 0 ? _b : []);
+        pbData.setAxisTransformationsList((_d = (_c = source.axisTransformations) === null || _c === void 0 ? void 0 : _c.map(item => axis_transformation_1.AxisTransformation.toProtobuf(item))) !== null && _d !== void 0 ? _d : []);
         return pbData;
     }
     TranslatorConfig.toProtobuf = toProtobuf;

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

@@ -1 +1 @@
-{"version":3,"file":"translator_config.js","sourceRoot":"","sources":["../../../src/gcode/translator_config.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AACtC,gDAA6C;AAC7C,iDAA6C;AAkB7C,IAAiB,gBAAgB,CAUhC;AAVD,WAAiB,gBAAgB;IAClB,uBAAM,GAAG,kBAAkB,CAAC;IAEzC,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAAwB;;QACjD,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC9C,MAAM,CAAC,eAAe,CAAC,yBAAW,CAAC,UAAU,CAAC,MAAM,CAAC,YAAY,CAAC,CAAC,CAAC;QACpE,MAAM,CAAC,kBAAkB,CAAC,MAAA,MAAA,MAAM,CAAC,WAAW,0CAAE,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,0BAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,mCAAI,EAAE,CAAC,CAAC;QAC/F,OAAO,MAAM,CAAC;IAChB,CAAC;IALe,2BAAU,aAKzB,CAAA;AACH,CAAC,EAVgB,gBAAgB,GAAhB,wBAAgB,KAAhB,wBAAgB,QAUhC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { Measurement } from '../measurement';\nimport { AxisMapping } from './axis_mapping';\n\n/**\n * Configuration of translator.\n */\nexport interface TranslatorConfig {\n  /**\n   * Speed at which the device moves when traversing (G0).\n   */\n  traverseRate: Measurement;\n\n  /**\n   * Optional custom mapping of translator axes to stream axes.\n   */\n  axesMapping?: AxisMapping[];\n\n}\n\nexport namespace TranslatorConfig {\n  export const __type = 'TranslatorConfig';\n\n  /** @internal */\n  export function toProtobuf(source: TranslatorConfig): gateway.TranslatorConfig {\n    const pbData = new gateway.TranslatorConfig();\n    pbData.setTraverseRate(Measurement.toProtobuf(source.traverseRate));\n    pbData.setAxesMappingList(source.axesMapping?.map(item => AxisMapping.toProtobuf(item)) ?? []);\n    return pbData;\n  }\n}\n"]}
+{"version":3,"file":"translator_config.js","sourceRoot":"","sources":["../../../src/gcode/translator_config.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AACtC,iDAA6C;AAC7C,+DAA2D;AAkB3D,IAAiB,gBAAgB,CAchC;AAdD,WAAiB,gBAAgB;IAClB,uBAAM,GAAG,kBAAkB,CAAC;IAEzC,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAA2C;;QACpE,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC9C,IAAI,MAAM,IAAI,IAAI,EAAE;YAClB,OAAO,MAAM,CAAC;SACf;QAED,MAAM,CAAC,mBAAmB,CAAC,MAAA,MAAA,MAAM,CAAC,YAAY,0CAAE,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,0BAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,mCAAI,EAAE,CAAC,CAAC;QACjG,MAAM,CAAC,0BAA0B,CAAC,MAAA,MAAA,MAAM,CAAC,mBAAmB,0CAAE,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,wCAAkB,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,mCAAI,EAAE,CAAC,CAAC;QACtH,OAAO,MAAM,CAAC;IAChB,CAAC;IATe,2BAAU,aASzB,CAAA;AACH,CAAC,EAdgB,gBAAgB,GAAhB,wBAAgB,KAAhB,wBAAgB,QAchC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { AxisMapping } from './axis_mapping';\nimport { AxisTransformation } from './axis_transformation';\n\n/**\n * Configuration of a translator.\n */\nexport interface TranslatorConfig {\n  /**\n   * Optional custom mapping of translator axes to stream axes.\n   */\n  axisMappings?: AxisMapping[];\n\n  /**\n   * Optional transformation of axes.\n   */\n  axisTransformations?: AxisTransformation[];\n\n}\n\nexport namespace TranslatorConfig {\n  export const __type = 'TranslatorConfig';\n\n  /** @internal */\n  export function toProtobuf(source: TranslatorConfig | null | undefined): gateway.TranslatorConfig {\n    const pbData = new gateway.TranslatorConfig();\n    if (source == null) {\n      return pbData;\n    }\n\n    pbData.setAxisMappingsList(source.axisMappings?.map(item => AxisMapping.toProtobuf(item)) ?? []);\n    pbData.setAxisTransformationsList(source.axisTransformations?.map(item => AxisTransformation.toProtobuf(item)) ?? []);\n    return pbData;\n  }\n}\n"]}

package/dist/lib/gcode_ns.d.ts

@@ -4,16 +4,18 @@ export declare namespace gcode {
     type TranslateMessage = gcodeImport.TranslateMessage;
     const TranslateResult: typeof gcodeImport.TranslateResult;
     type TranslateResult = gcodeImport.TranslateResult;
-    const TranslatorAxisDefinition: typeof gcodeImport.TranslatorAxisDefinition;
-    type TranslatorAxisDefinition = gcodeImport.TranslatorAxisDefinition;
-    const TranslatorDefinition: typeof gcodeImport.TranslatorDefinition;
-    type TranslatorDefinition = gcodeImport.TranslatorDefinition;
+    const AxisDefinition: typeof gcodeImport.AxisDefinition;
+    type AxisDefinition = gcodeImport.AxisDefinition;
+    const DeviceDefinition: typeof gcodeImport.DeviceDefinition;
+    type DeviceDefinition = gcodeImport.DeviceDefinition;
     const TranslatorConfig: typeof gcodeImport.TranslatorConfig;
     type TranslatorConfig = gcodeImport.TranslatorConfig;
     const AxisMapping: typeof gcodeImport.AxisMapping;
     type AxisMapping = gcodeImport.AxisMapping;
+    const AxisTransformation: typeof gcodeImport.AxisTransformation;
+    type AxisTransformation = gcodeImport.AxisTransformation;
     const Translator: typeof gcodeImport.Translator;
     type Translator = gcodeImport.Translator;
-    const TranslatorLive: typeof gcodeImport.TranslatorLive;
-    type TranslatorLive = gcodeImport.TranslatorLive;
+    const OfflineTranslator: typeof gcodeImport.OfflineTranslator;
+    type OfflineTranslator = gcodeImport.OfflineTranslator;
 }

package/dist/lib/gcode_ns.js

@@ -25,11 +25,12 @@ var gcode;
 (function (gcode) {
     gcode.TranslateMessage = gcodeImport.TranslateMessage;
     gcode.TranslateResult = gcodeImport.TranslateResult;
-    gcode.TranslatorAxisDefinition = gcodeImport.TranslatorAxisDefinition;
-    gcode.TranslatorDefinition = gcodeImport.TranslatorDefinition;
+    gcode.AxisDefinition = gcodeImport.AxisDefinition;
+    gcode.DeviceDefinition = gcodeImport.DeviceDefinition;
     gcode.TranslatorConfig = gcodeImport.TranslatorConfig;
     gcode.AxisMapping = gcodeImport.AxisMapping;
+    gcode.AxisTransformation = gcodeImport.AxisTransformation;
     gcode.Translator = gcodeImport.Translator;
-    gcode.TranslatorLive = gcodeImport.TranslatorLive;
+    gcode.OfflineTranslator = gcodeImport.OfflineTranslator;
 })(gcode = exports.gcode || (exports.gcode = {}));
 //# sourceMappingURL=gcode_ns.js.map

package/dist/lib/gcode_ns.js.map

@@ -1 +1 @@
-{"version":3,"file":"gcode_ns.js","sourceRoot":"","sources":["../../src/gcode_ns.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;AAAA,qDAAuC;AAEvC,IAAiB,KAAK,CAiBrB;AAjBD,WAAiB,KAAK;IACP,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,qBAAe,GAAG,WAAW,CAAC,eAAe,CAAC;IAE9C,8BAAwB,GAAG,WAAW,CAAC,wBAAwB,CAAC;IAEhE,0BAAoB,GAAG,WAAW,CAAC,oBAAoB,CAAC;IAExD,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,iBAAW,GAAG,WAAW,CAAC,WAAW,CAAC;IAEtC,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;AAE3D,CAAC,EAjBgB,KAAK,GAAL,aAAK,KAAL,aAAK,QAiBrB","sourcesContent":["import * as gcodeImport from './gcode';\n\nexport namespace gcode {\n  export const TranslateMessage = gcodeImport.TranslateMessage;\n  export type TranslateMessage = gcodeImport.TranslateMessage;\n  export const TranslateResult = gcodeImport.TranslateResult;\n  export type TranslateResult = gcodeImport.TranslateResult;\n  export const TranslatorAxisDefinition = gcodeImport.TranslatorAxisDefinition;\n  export type TranslatorAxisDefinition = gcodeImport.TranslatorAxisDefinition;\n  export const TranslatorDefinition = gcodeImport.TranslatorDefinition;\n  export type TranslatorDefinition = gcodeImport.TranslatorDefinition;\n  export const TranslatorConfig = gcodeImport.TranslatorConfig;\n  export type TranslatorConfig = gcodeImport.TranslatorConfig;\n  export const AxisMapping = gcodeImport.AxisMapping;\n  export type AxisMapping = gcodeImport.AxisMapping;\n  export const Translator = gcodeImport.Translator;\n  export type Translator = gcodeImport.Translator;\n  export const TranslatorLive = gcodeImport.TranslatorLive;\n  export type TranslatorLive = gcodeImport.TranslatorLive;\n}\n"]}
+{"version":3,"file":"gcode_ns.js","sourceRoot":"","sources":["../../src/gcode_ns.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;AAAA,qDAAuC;AAEvC,IAAiB,KAAK,CAmBrB;AAnBD,WAAiB,KAAK;IACP,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,qBAAe,GAAG,WAAW,CAAC,eAAe,CAAC;IAE9C,oBAAc,GAAG,WAAW,CAAC,cAAc,CAAC;IAE5C,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,sBAAgB,GAAG,WAAW,CAAC,gBAAgB,CAAC;IAEhD,iBAAW,GAAG,WAAW,CAAC,WAAW,CAAC;IAEtC,wBAAkB,GAAG,WAAW,CAAC,kBAAkB,CAAC;IAEpD,gBAAU,GAAG,WAAW,CAAC,UAAU,CAAC;IAEpC,uBAAiB,GAAG,WAAW,CAAC,iBAAiB,CAAC;AAEjE,CAAC,EAnBgB,KAAK,GAAL,aAAK,KAAL,aAAK,QAmBrB","sourcesContent":["import * as gcodeImport from './gcode';\n\nexport namespace gcode {\n  export const TranslateMessage = gcodeImport.TranslateMessage;\n  export type TranslateMessage = gcodeImport.TranslateMessage;\n  export const TranslateResult = gcodeImport.TranslateResult;\n  export type TranslateResult = gcodeImport.TranslateResult;\n  export const AxisDefinition = gcodeImport.AxisDefinition;\n  export type AxisDefinition = gcodeImport.AxisDefinition;\n  export const DeviceDefinition = gcodeImport.DeviceDefinition;\n  export type DeviceDefinition = gcodeImport.DeviceDefinition;\n  export const TranslatorConfig = gcodeImport.TranslatorConfig;\n  export type TranslatorConfig = gcodeImport.TranslatorConfig;\n  export const AxisMapping = gcodeImport.AxisMapping;\n  export type AxisMapping = gcodeImport.AxisMapping;\n  export const AxisTransformation = gcodeImport.AxisTransformation;\n  export type AxisTransformation = gcodeImport.AxisTransformation;\n  export const Translator = gcodeImport.Translator;\n  export type Translator = gcodeImport.Translator;\n  export const OfflineTranslator = gcodeImport.OfflineTranslator;\n  export type OfflineTranslator = gcodeImport.OfflineTranslator;\n}\n"]}

package/dist/lib/measurement.js

@@ -29,6 +29,9 @@ var Measurement;
     /** @internal */
     function toProtobuf(source) {
         const pbData = new gateway.Measurement();
+        if (source == null) {
+            return pbData;
+        }
         pbData.setValue(source.value);
         pbData.setUnit(source.unit);
         return pbData;

package/dist/lib/measurement.js.map

@@ -1 +1 @@
-{"version":3,"file":"measurement.js","sourceRoot":"","sources":["../../src/measurement.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,mDAAqC;AAmBrC,IAAiB,WAAW,CAU3B;AAVD,WAAiB,WAAW;IACb,kBAAM,GAAG,aAAa,CAAC;IAEpC,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAAmB;QAC5C,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,WAAW,EAAE,CAAC;QACzC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QAC9B,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAK,CAAC,CAAC;QAC7B,OAAO,MAAM,CAAC;IAChB,CAAC;IALe,sBAAU,aAKzB,CAAA;AACH,CAAC,EAVgB,WAAW,GAAX,mBAAW,KAAX,mBAAW,QAU3B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from './gateway';\nimport { Units } from './units';\n\n/**\n * Represents a numerical value with optional units specified.\n */\nexport interface Measurement {\n  /**\n   * Value of the measurement.\n   */\n  value: number;\n\n  /**\n   * Optional units of the measurement.\n   */\n  unit?: Units;\n\n}\n\nexport namespace Measurement {\n  export const __type = 'Measurement';\n\n  /** @internal */\n  export function toProtobuf(source: Measurement): gateway.Measurement {\n    const pbData = new gateway.Measurement();\n    pbData.setValue(source.value);\n    pbData.setUnit(source.unit!);\n    return pbData;\n  }\n}\n"]}
+{"version":3,"file":"measurement.js","sourceRoot":"","sources":["../../src/measurement.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,mDAAqC;AAmBrC,IAAiB,WAAW,CAc3B;AAdD,WAAiB,WAAW;IACb,kBAAM,GAAG,aAAa,CAAC;IAEpC,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAAsC;QAC/D,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,WAAW,EAAE,CAAC;QACzC,IAAI,MAAM,IAAI,IAAI,EAAE;YAClB,OAAO,MAAM,CAAC;SACf;QAED,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QAC9B,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAK,CAAC,CAAC;QAC7B,OAAO,MAAM,CAAC;IAChB,CAAC;IATe,sBAAU,aASzB,CAAA;AACH,CAAC,EAdgB,WAAW,GAAX,mBAAW,KAAX,mBAAW,QAc3B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from './gateway';\nimport { Units } from './units';\n\n/**\n * Represents a numerical value with optional units specified.\n */\nexport interface Measurement {\n  /**\n   * Value of the measurement.\n   */\n  value: number;\n\n  /**\n   * Optional units of the measurement.\n   */\n  unit?: Units;\n\n}\n\nexport namespace Measurement {\n  export const __type = 'Measurement';\n\n  /** @internal */\n  export function toProtobuf(source: Measurement | null | undefined): gateway.Measurement {\n    const pbData = new gateway.Measurement();\n    if (source == null) {\n      return pbData;\n    }\n\n    pbData.setValue(source.value);\n    pbData.setUnit(source.unit!);\n    return pbData;\n  }\n}\n"]}