@zaber/motion 2.9.1 → 2.11.0

package/dist/lib/tools.d.ts

@@ -7,4 +7,10 @@ export declare class Tools {
      * @return Array of serial port names.
      */
     static listSerialPorts(): Promise<string[]>;
+    /**
+     * Returns path of message router named pipe on Windows
+     * or file path of unix domain socket on UNIX.
+     * @return Path of message router's named pipe or unix domain socket.
+     */
+    static getMessageRouterPipePath(): string;
 }

package/dist/lib/tools.js

@@ -36,6 +36,16 @@ class Tools {
         const response = await gateway.callAsync('tools/list_serial_ports', request, gateway.ToolsListSerialPortsResponse);
         return response.getPortsList();
     }
+    /**
+     * Returns path of message router named pipe on Windows
+     * or file path of unix domain socket on UNIX.
+     * @return Path of message router's named pipe or unix domain socket.
+     */
+    static getMessageRouterPipePath() {
+        const request = new gateway.EmptyRequest();
+        const response = gateway.callSync('tools/get_message_router_pipe', request, gateway.GetMessageRouterPipeResponse);
+        return response.getValue();
+    }
 }
 exports.Tools = Tools;
 //# sourceMappingURL=tools.js.map

package/dist/lib/tools.js.map

@@ -1 +1 @@
-{"version":3,"file":"tools.js","sourceRoot":"","sources":["../../src/tools.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,mDAAqC;AAErC;;GAEG;AACH,MAAa,KAAK;IAEhB;;;OAGG;IACI,MAAM,CAAC,KAAK,CAAC,eAAe;QACjC,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,YAAY,EAAE,CAAC;QAE3C,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,yBAAyB,EACzB,OAAO,EACP,OAAO,CAAC,4BAA4B,CAAC,CAAC;QACxC,OAAO,QAAQ,CAAC,YAAY,EAAE,CAAC;IACjC,CAAC;CACF;AAfD,sBAeC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from './gateway';\n\n/**\n * Class providing various utility functions.\n */\nexport class Tools {\n\n  /**\n   * Lists all serial ports on the computer.\n   * @return Array of serial port names.\n   */\n  public static async listSerialPorts(): Promise<string[]> {\n    const request = new gateway.EmptyRequest();\n\n    const response = await gateway.callAsync<gateway.ToolsListSerialPortsResponse>(\n      'tools/list_serial_ports',\n      request,\n      gateway.ToolsListSerialPortsResponse);\n    return response.getPortsList();\n  }\n}\n"]}
+{"version":3,"file":"tools.js","sourceRoot":"","sources":["../../src/tools.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,mDAAqC;AAErC;;GAEG;AACH,MAAa,KAAK;IAEhB;;;OAGG;IACI,MAAM,CAAC,KAAK,CAAC,eAAe;QACjC,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,YAAY,EAAE,CAAC;QAE3C,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,yBAAyB,EACzB,OAAO,EACP,OAAO,CAAC,4BAA4B,CAAC,CAAC;QACxC,OAAO,QAAQ,CAAC,YAAY,EAAE,CAAC;IACjC,CAAC;IAED;;;;OAIG;IACI,MAAM,CAAC,wBAAwB;QACpC,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,YAAY,EAAE,CAAC;QAE3C,MAAM,QAAQ,GAAG,OAAO,CAAC,QAAQ,CAC/B,+BAA+B,EAC/B,OAAO,EACP,OAAO,CAAC,4BAA4B,CAAC,CAAC;QACxC,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;CACF;AA9BD,sBA8BC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from './gateway';\n\n/**\n * Class providing various utility functions.\n */\nexport class Tools {\n\n  /**\n   * Lists all serial ports on the computer.\n   * @return Array of serial port names.\n   */\n  public static async listSerialPorts(): Promise<string[]> {\n    const request = new gateway.EmptyRequest();\n\n    const response = await gateway.callAsync<gateway.ToolsListSerialPortsResponse>(\n      'tools/list_serial_ports',\n      request,\n      gateway.ToolsListSerialPortsResponse);\n    return response.getPortsList();\n  }\n\n  /**\n   * Returns path of message router named pipe on Windows\n   * or file path of unix domain socket on UNIX.\n   * @return Path of message router's named pipe or unix domain socket.\n   */\n  public static getMessageRouterPipePath(): string {\n    const request = new gateway.EmptyRequest();\n\n    const response = gateway.callSync<gateway.GetMessageRouterPipeResponse>(\n      'tools/get_message_router_pipe',\n      request,\n      gateway.GetMessageRouterPipeResponse);\n    return response.getValue();\n  }\n}\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@zaber/motion",
-  "version": "2.9.1",
+  "version": "2.11.0",
   "description": "Zaber Motion Library is a multi-platform library used to operate Zaber devices.",
   "keywords": [],
   "main": "dist/lib/index.js",

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

@@ -1,20 +0,0 @@
-/**
- * Defines an axis of the translator.
- */
-export interface TranslatorAxisDefinition {
-    /**
-     * Letter of the axis (X,Y,Z,A,B,C,E).
-     */
-    axisLetter: string;
-    /**
-     * ID of the peripheral.
-     */
-    peripheralId: number;
-    /**
-     * Microstep resolution of the axis.
-     */
-    microstepResolution: number;
-}
-export declare namespace TranslatorAxisDefinition {
-    const __type = "TranslatorAxisDefinition";
-}

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

@@ -1 +0,0 @@
-{"version":3,"file":"translator_axis_definition.js","sourceRoot":"","sources":["../../../src/gcode/translator_axis_definition.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AAuBtC,IAAiB,wBAAwB,CAmBxC;AAnBD,WAAiB,wBAAwB;IAC1B,+BAAM,GAAG,0BAA0B,CAAC;IAEjD,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAiD;QAC5E,OAAO;YACL,UAAU,EAAE,MAAM,CAAC,UAAU;YAC7B,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,mBAAmB,EAAE,MAAM,CAAC,mBAAmB;SAChD,CAAC;IACJ,CAAC;IANe,qCAAY,eAM3B,CAAA;IACD,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAAgC;QACzD,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,wBAAwB,EAAE,CAAC;QACtD,MAAM,CAAC,aAAa,CAAC,MAAM,CAAC,UAAU,CAAC,CAAC;QACxC,MAAM,CAAC,eAAe,CAAC,MAAM,CAAC,YAAY,CAAC,CAAC;QAC5C,MAAM,CAAC,sBAAsB,CAAC,MAAM,CAAC,mBAAmB,CAAC,CAAC;QAC1D,OAAO,MAAM,CAAC;IAChB,CAAC;IANe,mCAAU,aAMzB,CAAA;AACH,CAAC,EAnBgB,wBAAwB,GAAxB,gCAAwB,KAAxB,gCAAwB,QAmBxC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\n\n/**\n * Defines an axis of the translator.\n */\nexport interface TranslatorAxisDefinition {\n  /**\n   * Letter of the axis (X,Y,Z,A,B,C,E).\n   */\n  axisLetter: string;\n\n  /**\n   * ID of the peripheral.\n   */\n  peripheralId: number;\n\n  /**\n   * Microstep resolution of the axis.\n   */\n  microstepResolution: number;\n\n}\n\nexport namespace TranslatorAxisDefinition {\n  export const __type = 'TranslatorAxisDefinition';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.TranslatorAxisDefinition.AsObject): TranslatorAxisDefinition {\n    return {\n      axisLetter: pbData.axisLetter,\n      peripheralId: pbData.peripheralId,\n      microstepResolution: pbData.microstepResolution,\n    };\n  }\n  /** @internal */\n  export function toProtobuf(source: TranslatorAxisDefinition): gateway.TranslatorAxisDefinition {\n    const pbData = new gateway.TranslatorAxisDefinition();\n    pbData.setAxisLetter(source.axisLetter);\n    pbData.setPeripheralId(source.peripheralId);\n    pbData.setMicrostepResolution(source.microstepResolution);\n    return pbData;\n  }\n}\n"]}

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

@@ -1,18 +0,0 @@
-import { TranslatorAxisDefinition } from './translator_axis_definition';
-/**
- * Defines an axis of the translator.
- */
-export interface TranslatorDefinition {
-    /**
-     * Device ID of the controller.
-     * Can be obtained from device settings.
-     */
-    deviceId: number;
-    /**
-     * Axes of translator.
-     */
-    axes: TranslatorAxisDefinition[];
-}
-export declare namespace TranslatorDefinition {
-    const __type = "TranslatorDefinition";
-}

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

@@ -1 +0,0 @@
-{"version":3,"file":"translator_definition.js","sourceRoot":"","sources":["../../../src/gcode/translator_definition.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AACtC,6EAAwE;AAmBxE,IAAiB,oBAAoB,CAUpC;AAVD,WAAiB,oBAAoB;IACtB,2BAAM,GAAG,sBAAsB,CAAC;IAE7C,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAA4B;QACrD,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,oBAAoB,EAAE,CAAC;QAClD,MAAM,CAAC,WAAW,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;QACpC,MAAM,CAAC,WAAW,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,qDAAwB,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QACvF,OAAO,MAAM,CAAC;IAChB,CAAC;IALe,+BAAU,aAKzB,CAAA;AACH,CAAC,EAVgB,oBAAoB,GAApB,4BAAoB,KAApB,4BAAoB,QAUpC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { TranslatorAxisDefinition } from './translator_axis_definition';\n\n/**\n * Defines an axis of the translator.\n */\nexport interface TranslatorDefinition {\n  /**\n   * Device ID of the controller.\n   * Can be obtained from device settings.\n   */\n  deviceId: number;\n\n  /**\n   * Axes of translator.\n   */\n  axes: TranslatorAxisDefinition[];\n\n}\n\nexport namespace TranslatorDefinition {\n  export const __type = 'TranslatorDefinition';\n\n  /** @internal */\n  export function toProtobuf(source: TranslatorDefinition): gateway.TranslatorDefinition {\n    const pbData = new gateway.TranslatorDefinition();\n    pbData.setDeviceId(source.deviceId);\n    pbData.setAxesList(source.axes.map(item => TranslatorAxisDefinition.toProtobuf(item)));\n    return pbData;\n  }\n}\n"]}

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

@@ -1,70 +0,0 @@
-import { TranslateResult } from './translate_result';
-import { TranslatorConfig } from './translator_config';
-import { Stream } from '../ascii/stream';
-import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
-export declare class TranslatorLive {
-    /**
-     * The ID of the translator that serves to identify native resources.
-     */
-    get translatorId(): number;
-    private _translatorId;
-    constructor(translatorId: number);
-    /**
-     * 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(stream: Stream, config: TranslatorConfig): TranslatorLive;
-    /**
-     * 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 commands sent to the device.
-     */
-    translate(block: string): Promise<TranslateResult>;
-    /**
-     * Sets the speed at which the device moves when traversing (G0).
-     * @param traverseRate The traverse rate.
-     * @param unit Units of the traverse rate.
-     */
-    setTraverseRate(traverseRate: number, unit: Velocity | AngularVelocity | Native): void;
-    /**
-     * Sets position of translator's axis.
-     * Use this method to set position after performing movement outside of the translator.
-     * This method does not cause any movement.
-     * @param axis Letter of the axis.
-     * @param position The position.
-     * @param unit Units of position.
-     */
-    setAxisPosition(axis: string, position: number, unit: Length | Angle | Native): void;
-    /**
-     * Gets position of translator's axis.
-     * This method does not query device but returns value from translator's state.
-     * @param axis Letter of the axis.
-     * @param unit Units of position.
-     * @return Position of translator's axis.
-     */
-    getAxisPosition(axis: string, unit: Length | Angle | Native): number;
-    /**
-     * Sets default position of translator's axis.
-     * This position is used by G28.
-     * @param axis Letter of the axis.
-     * @param position The default position.
-     * @param unit Units of position.
-     */
-    setAxisDefaultPosition(axis: string, position: number, unit: Length | Angle | Native): void;
-    /**
-     * Releases native resources of a translator.
-     * @param translatorId The ID of the translator.
-     */
-    private static _free;
-    /**
-     * Releases the native resources of the translator.
-     * Should only be called if your environment does not support FinalizationRegistry.
-     * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry
-     */
-    free(): void;
-}

package/dist/lib/gcode/translator_live.js

@@ -1,147 +0,0 @@
-"use strict";
-// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
-// ============= DO NOT EDIT DIRECTLY ============= //
-var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });
-}) : (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    o[k2] = m[k];
-}));
-var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
-    Object.defineProperty(o, "default", { enumerable: true, value: v });
-}) : function(o, v) {
-    o["default"] = v;
-});
-var __importStar = (this && this.__importStar) || function (mod) {
-    if (mod && mod.__esModule) return mod;
-    var result = {};
-    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
-    __setModuleDefault(result, mod);
-    return result;
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.TranslatorLive = void 0;
-const gateway = __importStar(require("../gateway"));
-const translate_result_1 = require("./translate_result");
-const translator_config_1 = require("./translator_config");
-const finalizer_1 = require("../finalizer");
-class TranslatorLive {
-    constructor(translatorId) {
-        this._translatorId = translatorId;
-        (0, finalizer_1.registerForFinalization)(this, TranslatorLive._free.bind(null, translatorId));
-    }
-    /**
-     * The ID of the translator that serves to identify native resources.
-     */
-    get translatorId() {
-        return this._translatorId;
-    }
-    /**
-     * 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(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 = gateway.callSync('gcode/create_live', request, gateway.TranslatorCreateResponse);
-        return new TranslatorLive(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 commands sent to the device.
-     */
-    async translate(block) {
-        const request = new gateway.TranslatorTranslateRequest();
-        request.setTranslatorId(this.translatorId);
-        request.setBlock(block);
-        const response = await gateway.callAsync('gcode/translate_live', request, gateway.TranslatorTranslateResponse);
-        return translate_result_1.TranslateResult.fromProtobuf(response.toObject());
-    }
-    /**
-     * Sets the speed at which the device moves when traversing (G0).
-     * @param traverseRate The traverse rate.
-     * @param unit Units of the traverse rate.
-     */
-    setTraverseRate(traverseRate, unit) {
-        const request = new gateway.TranslatorSetTraverseRateRequest();
-        request.setTranslatorId(this.translatorId);
-        request.setTraverseRate(traverseRate);
-        request.setUnit(unit);
-        gateway.callSync('gcode/set_traverse_rate', request);
-    }
-    /**
-     * Sets position of translator's axis.
-     * Use this method to set position after performing movement outside of the translator.
-     * This method does not cause any movement.
-     * @param axis Letter of the axis.
-     * @param position The position.
-     * @param unit Units of position.
-     */
-    setAxisPosition(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_position', request);
-    }
-    /**
-     * Gets position of translator's axis.
-     * This method does not query device but returns value from translator's state.
-     * @param axis Letter of the axis.
-     * @param unit Units of position.
-     * @return Position of translator's axis.
-     */
-    getAxisPosition(axis, unit) {
-        const request = new gateway.TranslatorGetAxisPositionRequest();
-        request.setTranslatorId(this.translatorId);
-        request.setAxis(axis);
-        request.setUnit(unit);
-        const response = gateway.callSync('gcode/get_axis_position', request, gateway.TranslatorGetAxisPositionResponse);
-        return response.getValue();
-    }
-    /**
-     * Sets default position of translator's axis.
-     * This position is used by G28.
-     * @param axis Letter of the axis.
-     * @param position The default position.
-     * @param unit Units of position.
-     */
-    setAxisDefaultPosition(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);
-    }
-    /**
-     * Releases native resources of a translator.
-     * @param translatorId The ID of the translator.
-     */
-    static _free(translatorId) {
-        const request = new gateway.TranslatorEmptyRequest();
-        request.setTranslatorId(translatorId);
-        gateway.callSync('gcode/free', request);
-    }
-    /**
-     * Releases the native resources of the translator.
-     * Should only be called if your environment does not support FinalizationRegistry.
-     * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry
-     */
-    free() {
-        TranslatorLive._free(this.translatorId);
-    }
-}
-exports.TranslatorLive = TranslatorLive;
-//# sourceMappingURL=translator_live.js.map

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

@@ -1 +0,0 @@
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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\nexport class TranslatorLive {\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, TranslatorLive._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 setup(\n    stream: Stream,\n    config: TranslatorConfig\n  ): TranslatorLive {\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 = gateway.callSync<gateway.TranslatorCreateResponse>(\n      'gcode/create_live',\n      request,\n      gateway.TranslatorCreateResponse);\n    return new TranslatorLive(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   * 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    TranslatorLive._free(this.translatorId);\n  }\n}\n"]}