@zaber/motion 3.2.1 → 3.4.0

package/README.md

@@ -2,4 +2,4 @@
 
 Zaber Motion Library is a multi-platform library used to operate Zaber devices.
 
-External documentation: [https://www.zaber.com/software/docs/motion-library/](https://www.zaber.com/software/docs/motion-library/)
+External documentation: [https://software.zaber.com/motion-library/](https://software.zaber.com/motion-library/)

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

@@ -11,6 +11,8 @@ import { Oscilloscope } from './oscilloscope';
 import { Stream } from './stream';
 import { StreamBuffer } from './stream_buffer';
 import { CanSetStateDeviceResponse } from './can_set_state_device_response';
+import { PvtSequence } from './pvt_sequence';
+import { PvtBuffer } from './pvt_buffer';
 import { Measurement } from '../measurement';
 import { FirmwareVersion } from '../firmware_version';
 import { DeviceStorage } from './storage';
@@ -97,9 +99,12 @@ export declare class Device {
      * Queries the device and the database, gathering information about the product.
      * Without this information features such as unit conversions will not work.
      * Usually, called automatically by detect devices method.
+     * @param options.assumeVersion The identification assumes the specified firmware version
+     * instead of the version queried from the device.
+     * Providing this argument can lead to unexpected compatibility issues.
      * @returns Device identification data.
      */
-    identify(): Promise<DeviceIdentity>;
+    identify(options?: Device.IdentifyOptions): Promise<DeviceIdentity>;
     /**
      * Sends a generic ASCII command to this device.
      * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
@@ -172,6 +177,18 @@ export declare class Device {
      * @returns StreamBuffer instance.
      */
     getStreamBuffer(streamBufferId: number): StreamBuffer;
+    /**
+     * Gets a PvtSequence class instance which allows you to control a particular PVT sequence on the device.
+     * @param pvtId The ID of the PVT sequence to control. The IDs start at 1.
+     * @returns PvtSequence instance.
+     */
+    getPvt(pvtId: number): PvtSequence;
+    /**
+     * Gets a PvtBuffer class instance which is a handle for a PVT buffer on the device.
+     * @param pvtBufferId The ID of the PVT buffer to control. PVT buffer IDs start at one.
+     * @returns PvtBuffer instance.
+     */
+    getPvtBuffer(pvtBufferId: number): PvtBuffer;
     /**
      * Returns a serialization of the current device state that can be saved and reapplied.
      * @returns A serialization of the current state of the device.
@@ -191,6 +208,13 @@ export declare class Device {
      * @returns An object listing errors that come up when trying to set the state.
      */
     canSetState(state: string): Promise<CanSetStateDeviceResponse>;
+    /**
+     * Waits for the device to start responding to messages.
+     * Useful to call after resetting the device.
+     * Throws RequestTimeoutException upon timeout.
+     * @param timeout For how long to wait in milliseconds for the device to start responding.
+     */
+    waitToRespond(timeout: number): Promise<void>;
     /**
      * Returns identity.
      * @returns Device identity.
@@ -203,6 +227,9 @@ export declare class Device {
     private _retrieveIsIdentified;
 }
 declare namespace Device {
+    interface IdentifyOptions {
+        assumeVersion?: FirmwareVersion;
+    }
     interface GenericCommandOptions {
         axis?: number;
         checkErrors?: boolean;

package/dist/lib/ascii/device.js

@@ -38,7 +38,10 @@ const oscilloscope_1 = require("./oscilloscope");
 const stream_1 = require("./stream");
 const stream_buffer_1 = require("./stream_buffer");
 const can_set_state_device_response_1 = require("./can_set_state_device_response");
+const pvt_sequence_1 = require("./pvt_sequence");
+const pvt_buffer_1 = require("./pvt_buffer");
 const measurement_1 = require("../measurement");
+const firmware_version_1 = require("../firmware_version");
 const gateway = __importStar(require("../gateway"));
 const storage_1 = require("./storage");
 /**
@@ -157,12 +160,17 @@ class Device {
      * Queries the device and the database, gathering information about the product.
      * Without this information features such as unit conversions will not work.
      * Usually, called automatically by detect devices method.
+     * @param options.assumeVersion The identification assumes the specified firmware version
+     * instead of the version queried from the device.
+     * Providing this argument can lead to unexpected compatibility issues.
      * @returns Device identification data.
      */
-    async identify() {
-        const request = new gateway.DeviceEmptyRequest();
+    async identify(options = {}) {
+        const { assumeVersion, } = options;
+        const request = new gateway.DeviceIdentifyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
+        request.setAssumeVersion(firmware_version_1.FirmwareVersion.toProtobuf(assumeVersion));
         const response = await gateway.callAsync('device/identify', request, gateway.DeviceIdentity);
         return device_identity_1.DeviceIdentity.fromProtobuf(response.toObject());
     }
@@ -302,6 +310,28 @@ class Device {
         }
         return new stream_buffer_1.StreamBuffer(this, streamBufferId);
     }
+    /**
+     * Gets a PvtSequence class instance which allows you to control a particular PVT sequence on the device.
+     * @param pvtId The ID of the PVT sequence to control. The IDs start at 1.
+     * @returns PvtSequence instance.
+     */
+    getPvt(pvtId) {
+        if (pvtId <= 0) {
+            throw new TypeError('Invalid value; PVT sequences are numbered from 1.');
+        }
+        return new pvt_sequence_1.PvtSequence(this, pvtId);
+    }
+    /**
+     * Gets a PvtBuffer class instance which is a handle for a PVT buffer on the device.
+     * @param pvtBufferId The ID of the PVT buffer to control. PVT buffer IDs start at one.
+     * @returns PvtBuffer instance.
+     */
+    getPvtBuffer(pvtBufferId) {
+        if (pvtBufferId <= 0) {
+            throw new TypeError('Invalid value; PVT buffers are numbered from 1.');
+        }
+        return new pvt_buffer_1.PvtBuffer(this, pvtBufferId);
+    }
     /**
      * Returns a serialization of the current device state that can be saved and reapplied.
      * @returns A serialization of the current state of the device.
@@ -342,6 +372,19 @@ class Device {
         const response = await gateway.callAsync('device/can_set_state', request, gateway.CanSetStateDeviceResponse);
         return can_set_state_device_response_1.CanSetStateDeviceResponse.fromProtobuf(response.toObject());
     }
+    /**
+     * Waits for the device to start responding to messages.
+     * Useful to call after resetting the device.
+     * Throws RequestTimeoutException upon timeout.
+     * @param timeout For how long to wait in milliseconds for the device to start responding.
+     */
+    async waitToRespond(timeout) {
+        const request = new gateway.WaitToRespondRequest();
+        request.setInterfaceId(this.connection.interfaceId);
+        request.setDevice(this.deviceAddress);
+        request.setTimeout(timeout);
+        await gateway.callAsync('device/wait_to_respond', request);
+    }
     /**
      * Returns identity.
      * @returns Device identity.

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { Stream } from './stream';\nimport { StreamBuffer } from './stream_buffer';\nimport { CanSetStateDeviceResponse } from './can_set_state_device_response';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport * as gateway from '../gateway';\nimport { DeviceStorage } from './storage';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * Key-value storage of this device.\n   */\n  public get storage(): DeviceStorage {\n    return this._storage;\n  }\n  private _storage: DeviceStorage;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   * Requires at least Firmware 7.00.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._storage = new DeviceStorage(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @returns Device identification data.\n   */\n  public async identify(): Promise<DeviceIdentity> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.DeviceIdentity>(\n      'device/identify',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\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 [options.axis=0] Optional axis number to send the command to.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    options: Device.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\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 device 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 [options.axis=0] Optional axis number to send the command to.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    options: Device.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\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.getResponsesList().map(a => Response.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Sends a generic ASCII command to this device 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   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Device.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      axis = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @returns Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * Requires at least Firmware 6.15 or 7.11.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @returns Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\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 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   * @returns 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.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/prepare_command',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Gets a Stream class instance which allows you to control a particular stream on the device.\n   * @param streamId The ID of the stream to control. Stream IDs start at one.\n   * @returns Stream instance.\n   */\n  public getStream(\n    streamId: number\n  ): Stream {\n    if (streamId <= 0) {\n      throw new TypeError('Invalid value; streams are numbered from 1.');\n    }\n    return new Stream(this, streamId);\n  }\n\n  /**\n   * Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.\n   * @param streamBufferId The ID of the stream buffer to control. Stream buffer IDs start at one.\n   * @returns StreamBuffer instance.\n   */\n  public getStreamBuffer(\n    streamBufferId: number\n  ): StreamBuffer {\n    if (streamBufferId <= 0) {\n      throw new TypeError('Invalid value; stream buffers are numbered from 1.');\n    }\n    return new StreamBuffer(this, streamBufferId);\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @returns A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.StringResponse>(\n      'device/get_state',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   * @param [options.deviceOnly=false] If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    options: Device.SetStateOptions = {}\n  ): Promise<void> {\n    const {\n      deviceOnly = false,\n    } = options;\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n    request.setDeviceOnly(deviceOnly);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to a device and its peripherals.\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   * @returns An object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateDeviceResponse);\n    return CanSetStateDeviceResponse.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns identity.\n   * @returns Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceIdentity>(\n      'device/get_identity',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @returns True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BoolResponse>(\n      'device/get_is_identified',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Device {\n  export interface GenericCommandOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      axis?: number;\n  }\n  export interface SetStateOptions {\n      deviceOnly?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { Stream } from './stream';\nimport { StreamBuffer } from './stream_buffer';\nimport { CanSetStateDeviceResponse } from './can_set_state_device_response';\nimport { PvtSequence } from './pvt_sequence';\nimport { PvtBuffer } from './pvt_buffer';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport * as gateway from '../gateway';\nimport { DeviceStorage } from './storage';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * Key-value storage of this device.\n   */\n  public get storage(): DeviceStorage {\n    return this._storage;\n  }\n  private _storage: DeviceStorage;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   * Requires at least Firmware 7.00.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._storage = new DeviceStorage(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @param options.assumeVersion The identification assumes the specified firmware version\n   * instead of the version queried from the device.\n   * Providing this argument can lead to unexpected compatibility issues.\n   * @returns Device identification data.\n   */\n  public async identify(\n    options: Device.IdentifyOptions = {}\n  ): Promise<DeviceIdentity> {\n    const {\n      assumeVersion,\n    } = options;\n    const request = new gateway.DeviceIdentifyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setAssumeVersion(FirmwareVersion.toProtobuf(assumeVersion));\n\n    const response = await gateway.callAsync<gateway.DeviceIdentity>(\n      'device/identify',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\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 [options.axis=0] Optional axis number to send the command to.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    options: Device.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\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 device 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 [options.axis=0] Optional axis number to send the command to.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    options: Device.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\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.getResponsesList().map(a => Response.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Sends a generic ASCII command to this device 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   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Device.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      axis = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @returns Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * Requires at least Firmware 6.15 or 7.11.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @returns Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\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 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   * @returns 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.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/prepare_command',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Gets a Stream class instance which allows you to control a particular stream on the device.\n   * @param streamId The ID of the stream to control. Stream IDs start at one.\n   * @returns Stream instance.\n   */\n  public getStream(\n    streamId: number\n  ): Stream {\n    if (streamId <= 0) {\n      throw new TypeError('Invalid value; streams are numbered from 1.');\n    }\n    return new Stream(this, streamId);\n  }\n\n  /**\n   * Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.\n   * @param streamBufferId The ID of the stream buffer to control. Stream buffer IDs start at one.\n   * @returns StreamBuffer instance.\n   */\n  public getStreamBuffer(\n    streamBufferId: number\n  ): StreamBuffer {\n    if (streamBufferId <= 0) {\n      throw new TypeError('Invalid value; stream buffers are numbered from 1.');\n    }\n    return new StreamBuffer(this, streamBufferId);\n  }\n\n  /**\n   * Gets a PvtSequence class instance which allows you to control a particular PVT sequence on the device.\n   * @param pvtId The ID of the PVT sequence to control. The IDs start at 1.\n   * @returns PvtSequence instance.\n   */\n  public getPvt(\n    pvtId: number\n  ): PvtSequence {\n    if (pvtId <= 0) {\n      throw new TypeError('Invalid value; PVT sequences are numbered from 1.');\n    }\n    return new PvtSequence(this, pvtId);\n  }\n\n  /**\n   * Gets a PvtBuffer class instance which is a handle for a PVT buffer on the device.\n   * @param pvtBufferId The ID of the PVT buffer to control. PVT buffer IDs start at one.\n   * @returns PvtBuffer instance.\n   */\n  public getPvtBuffer(\n    pvtBufferId: number\n  ): PvtBuffer {\n    if (pvtBufferId <= 0) {\n      throw new TypeError('Invalid value; PVT buffers are numbered from 1.');\n    }\n    return new PvtBuffer(this, pvtBufferId);\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @returns A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.StringResponse>(\n      'device/get_state',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   * @param [options.deviceOnly=false] If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    options: Device.SetStateOptions = {}\n  ): Promise<void> {\n    const {\n      deviceOnly = false,\n    } = options;\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n    request.setDeviceOnly(deviceOnly);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to a device and its peripherals.\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   * @returns An object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateDeviceResponse);\n    return CanSetStateDeviceResponse.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Waits for the device to start responding to messages.\n   * Useful to call after resetting the device.\n   * Throws RequestTimeoutException upon timeout.\n   * @param timeout For how long to wait in milliseconds for the device to start responding.\n   */\n  public async waitToRespond(\n    timeout: number\n  ): Promise<void> {\n    const request = new gateway.WaitToRespondRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setTimeout(timeout);\n\n    await gateway.callAsync('device/wait_to_respond', request);\n  }\n\n  /**\n   * Returns identity.\n   * @returns Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceIdentity>(\n      'device/get_identity',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @returns True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BoolResponse>(\n      'device/get_is_identified',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Device {\n  export interface IdentifyOptions {\n      assumeVersion?: FirmwareVersion;\n  }\n  export interface GenericCommandOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      axis?: number;\n  }\n  export interface SetStateOptions {\n      deviceOnly?: boolean;\n  }\n}\n"]}

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

@@ -26,6 +26,9 @@ export { StreamBuffer } from './stream_buffer';
 export { StreamMode } from './stream_mode';
 export { StreamAxisType } from './stream_axis_type';
 export { StreamAxisDefinition } from './stream_axis_definition';
+export { PvtSequence } from './pvt_sequence';
+export { PvtBuffer } from './pvt_buffer';
+export { PvtMode } from './pvt_mode';
 export { Transport } from './transport';
 export { ServoTuner } from './servo_tuner';
 export { ServoTuningParamset } from './servo_tuning_paramset';
@@ -37,3 +40,5 @@ export { AxisStorage, DeviceStorage } from './storage';
 export { ConversionFactor } from './conversion_factor';
 export { CanSetStateAxisResponse } from './can_set_state_axis_response';
 export { CanSetStateDeviceResponse } from './can_set_state_device_response';
+export { PvtAxisDefinition } from './pvt_axis_definition';
+export { PvtAxisType } from './pvt_axis_type';

package/dist/lib/ascii/index.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.CanSetStateDeviceResponse = exports.CanSetStateAxisResponse = exports.ConversionFactor = exports.DeviceStorage = exports.AxisStorage = exports.SimpleTuningParamDefinition = exports.ServoTuningParam = exports.PidTuning = exports.ParamsetInfo = exports.ServoTuningParamset = exports.ServoTuner = exports.Transport = exports.StreamAxisDefinition = exports.StreamAxisType = exports.StreamMode = exports.StreamBuffer = exports.Stream = exports.OscilloscopeCaptureProperties = exports.OscilloscopeData = exports.Oscilloscope = exports.LockstepAxes = exports.Lockstep = exports.Warnings = exports.WarningFlags = exports.UnknownResponseEvent = exports.SettingConstants = exports.Response = exports.MessageType = exports.DeviceIOInfo = exports.DeviceIO = exports.Device = exports.DeviceSettings = exports.DeviceIdentity = exports.Connection = exports.Axis = exports.AxisType = exports.AxisSettings = exports.AxisIdentity = exports.AllAxes = exports.AlertEvent = void 0;
+exports.PvtAxisType = exports.PvtAxisDefinition = exports.CanSetStateDeviceResponse = exports.CanSetStateAxisResponse = exports.ConversionFactor = exports.DeviceStorage = exports.AxisStorage = exports.SimpleTuningParamDefinition = exports.ServoTuningParam = exports.PidTuning = exports.ParamsetInfo = exports.ServoTuningParamset = exports.ServoTuner = exports.Transport = exports.PvtMode = exports.PvtBuffer = exports.PvtSequence = exports.StreamAxisDefinition = exports.StreamAxisType = exports.StreamMode = exports.StreamBuffer = exports.Stream = exports.OscilloscopeCaptureProperties = exports.OscilloscopeData = exports.Oscilloscope = exports.LockstepAxes = exports.Lockstep = exports.Warnings = exports.WarningFlags = exports.UnknownResponseEvent = exports.SettingConstants = exports.Response = exports.MessageType = exports.DeviceIOInfo = exports.DeviceIO = exports.Device = exports.DeviceSettings = exports.DeviceIdentity = exports.Connection = exports.Axis = exports.AxisType = exports.AxisSettings = exports.AxisIdentity = exports.AllAxes = exports.AlertEvent = void 0;
 var alert_event_1 = require("./alert_event");
 Object.defineProperty(exports, "AlertEvent", { enumerable: true, get: function () { return alert_event_1.AlertEvent; } });
 var all_axes_1 = require("./all_axes");
@@ -57,6 +57,12 @@ var stream_axis_type_1 = require("./stream_axis_type");
 Object.defineProperty(exports, "StreamAxisType", { enumerable: true, get: function () { return stream_axis_type_1.StreamAxisType; } });
 var stream_axis_definition_1 = require("./stream_axis_definition");
 Object.defineProperty(exports, "StreamAxisDefinition", { enumerable: true, get: function () { return stream_axis_definition_1.StreamAxisDefinition; } });
+var pvt_sequence_1 = require("./pvt_sequence");
+Object.defineProperty(exports, "PvtSequence", { enumerable: true, get: function () { return pvt_sequence_1.PvtSequence; } });
+var pvt_buffer_1 = require("./pvt_buffer");
+Object.defineProperty(exports, "PvtBuffer", { enumerable: true, get: function () { return pvt_buffer_1.PvtBuffer; } });
+var pvt_mode_1 = require("./pvt_mode");
+Object.defineProperty(exports, "PvtMode", { enumerable: true, get: function () { return pvt_mode_1.PvtMode; } });
 var transport_1 = require("./transport");
 Object.defineProperty(exports, "Transport", { enumerable: true, get: function () { return transport_1.Transport; } });
 var servo_tuner_1 = require("./servo_tuner");
@@ -80,4 +86,8 @@ var can_set_state_axis_response_1 = require("./can_set_state_axis_response");
 Object.defineProperty(exports, "CanSetStateAxisResponse", { enumerable: true, get: function () { return can_set_state_axis_response_1.CanSetStateAxisResponse; } });
 var can_set_state_device_response_1 = require("./can_set_state_device_response");
 Object.defineProperty(exports, "CanSetStateDeviceResponse", { enumerable: true, get: function () { return can_set_state_device_response_1.CanSetStateDeviceResponse; } });
+var pvt_axis_definition_1 = require("./pvt_axis_definition");
+Object.defineProperty(exports, "PvtAxisDefinition", { enumerable: true, get: function () { return pvt_axis_definition_1.PvtAxisDefinition; } });
+var pvt_axis_type_1 = require("./pvt_axis_type");
+Object.defineProperty(exports, "PvtAxisType", { enumerable: true, get: function () { return pvt_axis_type_1.PvtAxisType; } });
 //# sourceMappingURL=index.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../src/ascii/index.ts"],"names":[],"mappings":";;;AAAA,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uCAAqC;AAA5B,mGAAA,OAAO,OAAA;AAChB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,+BAA8B;AAArB,4FAAA,IAAI,OAAA;AACb,2CAA0C;AAAjC,wGAAA,UAAU,OAAA;AACnB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,mDAAgD;AAAvC,8GAAA,YAAY,OAAA;AACrB,+CAA6C;AAApC,2GAAA,WAAW,OAAA;AACpB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,+CAA8C;AAArC,4GAAA,YAAY,OAAA;AACrB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,qFAAkF;AAAzE,gJAAA,6BAA6B,OAAA;AACtC,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uDAAoD;AAA3C,kHAAA,cAAc,OAAA;AACvB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,+CAA6C;AAApC,2GAAA,WAAW,OAAA;AACpB,2CAAyC;AAAhC,uGAAA,SAAS,OAAA;AAClB,uCAAqC;AAA5B,mGAAA,OAAO,OAAA;AAChB,yCAAwC;AAA/B,sGAAA,SAAS,OAAA;AAClB,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,iEAA8D;AAArD,4HAAA,mBAAmB,OAAA;AAC5B,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,2CAAyC;AAAhC,uGAAA,SAAS,OAAA;AAClB,2DAAwD;AAA/C,sHAAA,gBAAgB,OAAA;AACzB,mFAA+E;AAAtE,6IAAA,2BAA2B,OAAA;AACpC,qCAAuD;AAA9C,sGAAA,WAAW,OAAA;AAAE,wGAAA,aAAa,OAAA;AACnC,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,6EAAwE;AAA/D,sIAAA,uBAAuB,OAAA;AAChC,iFAA4E;AAAnE,0IAAA,yBAAyB,OAAA;AAClC,6DAA0D;AAAjD,wHAAA,iBAAiB,OAAA;AAC1B,iDAA8C;AAArC,4GAAA,WAAW,OAAA","sourcesContent":["export { AlertEvent } from './alert_event';\nexport { AllAxes } from './all_axes';\nexport { AxisIdentity } from './axis_identity';\nexport { AxisSettings } from './axis_settings';\nexport { AxisType } from './axis_type';\nexport { Axis } from './axis';\nexport { Connection } from './connection';\nexport { DeviceIdentity } from './device_identity';\nexport { DeviceSettings } from './device_settings';\nexport { Device } from './device';\nexport { DeviceIO } from './device_io';\nexport { DeviceIOInfo } from './device_io_info';\nexport { MessageType } from './message_type';\nexport { Response } from './response';\nexport { SettingConstants } from './setting_constants';\nexport { UnknownResponseEvent } from './unknown_response_event';\nexport { WarningFlags } from './warning_flags';\nexport { Warnings } from './warnings';\nexport { Lockstep } from './lockstep';\nexport { LockstepAxes } from './lockstep_axes';\nexport { Oscilloscope } from './oscilloscope';\nexport { OscilloscopeData } from './oscilloscope_data';\nexport { OscilloscopeCaptureProperties } from './oscilloscope_capture_properties';\nexport { Stream } from './stream';\nexport { StreamBuffer } from './stream_buffer';\nexport { StreamMode } from './stream_mode';\nexport { StreamAxisType } from './stream_axis_type';\nexport { StreamAxisDefinition } from './stream_axis_definition';\nexport { PvtSequence } from './pvt_sequence';\nexport { PvtBuffer } from './pvt_buffer';\nexport { PvtMode } from './pvt_mode';\nexport { Transport } from './transport';\nexport { ServoTuner } from './servo_tuner';\nexport { ServoTuningParamset } from './servo_tuning_paramset';\nexport { ParamsetInfo } from './paramset_info';\nexport { PidTuning } from './pid_tuning';\nexport { ServoTuningParam } from './servo_tuning_param';\nexport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\nexport { AxisStorage, DeviceStorage } from './storage';\nexport { ConversionFactor } from './conversion_factor';\nexport { CanSetStateAxisResponse } from './can_set_state_axis_response';\nexport { CanSetStateDeviceResponse } from './can_set_state_device_response';\nexport { PvtAxisDefinition } from './pvt_axis_definition';\nexport { PvtAxisType } from './pvt_axis_type';\n"]}

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

@@ -135,15 +135,34 @@ export declare class Lockstep {
     /**
      * Gets the initial offsets of secondary axes of an enabled lockstep group.
      * @param [unit=Units.NATIVE] Units of position.
+     * Uses primary axis unit conversion.
      * @returns Initial offset for each axis of the lockstep group.
      */
     getOffsets(unit?: Length | Angle | Native): Promise<number[]>;
     /**
      * Gets the twists of secondary axes of an enabled lockstep group.
      * @param [unit=Units.NATIVE] Units of position.
+     * Uses primary axis unit conversion.
      * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.
      */
     getTwists(unit?: Length | Angle | Native): Promise<number[]>;
+    /**
+     * Returns current position of the primary axis.
+     * @param [unit=Units.NATIVE] Units of the position.
+     * @returns Primary axis position.
+     */
+    getPosition(unit?: Length | Angle | Native): Promise<number>;
+    /**
+     * Sets lockstep twist tolerance.
+     * Twist tolerances that do not match the system configuration can reduce performance or damage the system.
+     * @param tolerance Twist tolerance.
+     * @param [unit=Units.NATIVE] Units of the tolerance.
+     * Uses primary axis unit conversion when setting to all axes,
+     * otherwise uses specified secondary axis unit conversion.
+     * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.
+     * If left empty or set to 0, the tolerance is set to all the secondary axes.
+     */
+    setTolerance(tolerance: number, unit?: Length | Angle | Native, options?: Lockstep.SetToleranceOptions): Promise<void>;
     /**
      * Checks if the lockstep group is currently enabled on the device.
      * @returns True if a lockstep group with this ID is enabled on the device.
@@ -197,5 +216,8 @@ declare namespace Lockstep {
     interface WaitUntilIdleOptions {
         throwErrorOnFault?: boolean;
     }
+    interface SetToleranceOptions {
+        axisIndex?: number;
+    }
 }
 export {};

package/dist/lib/ascii/lockstep.js

@@ -294,30 +294,67 @@ class Lockstep {
     /**
      * Gets the initial offsets of secondary axes of an enabled lockstep group.
      * @param [unit=Units.NATIVE] Units of position.
+     * Uses primary axis unit conversion.
      * @returns Initial offset for each axis of the lockstep group.
      */
     async getOffsets(unit = units_1.Units.NATIVE) {
-        const request = new gateway.LockstepGetOffsetsRequest();
+        const request = new gateway.LockstepGetRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
         request.setUnit(unit);
-        const response = await gateway.callAsync('device/lockstep_get_offsets', request, gateway.LockstepGetOffsetsResponse);
-        return response.getOffsetsList();
+        const response = await gateway.callAsync('device/lockstep_get_offsets', request, gateway.DoubleArrayResponse);
+        return response.getValuesList();
     }
     /**
      * Gets the twists of secondary axes of an enabled lockstep group.
      * @param [unit=Units.NATIVE] Units of position.
+     * Uses primary axis unit conversion.
      * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.
      */
     async getTwists(unit = units_1.Units.NATIVE) {
-        const request = new gateway.LockstepGetTwistsRequest();
+        const request = new gateway.LockstepGetRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
         request.setUnit(unit);
-        const response = await gateway.callAsync('device/lockstep_get_twists', request, gateway.LockstepGetTwistsResponse);
-        return response.getTwistsList();
+        const response = await gateway.callAsync('device/lockstep_get_twists', request, gateway.DoubleArrayResponse);
+        return response.getValuesList();
+    }
+    /**
+     * Returns current position of the primary axis.
+     * @param [unit=Units.NATIVE] Units of the position.
+     * @returns Primary axis position.
+     */
+    async getPosition(unit = units_1.Units.NATIVE) {
+        const request = new gateway.LockstepGetRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setLockstepGroupId(this.lockstepGroupId);
+        request.setUnit(unit);
+        const response = await gateway.callAsync('device/lockstep_get_pos', request, gateway.DoubleResponse);
+        return response.getValue();
+    }
+    /**
+     * Sets lockstep twist tolerance.
+     * Twist tolerances that do not match the system configuration can reduce performance or damage the system.
+     * @param tolerance Twist tolerance.
+     * @param [unit=Units.NATIVE] Units of the tolerance.
+     * Uses primary axis unit conversion when setting to all axes,
+     * otherwise uses specified secondary axis unit conversion.
+     * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.
+     * If left empty or set to 0, the tolerance is set to all the secondary axes.
+     */
+    async setTolerance(tolerance, unit = units_1.Units.NATIVE, options = {}) {
+        const { axisIndex = 0, } = options;
+        const request = new gateway.LockstepSetRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setLockstepGroupId(this.lockstepGroupId);
+        request.setValue(tolerance);
+        request.setUnit(unit);
+        request.setAxisIndex(axisIndex);
+        await gateway.callAsync('device/lockstep_set_tolerance', request);
     }
     /**
      * Checks if the lockstep group is currently enabled on the device.

package/dist/lib/ascii/lockstep.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 { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport * as gateway from '../gateway';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request = new gateway.LockstepEnableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request = new gateway.LockstepDisableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.LockstepStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.LockstepHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Lockstep.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Lockstep.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request = new gateway.LockstepWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepAxes>(\n      'device/lockstep_get_axes',\n      request,\n      gateway.LockstepAxes);\n    return LockstepAxes.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      gateway.LockstepGetAxisNumbersResponse);\n    return response.getAxesList();\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetOffsetsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.LockstepGetOffsetsResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      gateway.LockstepGetOffsetsResponse);\n    return response.getOffsetsList();\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetTwistsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.LockstepGetTwistsResponse>(\n      'device/lockstep_get_twists',\n      request,\n      gateway.LockstepGetTwistsResponse);\n    return response.getTwistsList();\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Lockstep {\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMaxOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\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 { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport * as gateway from '../gateway';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request = new gateway.LockstepEnableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request = new gateway.LockstepDisableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.LockstepStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.LockstepHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Lockstep.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Lockstep.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request = new gateway.LockstepWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepAxes>(\n      'device/lockstep_get_axes',\n      request,\n      gateway.LockstepAxes);\n    return LockstepAxes.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      gateway.LockstepGetAxisNumbersResponse);\n    return response.getAxesList();\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleArrayResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      gateway.DoubleArrayResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleArrayResponse>(\n      'device/lockstep_get_twists',\n      request,\n      gateway.DoubleArrayResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns current position of the primary axis.\n   * @param [unit=Units.NATIVE] Units of the position.\n   * @returns Primary axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.LockstepGetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/lockstep_get_pos',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets lockstep twist tolerance.\n   * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n   * @param tolerance Twist tolerance.\n   * @param [unit=Units.NATIVE] Units of the tolerance.\n   * Uses primary axis unit conversion when setting to all axes,\n   * otherwise uses specified secondary axis unit conversion.\n   * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n   * If left empty or set to 0, the tolerance is set to all the secondary axes.\n   */\n  public async setTolerance(\n    tolerance: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.SetToleranceOptions = {}\n  ): Promise<void> {\n    const {\n      axisIndex = 0,\n    } = options;\n    const request = new gateway.LockstepSetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setValue(tolerance);\n    request.setUnit(unit);\n    request.setAxisIndex(axisIndex);\n\n    await gateway.callAsync('device/lockstep_set_tolerance', request);\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Lockstep {\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMaxOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n  export interface SetToleranceOptions {\n      axisIndex?: number;\n  }\n}\n"]}