@zaber/motion 3.2.1 → 3.4.0

package/dist/lib/ascii/pvt_sequence.js

@@ -0,0 +1,407 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtSequence = void 0;
+const gateway = __importStar(require("../gateway"));
+const measurement_1 = require("../measurement");
+const pvt_axis_definition_1 = require("./pvt_axis_definition");
+/**
+ * A handle for a PVT sequence with this number on the device.
+ * PVT sequences provide a way execute or store trajectory
+ * consisting of points with defined position, velocity, and time.
+ * PVT sequence methods append actions to a queue which executes
+ * or stores actions in a first in, first out order.
+ */
+class PvtSequence {
+    /**
+     * Device that controls this PVT sequence.
+     */
+    get device() {
+        return this._device;
+    }
+    /**
+     * The number that identifies the PVT sequence on the device.
+     */
+    get pvtId() {
+        return this._pvtId;
+    }
+    /**
+     * Current mode of the PVT sequence.
+     */
+    get mode() {
+        return this._retrieveMode();
+    }
+    /**
+     * An array of axes definitions the PVT sequence is set up to control.
+     */
+    get axes() {
+        return this._retrieveAxes();
+    }
+    constructor(device, pvtId) {
+        this._device = device;
+        this._pvtId = pvtId;
+    }
+    /**
+     * Setup the PVT sequence to control the specified axes and to queue actions on the device.
+     * Allows use of lockstep axes in a PVT sequence.
+     * @param axes Definition of the PVT sequence axes.
+     */
+    async setupLiveComposite(...axes) {
+        const request = new gateway.StreamSetupLiveCompositeRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setAxesList(axes.map(pvt_axis_definition_1.PvtAxisDefinition.toProtobuf));
+        await gateway.callAsync('device/stream_setup_live_composite', request);
+    }
+    /**
+     * Setup the PVT sequence to control the specified axes and to queue actions on the device.
+     * @param axes Numbers of physical axes to setup the PVT sequence on.
+     */
+    async setupLive(...axes) {
+        const request = new gateway.StreamSetupLiveRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setAxesList(axes);
+        await gateway.callAsync('device/stream_setup_live', request);
+    }
+    /**
+     * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
+     * Allows use of lockstep axes in a PVT sequence.
+     * @param pvtBuffer The PVT buffer to queue actions in.
+     * @param axes Definition of the PVT sequence axes.
+     */
+    async setupStoreComposite(pvtBuffer, ...axes) {
+        const request = new gateway.StreamSetupStoreCompositeRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setPvtBuffer(pvtBuffer.bufferId);
+        request.setAxesList(axes.map(pvt_axis_definition_1.PvtAxisDefinition.toProtobuf));
+        await gateway.callAsync('device/stream_setup_store_composite', request);
+    }
+    /**
+     * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
+     * @param pvtBuffer The PVT buffer to queue actions in.
+     * @param axes Numbers of physical axes to setup the PVT sequence on.
+     */
+    async setupStore(pvtBuffer, ...axes) {
+        const request = new gateway.StreamSetupStoreRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setPvtBuffer(pvtBuffer.bufferId);
+        request.setAxesList(axes);
+        await gateway.callAsync('device/stream_setup_store', request);
+    }
+    /**
+     * Append the actions in a PVT buffer to the sequence's queue.
+     * @param pvtBuffer The PVT buffer to call.
+     */
+    async call(pvtBuffer) {
+        const request = new gateway.StreamCallRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setPvtBuffer(pvtBuffer.bufferId);
+        await gateway.callAsync('device/stream_call', request);
+    }
+    /**
+     * Queues a point with absolute coordinates in the PVT sequence.
+     * @param positions Positions for the axes to move through, relative to their home positions.
+     * @param velocities The axes velocities at the given point.
+     * @param time The duration between the previous point in the sequence and this one.
+     */
+    async point(positions, velocities, time) {
+        const request = new gateway.PvtPointRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setType(gateway.PvtPointRequest.Type.ABS);
+        request.setPositionsList(positions.map(measurement_1.Measurement.toProtobuf));
+        request.setVelocitiesList(velocities.map(measurement_1.Measurement.toProtobuf));
+        request.setTime(measurement_1.Measurement.toProtobuf(time));
+        await gateway.callAsync('device/stream_point', request);
+    }
+    /**
+     * Queues a point with coordinates relative to the previous point in the PVT sequence.
+     * @param positions Positions for the axes to move through, relative to the previous point.
+     * @param velocities The axes velocities at the given point.
+     * @param time The duration between the previous point in the sequence and this one.
+     */
+    async pointRelative(positions, velocities, time) {
+        const request = new gateway.PvtPointRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setType(gateway.PvtPointRequest.Type.REL);
+        request.setPositionsList(positions.map(measurement_1.Measurement.toProtobuf));
+        request.setVelocitiesList(velocities.map(measurement_1.Measurement.toProtobuf));
+        request.setTime(measurement_1.Measurement.toProtobuf(time));
+        await gateway.callAsync('device/stream_point', request);
+    }
+    /**
+     * Set the value of a digital output channel.
+     * @param channelNumber The number of the digital output channel.
+     * Channel numbers are numbered from one.
+     * @param value The value to set the channel to.
+     */
+    async setDigitalOutput(channelNumber, value) {
+        const request = new gateway.StreamSetDigitalOutputRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setChannelNumber(channelNumber);
+        request.setValue(value);
+        await gateway.callAsync('device/stream_set_digital_output', request);
+    }
+    /**
+     * Set the value of an analog output channel.
+     * @param channelNumber The number of the analog output channel.
+     * Channel numbers are numbered from one.
+     * @param value The value to set the channel to, in Volts.
+     */
+    async setAnalogOutput(channelNumber, value) {
+        const request = new gateway.StreamSetAnalogOutputRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setChannelNumber(channelNumber);
+        request.setValue(value);
+        await gateway.callAsync('device/stream_set_analog_output', request);
+    }
+    /**
+     * Sets values for all digital output channels.
+     * @param values True to set the output channel to conducting and false to turn it off.
+     */
+    async setAllDigitalOutputs(values) {
+        const request = new gateway.StreamSetAllDigitalOutputsRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setValuesList(values);
+        await gateway.callAsync('device/stream_set_all_digital_outputs', request);
+    }
+    /**
+     * Sets values for all analog output channels.
+     * @param values The values to set the output channels to, in Volts.
+     */
+    async setAllAnalogOutputs(values) {
+        const request = new gateway.StreamSetAllAnalogOutputsRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setValuesList(values);
+        await gateway.callAsync('device/stream_set_all_analog_outputs', request);
+    }
+    /**
+     * Waits until the live PVT sequence executes all queued actions.
+     * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.
+     */
+    async waitUntilIdle(options = {}) {
+        const { throwErrorOnFault = true, } = options;
+        const request = new gateway.StreamWaitUntilIdleRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setThrowErrorOnFault(throwErrorOnFault);
+        await gateway.callAsync('device/stream_wait_until_idle', request);
+    }
+    /**
+     * Cork the front of the PVT sequences's action queue, blocking execution.
+     * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.
+     * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.
+     * You can only cork an idle live PVT sequence.
+     */
+    async cork() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        await gateway.callAsync('device/stream_cork', request);
+    }
+    /**
+     * Uncork the front of the queue, unblocking command execution.
+     * You can only uncork an idle live PVT sequence that is corked.
+     */
+    async uncork() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        await gateway.callAsync('device/stream_uncork', request);
+    }
+    /**
+     * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.
+     * @returns True if the PVT sequence is executing a queued action.
+     */
+    async isBusy() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        const response = await gateway.callAsync('device/stream_is_busy', request, gateway.BoolResponse);
+        return response.getValue();
+    }
+    /**
+     * Returns a string which represents the PVT sequence.
+     * @returns String which represents the PVT sequence.
+     */
+    toString() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        const response = gateway.callSync('device/stream_to_string', request, gateway.StringResponse);
+        return response.getValue();
+    }
+    /**
+     * Disables the PVT sequence.
+     * If the PVT sequence is not setup, this command does nothing.
+     * Once disabled, the PVT sequence will no longer accept PVT commands.
+     * The PVT sequence will process the rest of the commands in the queue until it is empty.
+     */
+    async disable() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        await gateway.callAsync('device/stream_disable', request);
+    }
+    /**
+     * Sends a generic ASCII command to the PVT sequence.
+     * Keeps resending the command while the device rejects with AGAIN reason.
+     * @param command Command and its parameters.
+     */
+    async genericCommand(command) {
+        const request = new gateway.StreamGenericCommandRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setCommand(command);
+        await gateway.callAsync('device/stream_generic_command', request);
+    }
+    /**
+     * Sends a batch of generic ASCII commands to the PVT sequence.
+     * Keeps resending command while the device rejects with AGAIN reason.
+     * The batch is atomic in terms of thread safety.
+     * @param batch Array of commands.
+     */
+    async genericCommandBatch(batch) {
+        const request = new gateway.StreamGenericCommandBatchRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        request.setBatchList(batch);
+        await gateway.callAsync('device/stream_generic_command_batch', request);
+    }
+    /**
+     * Queries the PVT sequence status from the device
+     * and returns boolean indicating whether the PVT sequence is disabled.
+     * Useful to determine if execution was interrupted by other movements.
+     * @returns True if the PVT sequence is disabled.
+     */
+    async checkDisabled() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        const response = await gateway.callAsync('device/stream_check_disabled', request, gateway.BoolResponse);
+        return response.getValue();
+    }
+    /**
+     * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).
+     */
+    treatDiscontinuitiesAsError() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        gateway.callSync('device/stream_treat_discontinuities', request);
+    }
+    /**
+     * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.
+     */
+    ignoreCurrentDiscontinuity() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        gateway.callSync('device/stream_ignore_discontinuity', request);
+    }
+    /**
+     * Gets the axes of the PVT sequence.
+     * @returns An array of axis numbers of the axes the PVT sequence is set up to control.
+     */
+    _retrieveAxes() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        const response = gateway.callSync('device/stream_get_axes', request, gateway.StreamGetAxesResponse);
+        return response.getAxesList().map(a => pvt_axis_definition_1.PvtAxisDefinition.fromProtobuf(a.toObject()));
+    }
+    /**
+     * Get the mode of the PVT sequence.
+     * @returns Mode of the PVT sequence.
+     */
+    _retrieveMode() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.pvtId);
+        request.setPvt(true);
+        const response = gateway.callSync('device/stream_get_mode', request, gateway.IntResponse);
+        return response.getValue();
+    }
+}
+exports.PvtSequence = PvtSequence;
+//# sourceMappingURL=pvt_sequence.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pvt_sequence.js","sourceRoot":"","sources":["../../../src/ascii/pvt_sequence.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;;;AAGtD,oDAAsC;AACtC,gDAA6C;AAG7C,+DAA0D;AAE1D;;;;;;GAMG;AACH,MAAa,WAAW;IACtB;;OAEG;IACH,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IAGD;;OAEG;IACH,IAAW,KAAK;QACd,OAAO,IAAI,CAAC,MAAM,CAAC;IACrB,CAAC;IAGD;;OAEG;IACH,IAAW,IAAI;QACb,OAAO,IAAI,CAAC,aAAa,EAAE,CAAC;IAC9B,CAAC;IAED;;OAEG;IACH,IAAW,IAAI;QACb,OAAO,IAAI,CAAC,aAAa,EAAE,CAAC;IAC9B,CAAC;IAED,YAAY,MAAc,EAAE,KAAa;QACvC,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;QACtB,IAAI,CAAC,MAAM,GAAG,KAAK,CAAC;IACtB,CAAC;IAED;;;;OAIG;IACI,KAAK,CAAC,kBAAkB,CAC7B,GAAG,IAAyB;QAE5B,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,+BAA+B,EAAE,CAAC;QAC9D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,GAAG,CAAC,uCAAiB,CAAC,UAAU,CAAC,CAAC,CAAC;QAE5D,MAAM,OAAO,CAAC,SAAS,CAAC,oCAAoC,EAAE,OAAO,CAAC,CAAC;IACzE,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,SAAS,CACpB,GAAG,IAAc;QAEjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,sBAAsB,EAAE,CAAC;QACrD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;QAE1B,MAAM,OAAO,CAAC,SAAS,CAAC,0BAA0B,EAAE,OAAO,CAAC,CAAC;IAC/D,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,mBAAmB,CAC9B,SAAoB,EACpB,GAAG,IAAyB;QAE5B,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gCAAgC,EAAE,CAAC;QAC/D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,YAAY,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;QACzC,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,GAAG,CAAC,uCAAiB,CAAC,UAAU,CAAC,CAAC,CAAC;QAE5D,MAAM,OAAO,CAAC,SAAS,CAAC,qCAAqC,EAAE,OAAO,CAAC,CAAC;IAC1E,CAAC;IAED;;;;OAIG;IACI,KAAK,CAAC,UAAU,CACrB,SAAoB,EACpB,GAAG,IAAc;QAEjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,uBAAuB,EAAE,CAAC;QACtD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,YAAY,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;QACzC,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;QAE1B,MAAM,OAAO,CAAC,SAAS,CAAC,2BAA2B,EAAE,OAAO,CAAC,CAAC;IAChE,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,IAAI,CACf,SAAoB;QAEpB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,iBAAiB,EAAE,CAAC;QAChD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,YAAY,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;QAEzC,MAAM,OAAO,CAAC,SAAS,CAAC,oBAAoB,EAAE,OAAO,CAAC,CAAC;IACzD,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,KAAK,CAChB,SAAwB,EACxB,UAAyB,EACzB,IAAiB;QAEjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,eAAe,EAAE,CAAC;QAC9C,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,OAAO,CAAC,OAAO,CAAC,eAAe,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QAClD,OAAO,CAAC,gBAAgB,CAAC,SAAS,CAAC,GAAG,CAAC,yBAAW,CAAC,UAAU,CAAC,CAAC,CAAC;QAChE,OAAO,CAAC,iBAAiB,CAAC,UAAU,CAAC,GAAG,CAAC,yBAAW,CAAC,UAAU,CAAC,CAAC,CAAC;QAClE,OAAO,CAAC,OAAO,CAAC,yBAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC;QAE9C,MAAM,OAAO,CAAC,SAAS,CAAC,qBAAqB,EAAE,OAAO,CAAC,CAAC;IAC1D,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,aAAa,CACxB,SAAwB,EACxB,UAAyB,EACzB,IAAiB;QAEjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,eAAe,EAAE,CAAC;QAC9C,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,OAAO,CAAC,OAAO,CAAC,eAAe,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QAClD,OAAO,CAAC,gBAAgB,CAAC,SAAS,CAAC,GAAG,CAAC,yBAAW,CAAC,UAAU,CAAC,CAAC,CAAC;QAChE,OAAO,CAAC,iBAAiB,CAAC,UAAU,CAAC,GAAG,CAAC,yBAAW,CAAC,UAAU,CAAC,CAAC,CAAC;QAClE,OAAO,CAAC,OAAO,CAAC,yBAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC;QAE9C,MAAM,OAAO,CAAC,SAAS,CAAC,qBAAqB,EAAE,OAAO,CAAC,CAAC;IAC1D,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,gBAAgB,CAC3B,aAAqB,EACrB,KAAc;QAEd,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,6BAA6B,EAAE,CAAC;QAC5D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,gBAAgB,CAAC,aAAa,CAAC,CAAC;QACxC,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;QAExB,MAAM,OAAO,CAAC,SAAS,CAAC,kCAAkC,EAAE,OAAO,CAAC,CAAC;IACvE,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,eAAe,CAC1B,aAAqB,EACrB,KAAa;QAEb,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,4BAA4B,EAAE,CAAC;QAC3D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,gBAAgB,CAAC,aAAa,CAAC,CAAC;QACxC,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;QAExB,MAAM,OAAO,CAAC,SAAS,CAAC,iCAAiC,EAAE,OAAO,CAAC,CAAC;IACtE,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,oBAAoB,CAC/B,MAAiB;QAEjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,iCAAiC,EAAE,CAAC;QAChE,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,aAAa,CAAC,MAAM,CAAC,CAAC;QAE9B,MAAM,OAAO,CAAC,SAAS,CAAC,uCAAuC,EAAE,OAAO,CAAC,CAAC;IAC5E,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,mBAAmB,CAC9B,MAAgB;QAEhB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gCAAgC,EAAE,CAAC;QAC/D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,aAAa,CAAC,MAAM,CAAC,CAAC;QAE9B,MAAM,OAAO,CAAC,SAAS,CAAC,sCAAsC,EAAE,OAAO,CAAC,CAAC;IAC3E,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,aAAa,CACxB,UAA4C,EAAE;QAE9C,MAAM,EACJ,iBAAiB,GAAG,IAAI,GACzB,GAAG,OAAO,CAAC;QACZ,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,0BAA0B,EAAE,CAAC;QACzD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,oBAAoB,CAAC,iBAAiB,CAAC,CAAC;QAEhD,MAAM,OAAO,CAAC,SAAS,CAAC,+BAA+B,EAAE,OAAO,CAAC,CAAC;IACpE,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,IAAI;QACf,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,OAAO,CAAC,SAAS,CAAC,oBAAoB,EAAE,OAAO,CAAC,CAAC;IACzD,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,MAAM;QACjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,OAAO,CAAC,SAAS,CAAC,sBAAsB,EAAE,OAAO,CAAC,CAAC;IAC3D,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,MAAM;QACjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,uBAAuB,EACvB,OAAO,EACP,OAAO,CAAC,YAAY,CAAC,CAAC;QACxB,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;IAED;;;OAGG;IACI,QAAQ;QACb,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,QAAQ,GAAG,OAAO,CAAC,QAAQ,CAC/B,yBAAyB,EACzB,OAAO,EACP,OAAO,CAAC,cAAc,CAAC,CAAC;QAC1B,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,OAAO;QAClB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,OAAO,CAAC,SAAS,CAAC,uBAAuB,EAAE,OAAO,CAAC,CAAC;IAC5D,CAAC;IAED;;;;OAIG;IACI,KAAK,CAAC,cAAc,CACzB,OAAe;QAEf,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,2BAA2B,EAAE,CAAC;QAC1D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC;QAE5B,MAAM,OAAO,CAAC,SAAS,CAAC,+BAA+B,EAAE,OAAO,CAAC,CAAC;IACpE,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,mBAAmB,CAC9B,KAAe;QAEf,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gCAAgC,EAAE,CAAC;QAC/D,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrB,OAAO,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;QAE5B,MAAM,OAAO,CAAC,SAAS,CAAC,qCAAqC,EAAE,OAAO,CAAC,CAAC;IAC1E,CAAC;IAED;;;;;OAKG;IACI,KAAK,CAAC,aAAa;QACxB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,8BAA8B,EAC9B,OAAO,EACP,OAAO,CAAC,YAAY,CAAC,CAAC;QACxB,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;IAED;;OAEG;IACI,2BAA2B;QAChC,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,OAAO,CAAC,QAAQ,CAAC,qCAAqC,EAAE,OAAO,CAAC,CAAC;IACnE,CAAC;IAED;;OAEG;IACI,0BAA0B;QAC/B,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,OAAO,CAAC,QAAQ,CAAC,oCAAoC,EAAE,OAAO,CAAC,CAAC;IAClE,CAAC;IAED;;;OAGG;IACK,aAAa;QACnB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,QAAQ,GAAG,OAAO,CAAC,QAAQ,CAC/B,wBAAwB,EACxB,OAAO,EACP,OAAO,CAAC,qBAAqB,CAAC,CAAC;QACjC,OAAO,QAAQ,CAAC,WAAW,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,uCAAiB,CAAC,YAAY,CAAC,CAAC,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC;IACvF,CAAC;IAED;;;OAGG;IACK,aAAa;QACnB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,WAAW,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAErB,MAAM,QAAQ,GAAG,OAAO,CAAC,QAAQ,CAC/B,wBAAwB,EACxB,OAAO,EACP,OAAO,CAAC,WAAW,CAAC,CAAC;QACvB,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;CACF;AAzdD,kCAydC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\n\n/**\n * A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n */\nexport class PvtSequence {\n  /**\n   * Device that controls this PVT sequence.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the PVT sequence on the device.\n   */\n  public get pvtId(): number {\n    return this._pvtId;\n  }\n  private _pvtId: number;\n\n  /**\n   * Current mode of the PVT sequence.\n   */\n  public get mode(): PvtMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the PVT sequence is set up to control.\n   */\n  public get axes(): PvtAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  constructor(device: Device, pvtId: number) {\n    this._device = device;\n    this._pvtId = pvtId;\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param axes Definition of the PVT sequence axes.\n   */\n  public async setupLiveComposite(\n    ...axes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request = new gateway.StreamSetupLiveCompositeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setAxesList(axes.map(PvtAxisDefinition.toProtobuf));\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupLive(\n    ...axes: number[]\n  ): Promise<void> {\n    const request = new gateway.StreamSetupLiveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes Definition of the PVT sequence axes.\n   */\n  public async setupStoreComposite(\n    pvtBuffer: PvtBuffer,\n    ...axes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request = new gateway.StreamSetupStoreCompositeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setPvtBuffer(pvtBuffer.bufferId);\n    request.setAxesList(axes.map(PvtAxisDefinition.toProtobuf));\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupStore(\n    pvtBuffer: PvtBuffer,\n    ...axes: number[]\n  ): Promise<void> {\n    const request = new gateway.StreamSetupStoreRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setPvtBuffer(pvtBuffer.bufferId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Append the actions in a PVT buffer to the sequence's queue.\n   * @param pvtBuffer The PVT buffer to call.\n   */\n  public async call(\n    pvtBuffer: PvtBuffer\n  ): Promise<void> {\n    const request = new gateway.StreamCallRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setPvtBuffer(pvtBuffer.bufferId);\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queues a point with absolute coordinates in the PVT sequence.\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param velocities The axes velocities at the given point.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async point(\n    positions: Measurement[],\n    velocities: Measurement[],\n    time: Measurement\n  ): Promise<void> {\n    const request = new gateway.PvtPointRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setType(gateway.PvtPointRequest.Type.ABS);\n    request.setPositionsList(positions.map(Measurement.toProtobuf));\n    request.setVelocitiesList(velocities.map(Measurement.toProtobuf));\n    request.setTime(Measurement.toProtobuf(time));\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues a point with coordinates relative to the previous point in the PVT sequence.\n   * @param positions Positions for the axes to move through, relative to the previous point.\n   * @param velocities The axes velocities at the given point.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async pointRelative(\n    positions: Measurement[],\n    velocities: Measurement[],\n    time: Measurement\n  ): Promise<void> {\n    const request = new gateway.PvtPointRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setType(gateway.PvtPointRequest.Type.REL);\n    request.setPositionsList(positions.map(Measurement.toProtobuf));\n    request.setVelocitiesList(velocities.map(Measurement.toProtobuf));\n    request.setTime(Measurement.toProtobuf(time));\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Set the value of a digital output channel.\n   * @param channelNumber The number of the digital output channel.\n   * Channel numbers are numbered from one.\n   * @param value The value to set the channel to.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: boolean\n  ): Promise<void> {\n    const request = new gateway.StreamSetDigitalOutputRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/stream_set_digital_output', request);\n  }\n\n  /**\n   * Set the value of an analog output channel.\n   * @param channelNumber The number of the analog output channel.\n   * Channel numbers are numbered from one.\n   * @param value The value to set the channel to, in Volts.\n   */\n  public async setAnalogOutput(\n    channelNumber: number,\n    value: number\n  ): Promise<void> {\n    const request = new gateway.StreamSetAnalogOutputRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/stream_set_analog_output', request);\n  }\n\n  /**\n   * Sets values for all digital output channels.\n   * @param values True to set the output channel to conducting and false to turn it off.\n   */\n  public async setAllDigitalOutputs(\n    values: boolean[]\n  ): Promise<void> {\n    const request = new gateway.StreamSetAllDigitalOutputsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/stream_set_all_digital_outputs', request);\n  }\n\n  /**\n   * Sets values for all analog output channels.\n   * @param values The values to set the output channels to, in Volts.\n   */\n  public async setAllAnalogOutputs(\n    values: number[]\n  ): Promise<void> {\n    const request = new gateway.StreamSetAllAnalogOutputsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n  }\n\n  /**\n   * Waits until the live PVT sequence executes all queued actions.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: PvtSequence.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request = new gateway.StreamWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the PVT sequences's action queue, blocking execution.\n   * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n   * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n   * You can only cork an idle live PVT sequence.\n   */\n  public async cork(): Promise<void> {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    await gateway.callAsync('device/stream_cork', request);\n  }\n\n  /**\n   * Uncork the front of the queue, unblocking command execution.\n   * You can only uncork an idle live PVT sequence that is corked.\n   */\n  public async uncork(): Promise<void> {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n   * @returns True if the PVT sequence is executing a queued action.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/stream_is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string which represents the PVT sequence.\n   * @returns String which represents the PVT sequence.\n   */\n  public toString(): string {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/stream_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Disables the PVT sequence.\n   * If the PVT sequence is not setup, this command does nothing.\n   * Once disabled, the PVT sequence will no longer accept PVT commands.\n   * The PVT sequence will process the rest of the commands in the queue until it is empty.\n   */\n  public async disable(): Promise<void> {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the PVT sequence.\n   * Keeps resending the command while the device rejects with AGAIN reason.\n   * @param command Command and its parameters.\n   */\n  public async genericCommand(\n    command: string\n  ): Promise<void> {\n    const request = new gateway.StreamGenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setCommand(command);\n\n    await gateway.callAsync('device/stream_generic_command', request);\n  }\n\n  /**\n   * Sends a batch of generic ASCII commands to the PVT sequence.\n   * Keeps resending command while the device rejects with AGAIN reason.\n   * The batch is atomic in terms of thread safety.\n   * @param batch Array of commands.\n   */\n  public async genericCommandBatch(\n    batch: string[]\n  ): Promise<void> {\n    const request = new gateway.StreamGenericCommandBatchRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n    request.setBatchList(batch);\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the PVT sequence status from the device\n   * and returns boolean indicating whether the PVT sequence is disabled.\n   * Useful to determine if execution was interrupted by other movements.\n   * @returns True if the PVT sequence is disabled.\n   */\n  public async checkDisabled(): Promise<boolean> {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/stream_check_disabled',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n   */\n  public treatDiscontinuitiesAsError(): void {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n   */\n  public ignoreCurrentDiscontinuity(): void {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the PVT sequence.\n   * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n   */\n  private _retrieveAxes(): PvtAxisDefinition[] {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    const response = gateway.callSync<gateway.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      gateway.StreamGetAxesResponse);\n    return response.getAxesList().map(a => PvtAxisDefinition.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Get the mode of the PVT sequence.\n   * @returns Mode of the PVT sequence.\n   */\n  private _retrieveMode(): PvtMode {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.pvtId);\n    request.setPvt(true);\n\n    const response = gateway.callSync<gateway.IntResponse>(\n      'device/stream_get_mode',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n}\n\nnamespace PvtSequence {\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}

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

@@ -6,7 +6,7 @@ import { StreamBuffer } from './stream_buffer';
 import { StreamMode } from './stream_mode';
 import { StreamAxisDefinition } from './stream_axis_definition';
 /**
- * A handle for a stream with this ID on the device.
+ * A handle for a stream with this number on the device.
  * Streams provide a way to execute or store a sequence of actions.
  * Stream methods append actions to a queue which executes or stores actions in a first in, first out order.
  */
@@ -195,7 +195,7 @@ export declare class Stream {
      * @param channelNumber The number of the analog input channel.
      * Channel numbers are numbered from one.
      * @param condition A condition (e.g. <, <=, ==, !=).
-     * @param value The value that the condition concerns, in volts.
+     * @param value The value that the condition concerns, in Volts.
      */
     waitAnalogInput(channelNumber: number, condition: string, value: number): Promise<void>;
     /**
@@ -209,7 +209,7 @@ export declare class Stream {
      * Set the value of an analog output channel.
      * @param channelNumber The number of the analog output channel.
      * Channel numbers are numbered from one.
-     * @param value The value to set the channel to, in volts.
+     * @param value The value to set the channel to, in Volts.
      */
     setAnalogOutput(channelNumber: number, value: number): Promise<void>;
     /**
@@ -225,7 +225,7 @@ export declare class Stream {
     setAllDigitalOutputs(values: boolean[]): Promise<void>;
     /**
      * Sets values for all analog output channels.
-     * @param values Voltage values to set the output channels to.
+     * @param values The values to set the output channels to, in Volts.
      */
     setAllAnalogOutputs(values: number[]): Promise<void>;
     /**
@@ -304,7 +304,7 @@ export declare class Stream {
      */
     toString(): string;
     /**
-     * Disable the stream.
+     * Disables the stream.
      * If the stream is not setup, this command does nothing.
      * Once disabled, the stream will no longer accept stream commands.
      * The stream will process the rest of the commands in the queue until it is empty.
@@ -330,6 +330,14 @@ export declare class Stream {
      * @returns True if the stream is disabled.
      */
     checkDisabled(): Promise<boolean>;
+    /**
+     * Makes the stream throw StreamDiscontinuityException when it encounters discontinuities (ND warning flag).
+     */
+    treatDiscontinuitiesAsError(): void;
+    /**
+     * Prevents StreamDiscontinuityException as a result of expected discontinuity when resuming streaming.
+     */
+    ignoreCurrentDiscontinuity(): void;
     /**
      * Gets the axes of the stream.
      * @returns An array of axis numbers of the axes the stream is set up to control.

package/dist/lib/ascii/stream.js

@@ -31,7 +31,7 @@ const gateway = __importStar(require("../gateway"));
 const measurement_1 = require("../measurement");
 const stream_axis_definition_1 = require("./stream_axis_definition");
 /**
- * A handle for a stream with this ID on the device.
+ * A handle for a stream with this number on the device.
  * Streams provide a way to execute or store a sequence of actions.
  * Stream methods append actions to a queue which executes or stores actions in a first in, first out order.
  */
@@ -408,7 +408,7 @@ class Stream {
      * @param channelNumber The number of the analog input channel.
      * Channel numbers are numbered from one.
      * @param condition A condition (e.g. <, <=, ==, !=).
-     * @param value The value that the condition concerns, in volts.
+     * @param value The value that the condition concerns, in Volts.
      */
     async waitAnalogInput(channelNumber, condition, value) {
         const request = new gateway.StreamWaitAnalogInputRequest();
@@ -439,7 +439,7 @@ class Stream {
      * Set the value of an analog output channel.
      * @param channelNumber The number of the analog output channel.
      * Channel numbers are numbered from one.
-     * @param value The value to set the channel to, in volts.
+     * @param value The value to set the channel to, in Volts.
      */
     async setAnalogOutput(channelNumber, value) {
         const request = new gateway.StreamSetAnalogOutputRequest();
@@ -477,7 +477,7 @@ class Stream {
     }
     /**
      * Sets values for all analog output channels.
-     * @param values Voltage values to set the output channels to.
+     * @param values The values to set the output channels to, in Volts.
      */
     async setAllAnalogOutputs(values) {
         const request = new gateway.StreamSetAllAnalogOutputsRequest();
@@ -653,7 +653,7 @@ class Stream {
         return response.getValue();
     }
     /**
-     * Disable the stream.
+     * Disables the stream.
      * If the stream is not setup, this command does nothing.
      * Once disabled, the stream will no longer accept stream commands.
      * The stream will process the rest of the commands in the queue until it is empty.
@@ -706,6 +706,26 @@ class Stream {
         const response = await gateway.callAsync('device/stream_check_disabled', request, gateway.BoolResponse);
         return response.getValue();
     }
+    /**
+     * Makes the stream throw StreamDiscontinuityException when it encounters discontinuities (ND warning flag).
+     */
+    treatDiscontinuitiesAsError() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.streamId);
+        gateway.callSync('device/stream_treat_discontinuities', request);
+    }
+    /**
+     * Prevents StreamDiscontinuityException as a result of expected discontinuity when resuming streaming.
+     */
+    ignoreCurrentDiscontinuity() {
+        const request = new gateway.StreamEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.streamId);
+        gateway.callSync('device/stream_ignore_discontinuity', request);
+    }
     /**
      * Gets the axes of the stream.
      * @returns An array of axis numbers of the axes the stream is set up to control.