@zaber/motion 3.3.0 → 3.4.0

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

@@ -0,0 +1,178 @@
+import { Device } from './device';
+import { Measurement } from '../measurement';
+import { PvtBuffer } from './pvt_buffer';
+import { PvtMode } from './pvt_mode';
+import { PvtAxisDefinition } from './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.
+ */
+export declare class PvtSequence {
+    /**
+     * Device that controls this PVT sequence.
+     */
+    get device(): Device;
+    private _device;
+    /**
+     * The number that identifies the PVT sequence on the device.
+     */
+    get pvtId(): number;
+    private _pvtId;
+    /**
+     * Current mode of the PVT sequence.
+     */
+    get mode(): PvtMode;
+    /**
+     * An array of axes definitions the PVT sequence is set up to control.
+     */
+    get axes(): PvtAxisDefinition[];
+    constructor(device: Device, pvtId: number);
+    /**
+     * 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.
+     */
+    setupLiveComposite(...axes: PvtAxisDefinition[]): Promise<void>;
+    /**
+     * 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.
+     */
+    setupLive(...axes: number[]): Promise<void>;
+    /**
+     * 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.
+     */
+    setupStoreComposite(pvtBuffer: PvtBuffer, ...axes: PvtAxisDefinition[]): Promise<void>;
+    /**
+     * 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.
+     */
+    setupStore(pvtBuffer: PvtBuffer, ...axes: number[]): Promise<void>;
+    /**
+     * Append the actions in a PVT buffer to the sequence's queue.
+     * @param pvtBuffer The PVT buffer to call.
+     */
+    call(pvtBuffer: PvtBuffer): Promise<void>;
+    /**
+     * 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.
+     */
+    point(positions: Measurement[], velocities: Measurement[], time: Measurement): Promise<void>;
+    /**
+     * 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.
+     */
+    pointRelative(positions: Measurement[], velocities: Measurement[], time: Measurement): Promise<void>;
+    /**
+     * 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.
+     */
+    setDigitalOutput(channelNumber: number, value: boolean): Promise<void>;
+    /**
+     * 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.
+     */
+    setAnalogOutput(channelNumber: number, value: number): Promise<void>;
+    /**
+     * Sets values for all digital output channels.
+     * @param values True to set the output channel to conducting and false to turn it off.
+     */
+    setAllDigitalOutputs(values: boolean[]): Promise<void>;
+    /**
+     * Sets values for all analog output channels.
+     * @param values The values to set the output channels to, in Volts.
+     */
+    setAllAnalogOutputs(values: number[]): Promise<void>;
+    /**
+     * Waits until the live PVT sequence executes all queued actions.
+     * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.
+     */
+    waitUntilIdle(options?: PvtSequence.WaitUntilIdleOptions): Promise<void>;
+    /**
+     * 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.
+     */
+    cork(): Promise<void>;
+    /**
+     * Uncork the front of the queue, unblocking command execution.
+     * You can only uncork an idle live PVT sequence that is corked.
+     */
+    uncork(): Promise<void>;
+    /**
+     * 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.
+     */
+    isBusy(): Promise<boolean>;
+    /**
+     * Returns a string which represents the PVT sequence.
+     * @returns String which represents the PVT sequence.
+     */
+    toString(): string;
+    /**
+     * 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.
+     */
+    disable(): Promise<void>;
+    /**
+     * 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.
+     */
+    genericCommand(command: string): Promise<void>;
+    /**
+     * 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.
+     */
+    genericCommandBatch(batch: string[]): Promise<void>;
+    /**
+     * 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.
+     */
+    checkDisabled(): Promise<boolean>;
+    /**
+     * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).
+     */
+    treatDiscontinuitiesAsError(): void;
+    /**
+     * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.
+     */
+    ignoreCurrentDiscontinuity(): void;
+    /**
+     * Gets the axes of the PVT sequence.
+     * @returns An array of axis numbers of the axes the PVT sequence is set up to control.
+     */
+    private _retrieveAxes;
+    /**
+     * Get the mode of the PVT sequence.
+     * @returns Mode of the PVT sequence.
+     */
+    private _retrieveMode;
+}
+declare namespace PvtSequence {
+    interface WaitUntilIdleOptions {
+        throwErrorOnFault?: boolean;
+    }
+}
+export {};

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 @@
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==== 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"]}