@zaber/motion 4.5.1 → 4.7.0

package/dist/lib/microscopy/microscope.d.ts

@@ -0,0 +1,82 @@
+import { Axis } from '../ascii/axis';
+import { AxisGroup } from '../ascii/axis_group';
+import { Connection } from '../ascii/connection';
+import { Illuminator } from './illuminator';
+import { ObjectiveChanger } from './objective_changer';
+import { MicroscopeConfig } from './microscope_config';
+import { FilterChanger } from './filter_changer';
+/**
+ * Represent a microscope.
+ * It is subject to breaking changes without warning until further notice.
+ * Parts of the microscope may or may not be instantiated depending on the configuration.
+ * Requires at least Firmware 7.34.
+ */
+export declare class Microscope {
+    /**
+     * Connection of the microscope.
+     */
+    get connection(): Connection;
+    private _connection;
+    private _config;
+    /**
+     * The illuminator.
+     */
+    get illuminator(): Illuminator | undefined;
+    private _illuminator;
+    /**
+     * The focus axis.
+     */
+    get focusAxis(): Axis | undefined;
+    private _focusAxis;
+    /**
+     * The X axis.
+     */
+    get xAxis(): Axis | undefined;
+    private _xAxis;
+    /**
+     * The Y axis.
+     */
+    get yAxis(): Axis | undefined;
+    private _yAxis;
+    /**
+     * Axis group consisting of X and Y axes representing the plate of the microscope.
+     */
+    get plate(): AxisGroup | undefined;
+    private _plate;
+    /**
+     * The objective changer.
+     */
+    get objectiveChanger(): ObjectiveChanger | undefined;
+    private _objectiveChanger;
+    /**
+     * The filter changer.
+     */
+    get filterChanger(): FilterChanger | undefined;
+    private _filterChanger;
+    /**
+     * Creates instance of `Microscope` from the given config.
+     * Parts are instantiated depending on device addresses in the config.
+     */
+    constructor(connection: Connection, config: MicroscopeConfig);
+    /**
+     * Finds a microscope on a connection.
+     * @param connection Connection on which to detect the microscope.
+     * @returns New instance of microscope.
+     */
+    static find(connection: Connection): Promise<Microscope>;
+    /**
+     * Initializes the microscope.
+     * Homes all axes, filter changer, and objective changer.
+     */
+    initialize(): Promise<void>;
+    /**
+     * Checks whether the microscope needs initialization.
+     * @returns True, when the microscope needs initialization.
+     */
+    isInitialized(): Promise<boolean>;
+    /**
+     * Returns a string that represents the microscope.
+     * @returns A string that represents the microscope.
+     */
+    toString(): string;
+}

package/dist/lib/microscopy/microscope.js

@@ -0,0 +1,153 @@
+"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.Microscope = void 0;
+const gateway = __importStar(require("../gateway"));
+const axis_1 = require("../ascii/axis");
+const axis_group_1 = require("../ascii/axis_group");
+const device_1 = require("../ascii/device");
+const illuminator_1 = require("./illuminator");
+const objective_changer_1 = require("./objective_changer");
+const microscope_config_1 = require("./microscope_config");
+const filter_changer_1 = require("./filter_changer");
+/**
+ * Represent a microscope.
+ * It is subject to breaking changes without warning until further notice.
+ * Parts of the microscope may or may not be instantiated depending on the configuration.
+ * Requires at least Firmware 7.34.
+ */
+class Microscope {
+    /**
+     * Connection of the microscope.
+     */
+    get connection() {
+        return this._connection;
+    }
+    /**
+     * The illuminator.
+     */
+    get illuminator() {
+        return this._illuminator;
+    }
+    /**
+     * The focus axis.
+     */
+    get focusAxis() {
+        return this._focusAxis;
+    }
+    /**
+     * The X axis.
+     */
+    get xAxis() {
+        return this._xAxis;
+    }
+    /**
+     * The Y axis.
+     */
+    get yAxis() {
+        return this._yAxis;
+    }
+    /**
+     * Axis group consisting of X and Y axes representing the plate of the microscope.
+     */
+    get plate() {
+        return this._plate;
+    }
+    /**
+     * The objective changer.
+     */
+    get objectiveChanger() {
+        return this._objectiveChanger;
+    }
+    /**
+     * The filter changer.
+     */
+    get filterChanger() {
+        return this._filterChanger;
+    }
+    /**
+     * Creates instance of `Microscope` from the given config.
+     * Parts are instantiated depending on device addresses in the config.
+     */
+    constructor(connection, config) {
+        var _a, _b, _c;
+        this._connection = connection;
+        this._config = microscope_config_1.MicroscopeConfig.fromProtobuf(microscope_config_1.MicroscopeConfig.toProtobuf(config).toObject());
+        this._illuminator = config.illuminator ? new illuminator_1.Illuminator(new device_1.Device(connection, config.illuminator)) : undefined;
+        this._focusAxis = ((_a = config.focusAxis) === null || _a === void 0 ? void 0 : _a.device) ? new axis_1.Axis(new device_1.Device(connection, config.focusAxis.device), config.focusAxis.axis) : undefined;
+        this._xAxis = ((_b = config.xAxis) === null || _b === void 0 ? void 0 : _b.device) ? new axis_1.Axis(new device_1.Device(connection, config.xAxis.device), config.xAxis.axis) : undefined;
+        this._yAxis = ((_c = config.yAxis) === null || _c === void 0 ? void 0 : _c.device) ? new axis_1.Axis(new device_1.Device(connection, config.yAxis.device), config.yAxis.axis) : undefined;
+        this._plate = this._xAxis && this._yAxis ? new axis_group_1.AxisGroup([this._xAxis, this._yAxis]) : undefined;
+        this._objectiveChanger = config.objectiveChanger && this._focusAxis ? new objective_changer_1.ObjectiveChanger(new device_1.Device(connection, config.objectiveChanger), this._focusAxis) : undefined;
+        this._filterChanger = config.filterChanger ? new filter_changer_1.FilterChanger(new device_1.Device(connection, config.filterChanger)) : undefined;
+    }
+    /**
+     * Finds a microscope on a connection.
+     * @param connection Connection on which to detect the microscope.
+     * @returns New instance of microscope.
+     */
+    static async find(connection) {
+        const request = new gateway.InterfaceEmptyRequest();
+        request.setInterfaceId(connection.interfaceId);
+        const response = await gateway.callAsync('microscope/detect', request, gateway.MicroscopeConfig);
+        return new Microscope(connection, microscope_config_1.MicroscopeConfig.fromProtobuf(response.toObject()));
+    }
+    /**
+     * Initializes the microscope.
+     * Homes all axes, filter changer, and objective changer.
+     */
+    async initialize() {
+        const request = new gateway.MicroscopeEmptyRequest();
+        request.setInterfaceId(this.connection.interfaceId);
+        request.setConfig(microscope_config_1.MicroscopeConfig.toProtobuf(this._config));
+        await gateway.callAsync('microscope/initialize', request);
+    }
+    /**
+     * Checks whether the microscope needs initialization.
+     * @returns True, when the microscope needs initialization.
+     */
+    async isInitialized() {
+        const request = new gateway.MicroscopeEmptyRequest();
+        request.setInterfaceId(this.connection.interfaceId);
+        request.setConfig(microscope_config_1.MicroscopeConfig.toProtobuf(this._config));
+        const response = await gateway.callAsync('microscope/is_initialized', request, gateway.BoolResponse);
+        return response.getValue();
+    }
+    /**
+     * Returns a string that represents the microscope.
+     * @returns A string that represents the microscope.
+     */
+    toString() {
+        const request = new gateway.MicroscopeEmptyRequest();
+        request.setInterfaceId(this.connection.interfaceId);
+        request.setConfig(microscope_config_1.MicroscopeConfig.toProtobuf(this._config));
+        const response = gateway.callSync('microscope/to_string', request, gateway.StringResponse);
+        return response.getValue();
+    }
+}
+exports.Microscope = Microscope;
+//# sourceMappingURL=microscope.js.map

package/dist/lib/microscopy/microscope.js.map

@@ -0,0 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { Axis } from '../ascii/axis';\nimport { AxisGroup } from '../ascii/axis_group';\nimport { Device } from '../ascii/device';\nimport { Connection } from '../ascii/connection';\nimport { Illuminator } from './illuminator';\nimport { ObjectiveChanger } from './objective_changer';\nimport { MicroscopeConfig } from './microscope_config';\nimport { FilterChanger } from './filter_changer';\n\n/**\n * Represent a microscope.\n * It is subject to breaking changes without warning until further notice.\n * Parts of the microscope may or may not be instantiated depending on the configuration.\n * Requires at least Firmware 7.34.\n */\nexport class Microscope {\n  /**\n   * Connection of the microscope.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  private _config: MicroscopeConfig;\n\n  /**\n   * The illuminator.\n   */\n  public get illuminator(): Illuminator | undefined {\n    return this._illuminator;\n  }\n  private _illuminator: Illuminator | undefined;\n\n  /**\n   * The focus axis.\n   */\n  public get focusAxis(): Axis | undefined {\n    return this._focusAxis;\n  }\n  private _focusAxis: Axis | undefined;\n\n  /**\n   * The X axis.\n   */\n  public get xAxis(): Axis | undefined {\n    return this._xAxis;\n  }\n  private _xAxis: Axis | undefined;\n\n  /**\n   * The Y axis.\n   */\n  public get yAxis(): Axis | undefined {\n    return this._yAxis;\n  }\n  private _yAxis: Axis | undefined;\n\n  /**\n   * Axis group consisting of X and Y axes representing the plate of the microscope.\n   */\n  public get plate(): AxisGroup | undefined {\n    return this._plate;\n  }\n  private _plate: AxisGroup | undefined;\n\n  /**\n   * The objective changer.\n   */\n  public get objectiveChanger(): ObjectiveChanger | undefined {\n    return this._objectiveChanger;\n  }\n  private _objectiveChanger: ObjectiveChanger | undefined;\n\n  /**\n   * The filter changer.\n   */\n  public get filterChanger(): FilterChanger | undefined {\n    return this._filterChanger;\n  }\n  private _filterChanger: FilterChanger | undefined;\n\n  /**\n   * Creates instance of `Microscope` from the given config.\n   * Parts are instantiated depending on device addresses in the config.\n   */\n  constructor(connection: Connection, config: MicroscopeConfig) {\n    this._connection = connection;\n    this._config = MicroscopeConfig.fromProtobuf(MicroscopeConfig.toProtobuf(config).toObject());\n    this._illuminator = config.illuminator ? new Illuminator(new Device(connection, config.illuminator)) : undefined;\n    this._focusAxis = config.focusAxis?.device ? new Axis(new Device(connection, config.focusAxis.device), config.focusAxis.axis) : undefined;\n    this._xAxis = config.xAxis?.device ? new Axis(new Device(connection, config.xAxis.device), config.xAxis.axis) : undefined;\n    this._yAxis = config.yAxis?.device ? new Axis(new Device(connection, config.yAxis.device), config.yAxis.axis) : undefined;\n    this._plate = this._xAxis && this._yAxis ? new AxisGroup([this._xAxis, this._yAxis]) : undefined;\n    this._objectiveChanger = config.objectiveChanger && this._focusAxis ? new ObjectiveChanger(new Device(connection, config.objectiveChanger), this._focusAxis) : undefined;\n    this._filterChanger = config.filterChanger ? new FilterChanger(new Device(connection, config.filterChanger)) : undefined;\n  }\n\n  /**\n   * Finds a microscope on a connection.\n   * @param connection Connection on which to detect the microscope.\n   * @returns New instance of microscope.\n   */\n  public static async find(\n    connection: Connection\n  ): Promise<Microscope> {\n    const request = new gateway.InterfaceEmptyRequest();\n    request.setInterfaceId(connection.interfaceId);\n\n    const response = await gateway.callAsync<gateway.MicroscopeConfig>(\n      'microscope/detect',\n      request,\n      gateway.MicroscopeConfig);\n    return new Microscope(connection, MicroscopeConfig.fromProtobuf(response.toObject()));\n  }\n\n  /**\n   * Initializes the microscope.\n   * Homes all axes, filter changer, and objective changer.\n   */\n  public async initialize(): Promise<void> {\n    const request = new gateway.MicroscopeEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setConfig(MicroscopeConfig.toProtobuf(this._config));\n\n    await gateway.callAsync('microscope/initialize', request);\n  }\n\n  /**\n   * Checks whether the microscope needs initialization.\n   * @returns True, when the microscope needs initialization.\n   */\n  public async isInitialized(): Promise<boolean> {\n    const request = new gateway.MicroscopeEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setConfig(MicroscopeConfig.toProtobuf(this._config));\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'microscope/is_initialized',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the microscope.\n   * @returns A string that represents the microscope.\n   */\n  public toString(): string {\n    const request = new gateway.MicroscopeEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setConfig(MicroscopeConfig.toProtobuf(this._config));\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'microscope/to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Microscope {\n}\n"]}

package/dist/lib/microscopy/microscope_config.d.ts

@@ -0,0 +1,34 @@
+import { AxisAddress } from '../axis_address';
+/**
+ * Configuration representing a microscope setup.
+ * Device address of value 0 means that the part is not present.
+ */
+export interface MicroscopeConfig {
+    /**
+     * Focus axis of the microscope.
+     */
+    focusAxis?: AxisAddress;
+    /**
+     * X axis of the microscope.
+     */
+    xAxis?: AxisAddress;
+    /**
+     * Y axis of the microscope.
+     */
+    yAxis?: AxisAddress;
+    /**
+     * Illuminator device address.
+     */
+    illuminator?: number;
+    /**
+     * Filter changer device address.
+     */
+    filterChanger?: number;
+    /**
+     * Objective changer device address.
+     */
+    objectiveChanger?: number;
+}
+export declare namespace MicroscopeConfig {
+    const __type = "MicroscopeConfig";
+}

package/dist/lib/microscopy/microscope_config.js

@@ -0,0 +1,65 @@
+"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.MicroscopeConfig = void 0;
+const gateway = __importStar(require("../gateway"));
+const axis_address_1 = require("../axis_address");
+var MicroscopeConfig;
+(function (MicroscopeConfig) {
+    MicroscopeConfig.__type = 'MicroscopeConfig';
+    /** @internal */
+    function fromProtobuf(pbData) {
+        return {
+            focusAxis: pbData.focusAxis != null ? axis_address_1.AxisAddress.fromProtobuf(pbData.focusAxis) : undefined,
+            xAxis: pbData.xAxis != null ? axis_address_1.AxisAddress.fromProtobuf(pbData.xAxis) : undefined,
+            yAxis: pbData.yAxis != null ? axis_address_1.AxisAddress.fromProtobuf(pbData.yAxis) : undefined,
+            illuminator: pbData.illuminator,
+            filterChanger: pbData.filterChanger,
+            objectiveChanger: pbData.objectiveChanger,
+        };
+    }
+    MicroscopeConfig.fromProtobuf = fromProtobuf;
+    /** @internal */
+    function toProtobuf(source) {
+        const pbData = new gateway.MicroscopeConfig();
+        if (source == null) {
+            pbData.setFocusAxis(axis_address_1.AxisAddress.toProtobuf(null));
+            pbData.setXAxis(axis_address_1.AxisAddress.toProtobuf(null));
+            pbData.setYAxis(axis_address_1.AxisAddress.toProtobuf(null));
+            return pbData;
+        }
+        pbData.setFocusAxis(axis_address_1.AxisAddress.toProtobuf(source.focusAxis));
+        pbData.setXAxis(axis_address_1.AxisAddress.toProtobuf(source.xAxis));
+        pbData.setYAxis(axis_address_1.AxisAddress.toProtobuf(source.yAxis));
+        pbData.setIlluminator(source.illuminator);
+        pbData.setFilterChanger(source.filterChanger);
+        pbData.setObjectiveChanger(source.objectiveChanger);
+        return pbData;
+    }
+    MicroscopeConfig.toProtobuf = toProtobuf;
+})(MicroscopeConfig = exports.MicroscopeConfig || (exports.MicroscopeConfig = {}));
+//# sourceMappingURL=microscope_config.js.map

package/dist/lib/microscopy/microscope_config.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"microscope_config.js","sourceRoot":"","sources":["../../../src/microscopy/microscope_config.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AACtC,kDAA8C;AAuC9C,IAAiB,gBAAgB,CAgChC;AAhCD,WAAiB,gBAAgB;IAClB,uBAAM,GAAG,kBAAkB,CAAC;IAEzC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAyC;QACpE,OAAO;YACL,SAAS,EAAE,MAAM,CAAC,SAAS,IAAI,IAAI,CAAC,CAAC,CAAC,0BAAW,CAAC,YAAY,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,SAAS;YAC5F,KAAK,EAAE,MAAM,CAAC,KAAK,IAAI,IAAI,CAAC,CAAC,CAAC,0BAAW,CAAC,YAAY,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,SAAS;YAChF,KAAK,EAAE,MAAM,CAAC,KAAK,IAAI,IAAI,CAAC,CAAC,CAAC,0BAAW,CAAC,YAAY,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,SAAS;YAChF,WAAW,EAAE,MAAM,CAAC,WAAW;YAC/B,aAAa,EAAE,MAAM,CAAC,aAAa;YACnC,gBAAgB,EAAE,MAAM,CAAC,gBAAgB;SAC1C,CAAC;IACJ,CAAC;IATe,6BAAY,eAS3B,CAAA;IACD,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAA2C;QACpE,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC9C,IAAI,MAAM,IAAI,IAAI,EAAE;YAClB,MAAM,CAAC,YAAY,CAAC,0BAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC;YAClD,MAAM,CAAC,QAAQ,CAAC,0BAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC;YAC9C,MAAM,CAAC,QAAQ,CAAC,0BAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC;YAC9C,OAAO,MAAM,CAAC;SACf;QAED,MAAM,CAAC,YAAY,CAAC,0BAAW,CAAC,UAAU,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC,CAAC;QAC9D,MAAM,CAAC,QAAQ,CAAC,0BAAW,CAAC,UAAU,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC;QACtD,MAAM,CAAC,QAAQ,CAAC,0BAAW,CAAC,UAAU,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC;QACtD,MAAM,CAAC,cAAc,CAAC,MAAM,CAAC,WAAY,CAAC,CAAC;QAC3C,MAAM,CAAC,gBAAgB,CAAC,MAAM,CAAC,aAAc,CAAC,CAAC;QAC/C,MAAM,CAAC,mBAAmB,CAAC,MAAM,CAAC,gBAAiB,CAAC,CAAC;QACrD,OAAO,MAAM,CAAC;IAChB,CAAC;IAhBe,2BAAU,aAgBzB,CAAA;AACH,CAAC,EAhCgB,gBAAgB,GAAhB,wBAAgB,KAAhB,wBAAgB,QAgChC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { AxisAddress } from '../axis_address';\n\n/**\n * Configuration representing a microscope setup.\n * Device address of value 0 means that the part is not present.\n */\nexport interface MicroscopeConfig {\n  /**\n   * Focus axis of the microscope.\n   */\n  focusAxis?: AxisAddress;\n\n  /**\n   * X axis of the microscope.\n   */\n  xAxis?: AxisAddress;\n\n  /**\n   * Y axis of the microscope.\n   */\n  yAxis?: AxisAddress;\n\n  /**\n   * Illuminator device address.\n   */\n  illuminator?: number;\n\n  /**\n   * Filter changer device address.\n   */\n  filterChanger?: number;\n\n  /**\n   * Objective changer device address.\n   */\n  objectiveChanger?: number;\n\n}\n\nexport namespace MicroscopeConfig {\n  export const __type = 'MicroscopeConfig';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.MicroscopeConfig.AsObject): MicroscopeConfig {\n    return {\n      focusAxis: pbData.focusAxis != null ? AxisAddress.fromProtobuf(pbData.focusAxis) : undefined,\n      xAxis: pbData.xAxis != null ? AxisAddress.fromProtobuf(pbData.xAxis) : undefined,\n      yAxis: pbData.yAxis != null ? AxisAddress.fromProtobuf(pbData.yAxis) : undefined,\n      illuminator: pbData.illuminator,\n      filterChanger: pbData.filterChanger,\n      objectiveChanger: pbData.objectiveChanger,\n    };\n  }\n  /** @internal */\n  export function toProtobuf(source: MicroscopeConfig | null | undefined): gateway.MicroscopeConfig {\n    const pbData = new gateway.MicroscopeConfig();\n    if (source == null) {\n      pbData.setFocusAxis(AxisAddress.toProtobuf(null));\n      pbData.setXAxis(AxisAddress.toProtobuf(null));\n      pbData.setYAxis(AxisAddress.toProtobuf(null));\n      return pbData;\n    }\n\n    pbData.setFocusAxis(AxisAddress.toProtobuf(source.focusAxis));\n    pbData.setXAxis(AxisAddress.toProtobuf(source.xAxis));\n    pbData.setYAxis(AxisAddress.toProtobuf(source.yAxis));\n    pbData.setIlluminator(source.illuminator!);\n    pbData.setFilterChanger(source.filterChanger!);\n    pbData.setObjectiveChanger(source.objectiveChanger!);\n    return pbData;\n  }\n}\n"]}

package/dist/lib/microscopy/objective_changer.d.ts

@@ -1,33 +1,29 @@
 import { Connection } from '../ascii/connection';
+import { Device } from '../ascii/device';
 import { Axis } from '../ascii/axis';
 import { Measurement } from '../measurement';
+import { Angle, Length, Native } from '../units';
 /**
  * Represents an objective changer of a microscope.
  * Unstable. Expect breaking changes in future releases.
  * Requires at least Firmware 7.32.
  */
 export declare class ObjectiveChanger {
-    /**
-     * Connection of this device.
-     */
-    get connection(): Connection;
-    private _connection;
     /**
      * Device address of the turret.
      */
-    get turretAddress(): number;
-    private _turretAddress;
-    /**
-     * Device address of the focus.
-     */
-    get focusAddress(): number;
-    private _focusAddress;
+    get turret(): Device;
+    private _turret;
     /**
      * The focus axis.
      */
     get focusAxis(): Axis;
     private _focusAxis;
-    constructor(connection: Connection, turretAddress: number, focusAddress: number);
+    /**
+     * Creates instance of `ObjectiveChanger` based on the given device.
+     * If the device is identified, this constructor will ensure it is an objective changer.
+     */
+    constructor(turret: Device, focusAxis: Axis);
     /**
      * Finds an objective changer on a connection.
      * In case of conflict, specify the optional device addresses.
@@ -41,9 +37,9 @@ export declare class ObjectiveChanger {
     /**
      * Changes the objective.
      * Runs a sequence of movements switching from the current objective to the new one.
-     * @param objective Objective number starting from one.
-     * @param options.focusOffset Optional focus offset from the datum.
-     * If specified, the focus stage will move to the designated offset.
+     * The focus stage moves to the focus datum after the objective change.
+     * @param objective Objective number starting from 1.
+     * @param options.focusOffset Optional offset from the focus datum.
      */
     change(objective: number, options?: ObjectiveChanger.ChangeOptions): Promise<void>;
     /**
@@ -56,6 +52,36 @@ export declare class ObjectiveChanger {
      * @returns Current objective number starting from 1 or 0 if not applicable.
      */
     getCurrentObjective(): Promise<number>;
+    /**
+     * Gets number of objectives that the turret can accommodate.
+     * @returns Number of positions.
+     */
+    getNumberOfObjectives(): Promise<number>;
+    /**
+     * Gets the focus datum.
+     * The focus datum is the position that the focus stage moves to after an objective change.
+     * It is backed by the limit.home.offset setting.
+     * @param [unit=Units.NATIVE] Units of datum.
+     * @returns The datum.
+     */
+    getFocusDatum(unit?: Length | Angle | Native): Promise<number>;
+    /**
+     * Sets the focus datum.
+     * The focus datum is the position that the focus stage moves to after an objective change.
+     * It is backed by the limit.home.offset setting.
+     * @param datum Value of datum.
+     * @param [unit=Units.NATIVE] Units of datum.
+     */
+    setFocusDatum(datum: number, unit?: Length | Angle | Native): Promise<void>;
+    /**
+     * Checks if this is a objective changer and throws an error if it is not.
+     */
+    private _verifyIsChanger;
+    /**
+     * Returns a string that represents the device.
+     * @returns A string that represents the device.
+     */
+    toString(): string;
 }
 declare namespace ObjectiveChanger {
     interface FindOptions {

package/dist/lib/microscopy/objective_changer.js

@@ -30,29 +30,18 @@ const gateway = __importStar(require("../gateway"));
 const device_1 = require("../ascii/device");
 const axis_1 = require("../ascii/axis");
 const measurement_1 = require("../measurement");
+const units_1 = require("../units");
 /**
  * Represents an objective changer of a microscope.
  * Unstable. Expect breaking changes in future releases.
  * Requires at least Firmware 7.32.
  */
 class ObjectiveChanger {
-    /**
-     * Connection of this device.
-     */
-    get connection() {
-        return this._connection;
-    }
     /**
      * Device address of the turret.
      */
-    get turretAddress() {
-        return this._turretAddress;
-    }
-    /**
-     * Device address of the focus.
-     */
-    get focusAddress() {
-        return this._focusAddress;
+    get turret() {
+        return this._turret;
     }
     /**
      * The focus axis.
@@ -60,11 +49,14 @@ class ObjectiveChanger {
     get focusAxis() {
         return this._focusAxis;
     }
-    constructor(connection, turretAddress, focusAddress) {
-        this._connection = connection;
-        this._turretAddress = turretAddress;
-        this._focusAddress = focusAddress;
-        this._focusAxis = new axis_1.Axis(new device_1.Device(connection, focusAddress), 1);
+    /**
+     * Creates instance of `ObjectiveChanger` based on the given device.
+     * If the device is identified, this constructor will ensure it is an objective changer.
+     */
+    constructor(turret, focusAxis) {
+        this._turret = turret;
+        this._focusAxis = focusAxis;
+        this._verifyIsChanger();
     }
     /**
      * Finds an objective changer on a connection.
@@ -82,21 +74,22 @@ class ObjectiveChanger {
         request.setTurretAddress(turretAddress);
         request.setFocusAddress(focusAddress);
         const response = await gateway.callAsync('objective_changer/detect', request, gateway.ObjectiveChangerCreateResponse);
-        return new ObjectiveChanger(connection, response.getTurret(), response.getFocus());
+        return new ObjectiveChanger(new device_1.Device(connection, response.getTurret()), new axis_1.Axis(new device_1.Device(connection, response.getFocusAddress()), response.getFocusAxis()));
     }
     /**
      * Changes the objective.
      * Runs a sequence of movements switching from the current objective to the new one.
-     * @param objective Objective number starting from one.
-     * @param options.focusOffset Optional focus offset from the datum.
-     * If specified, the focus stage will move to the designated offset.
+     * The focus stage moves to the focus datum after the objective change.
+     * @param objective Objective number starting from 1.
+     * @param options.focusOffset Optional offset from the focus datum.
      */
     async change(objective, options = {}) {
         const { focusOffset, } = options;
         const request = new gateway.ObjectiveChangerChangeRequest();
-        request.setInterfaceId(this.connection.interfaceId);
-        request.setTurretAddress(this.turretAddress);
-        request.setFocusAddress(this.focusAddress);
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setTurretAddress(this.turret.deviceAddress);
+        request.setFocusAddress(this.focusAxis.device.deviceAddress);
+        request.setFocusAxis(this.focusAxis.axisNumber);
         request.setObjective(objective);
         request.setFocusOffset(measurement_1.Measurement.toProtobuf(focusOffset));
         await gateway.callAsync('objective_changer/change', request);
@@ -106,9 +99,10 @@ class ObjectiveChanger {
      */
     async release() {
         const request = new gateway.ObjectiveChangerRequest();
-        request.setInterfaceId(this.connection.interfaceId);
-        request.setTurretAddress(this.turretAddress);
-        request.setFocusAddress(this.focusAddress);
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setTurretAddress(this.turret.deviceAddress);
+        request.setFocusAddress(this.focusAxis.device.deviceAddress);
+        request.setFocusAxis(this.focusAxis.axisNumber);
         await gateway.callAsync('objective_changer/release', request);
     }
     /**
@@ -117,11 +111,79 @@ class ObjectiveChanger {
      * @returns Current objective number starting from 1 or 0 if not applicable.
      */
     async getCurrentObjective() {
+        const request = new gateway.AxisEmptyRequest();
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setDevice(this.turret.deviceAddress);
+        request.setAxis(1);
+        const response = await gateway.callAsync('device/get_index_position', request, gateway.IntResponse);
+        return response.getValue();
+    }
+    /**
+     * Gets number of objectives that the turret can accommodate.
+     * @returns Number of positions.
+     */
+    async getNumberOfObjectives() {
+        const request = new gateway.AxisEmptyRequest();
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setDevice(this.turret.deviceAddress);
+        request.setAxis(1);
+        const response = await gateway.callAsync('device/get_index_count', request, gateway.IntResponse);
+        return response.getValue();
+    }
+    /**
+     * Gets the focus datum.
+     * The focus datum is the position that the focus stage moves to after an objective change.
+     * It is backed by the limit.home.offset setting.
+     * @param [unit=Units.NATIVE] Units of datum.
+     * @returns The datum.
+     */
+    async getFocusDatum(unit = units_1.Units.NATIVE) {
+        const request = new gateway.ObjectiveChangerSetRequest();
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setTurretAddress(this.turret.deviceAddress);
+        request.setFocusAddress(this.focusAxis.device.deviceAddress);
+        request.setFocusAxis(this.focusAxis.axisNumber);
+        request.setUnit(unit);
+        const response = await gateway.callAsync('objective_changer/get_datum', request, gateway.DoubleResponse);
+        return response.getValue();
+    }
+    /**
+     * Sets the focus datum.
+     * The focus datum is the position that the focus stage moves to after an objective change.
+     * It is backed by the limit.home.offset setting.
+     * @param datum Value of datum.
+     * @param [unit=Units.NATIVE] Units of datum.
+     */
+    async setFocusDatum(datum, unit = units_1.Units.NATIVE) {
+        const request = new gateway.ObjectiveChangerSetRequest();
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setTurretAddress(this.turret.deviceAddress);
+        request.setFocusAddress(this.focusAxis.device.deviceAddress);
+        request.setFocusAxis(this.focusAxis.axisNumber);
+        request.setValue(datum);
+        request.setUnit(unit);
+        await gateway.callAsync('objective_changer/set_datum', request);
+    }
+    /**
+     * Checks if this is a objective changer and throws an error if it is not.
+     */
+    _verifyIsChanger() {
         const request = new gateway.ObjectiveChangerRequest();
-        request.setInterfaceId(this.connection.interfaceId);
-        request.setTurretAddress(this.turretAddress);
-        request.setFocusAddress(this.focusAddress);
-        const response = await gateway.callAsync('objective_changer/get_current_objective', request, gateway.ObjectiveChangerGetCurrentResponse);
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setTurretAddress(this.turret.deviceAddress);
+        request.setFocusAddress(this.focusAxis.device.deviceAddress);
+        request.setFocusAxis(this.focusAxis.axisNumber);
+        gateway.callSync('objective_changer/verify', request);
+    }
+    /**
+     * Returns a string that represents the device.
+     * @returns A string that represents the device.
+     */
+    toString() {
+        const request = new gateway.AxisToStringRequest();
+        request.setInterfaceId(this.turret.connection.interfaceId);
+        request.setDevice(this.turret.deviceAddress);
+        const response = gateway.callSync('device/device_to_string', request, gateway.StringResponse);
         return response.getValue();
     }
 }