@zaber/motion 4.6.0 → 4.7.1

package/dist/lib/microscopy/objective_changer.js

@@ -30,6 +30,7 @@ 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.
@@ -78,9 +79,9 @@ class ObjectiveChanger {
     /**
      * Changes the objective.
      * Runs a sequence of movements switching from the current objective to the new one.
+     * The focus stage moves to the focus datum after the objective change.
      * @param objective Objective number starting from 1.
-     * @param options.focusOffset Optional focus offset from the datum.
-     * If specified, the focus stage will move to the designated offset.
+     * @param options.focusOffset Optional offset from the focus datum.
      */
     async change(objective, options = {}) {
         const { focusOffset, } = options;
@@ -129,6 +130,40 @@ class ObjectiveChanger {
         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.
      */

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

@@ -1 +1 @@
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Expect breaking changes in future releases.\n * Requires at least Firmware 7.32.\n */\nexport class ObjectiveChanger {\n  /**\n   * Device address of the turret.\n   */\n  public get turret(): Device {\n    return this._turret;\n  }\n  private _turret: Device;\n\n  /**\n   * The focus axis.\n   */\n  public get focusAxis(): Axis {\n    return this._focusAxis;\n  }\n  private _focusAxis: Axis;\n\n  /**\n   * Creates instance of `ObjectiveChanger` based on the given device.\n   * If the device is identified, this constructor will ensure it is an objective changer.\n   */\n  constructor(turret: Device, focusAxis: Axis) {\n    this._turret = turret;\n    this._focusAxis = focusAxis;\n    this._verifyIsChanger();\n  }\n\n  /**\n   * Finds an objective changer on a connection.\n   * In case of conflict, specify the optional device addresses.\n   * Devices on the connection must be identified.\n   * @param connection Connection on which to detect the objective changer.\n   * @param [options.turretAddress=0] Optional device address of the turret device (X-MOR).\n   * @param [options.focusAddress=0] Optional device address of the focus device (X-LDA).\n   * @returns New instance of objective changer.\n   */\n  public static async find(\n    connection: Connection,\n    options: ObjectiveChanger.FindOptions = {}\n  ): Promise<ObjectiveChanger> {\n    const {\n      turretAddress = 0,\n      focusAddress = 0,\n    } = options;\n    const request = new gateway.ObjectiveChangerRequest();\n    request.setInterfaceId(connection.interfaceId);\n    request.setTurretAddress(turretAddress);\n    request.setFocusAddress(focusAddress);\n\n    const response = await gateway.callAsync<gateway.ObjectiveChangerCreateResponse>(\n      'objective_changer/detect',\n      request,\n      gateway.ObjectiveChangerCreateResponse);\n    return new ObjectiveChanger(new Device(connection, response.getTurret()), new Axis(new Device(connection, response.getFocusAddress()), response.getFocusAxis()));\n  }\n\n  /**\n   * Changes the objective.\n   * Runs a sequence of movements switching from the current objective to the new one.\n   * @param objective Objective number starting from 1.\n   * @param options.focusOffset Optional focus offset from the datum.\n   * If specified, the focus stage will move to the designated offset.\n   */\n  public async change(\n    objective: number,\n    options: ObjectiveChanger.ChangeOptions = {}\n  ): Promise<void> {\n    const {\n      focusOffset,\n    } = options;\n    const request = new gateway.ObjectiveChangerChangeRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n    request.setObjective(objective);\n    request.setFocusOffset(Measurement.toProtobuf(focusOffset));\n\n    await gateway.callAsync('objective_changer/change', request);\n  }\n\n  /**\n   * Moves the focus stage out of the turret releasing the current objective.\n   */\n  public async release(): Promise<void> {\n    const request = new gateway.ObjectiveChangerRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n\n    await gateway.callAsync('objective_changer/release', request);\n  }\n\n  /**\n   * Returns current objective number starting from 1.\n   * The value of 0 indicates that the position is either unknown or between two objectives.\n   * @returns Current objective number starting from 1 or 0 if not applicable.\n   */\n  public async getCurrentObjective(): Promise<number> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setDevice(this.turret.deviceAddress);\n    request.setAxis(1);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'device/get_index_position',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Gets number of objectives that the turret can accommodate.\n   * @returns Number of positions.\n   */\n  public async getNumberOfObjectives(): Promise<number> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setDevice(this.turret.deviceAddress);\n    request.setAxis(1);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'device/get_index_count',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Checks if this is a objective changer and throws an error if it is not.\n   */\n  private _verifyIsChanger(): void {\n    const request = new gateway.ObjectiveChangerRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n\n    gateway.callSync('objective_changer/verify', request);\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.AxisToStringRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setDevice(this.turret.deviceAddress);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n}\n\nnamespace ObjectiveChanger {\n  export interface FindOptions {\n      turretAddress?: number;\n      focusAddress?: number;\n  }\n  export interface ChangeOptions {\n      focusOffset?: Measurement;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { Connection } from '../ascii/connection';\nimport { Device } from '../ascii/device';\nimport { Axis } from '../ascii/axis';\nimport { Measurement } from '../measurement';\nimport { Angle, Length, Native, Units } from '../units';\n\n/**\n * Represents an objective changer of a microscope.\n * Unstable. Expect breaking changes in future releases.\n * Requires at least Firmware 7.32.\n */\nexport class ObjectiveChanger {\n  /**\n   * Device address of the turret.\n   */\n  public get turret(): Device {\n    return this._turret;\n  }\n  private _turret: Device;\n\n  /**\n   * The focus axis.\n   */\n  public get focusAxis(): Axis {\n    return this._focusAxis;\n  }\n  private _focusAxis: Axis;\n\n  /**\n   * Creates instance of `ObjectiveChanger` based on the given device.\n   * If the device is identified, this constructor will ensure it is an objective changer.\n   */\n  constructor(turret: Device, focusAxis: Axis) {\n    this._turret = turret;\n    this._focusAxis = focusAxis;\n    this._verifyIsChanger();\n  }\n\n  /**\n   * Finds an objective changer on a connection.\n   * In case of conflict, specify the optional device addresses.\n   * Devices on the connection must be identified.\n   * @param connection Connection on which to detect the objective changer.\n   * @param [options.turretAddress=0] Optional device address of the turret device (X-MOR).\n   * @param [options.focusAddress=0] Optional device address of the focus device (X-LDA).\n   * @returns New instance of objective changer.\n   */\n  public static async find(\n    connection: Connection,\n    options: ObjectiveChanger.FindOptions = {}\n  ): Promise<ObjectiveChanger> {\n    const {\n      turretAddress = 0,\n      focusAddress = 0,\n    } = options;\n    const request = new gateway.ObjectiveChangerRequest();\n    request.setInterfaceId(connection.interfaceId);\n    request.setTurretAddress(turretAddress);\n    request.setFocusAddress(focusAddress);\n\n    const response = await gateway.callAsync<gateway.ObjectiveChangerCreateResponse>(\n      'objective_changer/detect',\n      request,\n      gateway.ObjectiveChangerCreateResponse);\n    return new ObjectiveChanger(new Device(connection, response.getTurret()), new Axis(new Device(connection, response.getFocusAddress()), response.getFocusAxis()));\n  }\n\n  /**\n   * Changes the objective.\n   * Runs a sequence of movements switching from the current objective to the new one.\n   * The focus stage moves to the focus datum after the objective change.\n   * @param objective Objective number starting from 1.\n   * @param options.focusOffset Optional offset from the focus datum.\n   */\n  public async change(\n    objective: number,\n    options: ObjectiveChanger.ChangeOptions = {}\n  ): Promise<void> {\n    const {\n      focusOffset,\n    } = options;\n    const request = new gateway.ObjectiveChangerChangeRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n    request.setObjective(objective);\n    request.setFocusOffset(Measurement.toProtobuf(focusOffset));\n\n    await gateway.callAsync('objective_changer/change', request);\n  }\n\n  /**\n   * Moves the focus stage out of the turret releasing the current objective.\n   */\n  public async release(): Promise<void> {\n    const request = new gateway.ObjectiveChangerRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n\n    await gateway.callAsync('objective_changer/release', request);\n  }\n\n  /**\n   * Returns current objective number starting from 1.\n   * The value of 0 indicates that the position is either unknown or between two objectives.\n   * @returns Current objective number starting from 1 or 0 if not applicable.\n   */\n  public async getCurrentObjective(): Promise<number> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setDevice(this.turret.deviceAddress);\n    request.setAxis(1);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'device/get_index_position',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Gets number of objectives that the turret can accommodate.\n   * @returns Number of positions.\n   */\n  public async getNumberOfObjectives(): Promise<number> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setDevice(this.turret.deviceAddress);\n    request.setAxis(1);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'device/get_index_count',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Gets the focus datum.\n   * The focus datum is the position that the focus stage moves to after an objective change.\n   * It is backed by the limit.home.offset setting.\n   * @param [unit=Units.NATIVE] Units of datum.\n   * @returns The datum.\n   */\n  public async getFocusDatum(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.ObjectiveChangerSetRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'objective_changer/get_datum',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the focus datum.\n   * The focus datum is the position that the focus stage moves to after an objective change.\n   * It is backed by the limit.home.offset setting.\n   * @param datum Value of datum.\n   * @param [unit=Units.NATIVE] Units of datum.\n   */\n  public async setFocusDatum(\n    datum: number,\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.ObjectiveChangerSetRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n    request.setValue(datum);\n    request.setUnit(unit);\n\n    await gateway.callAsync('objective_changer/set_datum', request);\n  }\n\n  /**\n   * Checks if this is a objective changer and throws an error if it is not.\n   */\n  private _verifyIsChanger(): void {\n    const request = new gateway.ObjectiveChangerRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setTurretAddress(this.turret.deviceAddress);\n    request.setFocusAddress(this.focusAxis.device.deviceAddress);\n    request.setFocusAxis(this.focusAxis.axisNumber);\n\n    gateway.callSync('objective_changer/verify', request);\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.AxisToStringRequest();\n    request.setInterfaceId(this.turret.connection.interfaceId);\n    request.setDevice(this.turret.deviceAddress);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n}\n\nnamespace ObjectiveChanger {\n  export interface FindOptions {\n      turretAddress?: number;\n      focusAddress?: number;\n  }\n  export interface ChangeOptions {\n      focusOffset?: Measurement;\n  }\n}\n"]}

package/dist/lib/protobufs/main_pb.d.ts

@@ -6736,6 +6736,46 @@ export namespace ObjectiveChangerGetCurrentResponse {
   }
 }
 
+export class ObjectiveChangerSetRequest extends jspb.Message {
+  getInterfaceId(): number;
+  setInterfaceId(value: number): void;
+
+  getTurretAddress(): number;
+  setTurretAddress(value: number): void;
+
+  getFocusAddress(): number;
+  setFocusAddress(value: number): void;
+
+  getFocusAxis(): number;
+  setFocusAxis(value: number): void;
+
+  getValue(): number;
+  setValue(value: number): void;
+
+  getUnit(): string;
+  setUnit(value: string): void;
+
+  serializeBinary(): Uint8Array;
+  toObject(includeInstance?: boolean): ObjectiveChangerSetRequest.AsObject;
+  static toObject(includeInstance: boolean, msg: ObjectiveChangerSetRequest): ObjectiveChangerSetRequest.AsObject;
+  static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
+  static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
+  static serializeBinaryToWriter(message: ObjectiveChangerSetRequest, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): ObjectiveChangerSetRequest;
+  static deserializeBinaryFromReader(message: ObjectiveChangerSetRequest, reader: jspb.BinaryReader): ObjectiveChangerSetRequest;
+}
+
+export namespace ObjectiveChangerSetRequest {
+  export type AsObject = {
+    interfaceId: number,
+    turretAddress: number,
+    focusAddress: number,
+    focusAxis: number,
+    value: number,
+    unit: string,
+  }
+}
+
 export class ProcessOn extends jspb.Message {
   getInterfaceId(): number;
   setInterfaceId(value: number): void;

package/dist/lib/protobufs/main_pb.js

@@ -142,6 +142,7 @@ goog.exportSymbol('zaber.motion.protobufs.ObjectiveChangerChangeRequest', null,
 goog.exportSymbol('zaber.motion.protobufs.ObjectiveChangerCreateResponse', null, proto);
 goog.exportSymbol('zaber.motion.protobufs.ObjectiveChangerGetCurrentResponse', null, proto);
 goog.exportSymbol('zaber.motion.protobufs.ObjectiveChangerRequest', null, proto);
+goog.exportSymbol('zaber.motion.protobufs.ObjectiveChangerSetRequest', null, proto);
 goog.exportSymbol('zaber.motion.protobufs.OpenBinaryInterfaceRequest', null, proto);
 goog.exportSymbol('zaber.motion.protobufs.OpenInterfaceRequest', null, proto);
 goog.exportSymbol('zaber.motion.protobufs.OpenInterfaceResponse', null, proto);
@@ -4710,6 +4711,27 @@ if (goog.DEBUG && !COMPILED) {
    */
   proto.zaber.motion.protobufs.ObjectiveChangerGetCurrentResponse.displayName = 'proto.zaber.motion.protobufs.ObjectiveChangerGetCurrentResponse';
 }
+/**
+ * Generated by JsPbCodeGenerator.
+ * @param {Array=} opt_data Optional initial data array, typically from a
+ * server response, or constructed directly in Javascript. The array is used
+ * in place and becomes part of the constructed object. It is not cloned.
+ * If no data is provided, the constructed object will be empty, but still
+ * valid.
+ * @extends {jspb.Message}
+ * @constructor
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
+};
+goog.inherits(proto.zaber.motion.protobufs.ObjectiveChangerSetRequest, jspb.Message);
+if (goog.DEBUG && !COMPILED) {
+  /**
+   * @public
+   * @override
+   */
+  proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.displayName = 'proto.zaber.motion.protobufs.ObjectiveChangerSetRequest';
+}
 /**
  * Generated by JsPbCodeGenerator.
  * @param {Array=} opt_data Optional initial data array, typically from a
@@ -51871,6 +51893,286 @@ proto.zaber.motion.protobufs.ObjectiveChangerGetCurrentResponse.prototype.setVal
 
 
 
+if (jspb.Message.GENERATE_TO_OBJECT) {
+/**
+ * Creates an object representation of this proto.
+ * Field names that are reserved in JavaScript and will be renamed to pb_name.
+ * Optional fields that are not set will be set to undefined.
+ * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
+ * For the list of reserved names please see:
+ *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
+ * @param {boolean=} opt_includeInstance Deprecated. whether to include the
+ *     JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @return {!Object}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.toObject = function(opt_includeInstance) {
+  return proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.toObject(opt_includeInstance, this);
+};
+
+
+/**
+ * Static version of the {@see toObject} method.
+ * @param {boolean|undefined} includeInstance Deprecated. Whether to include
+ *     the JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @param {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} msg The msg instance to transform.
+ * @return {!Object}
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.toObject = function(includeInstance, msg) {
+  var f, obj = {
+    interfaceId: jspb.Message.getFieldWithDefault(msg, 1, 0),
+    turretAddress: jspb.Message.getFieldWithDefault(msg, 2, 0),
+    focusAddress: jspb.Message.getFieldWithDefault(msg, 3, 0),
+    focusAxis: jspb.Message.getFieldWithDefault(msg, 4, 0),
+    value: jspb.Message.getFloatingPointFieldWithDefault(msg, 5, 0.0),
+    unit: jspb.Message.getFieldWithDefault(msg, 6, "")
+  };
+
+  if (includeInstance) {
+    obj.$jspbMessageInstance = msg;
+  }
+  return obj;
+};
+}
+
+
+/**
+ * Deserializes binary data (in protobuf wire format).
+ * @param {jspb.ByteSource} bytes The bytes to deserialize.
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.deserializeBinary = function(bytes) {
+  var reader = new jspb.BinaryReader(bytes);
+  var msg = new proto.zaber.motion.protobufs.ObjectiveChangerSetRequest;
+  return proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.deserializeBinaryFromReader(msg, reader);
+};
+
+
+/**
+ * Deserializes binary data (in protobuf wire format) from the
+ * given reader into the given message object.
+ * @param {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} msg The message object to deserialize into.
+ * @param {!jspb.BinaryReader} reader The BinaryReader to use.
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.deserializeBinaryFromReader = function(msg, reader) {
+  while (reader.nextField()) {
+    if (reader.isEndGroup()) {
+      break;
+    }
+    var field = reader.getFieldNumber();
+    switch (field) {
+    case 1:
+      var value = /** @type {number} */ (reader.readInt32());
+      msg.setInterfaceId(value);
+      break;
+    case 2:
+      var value = /** @type {number} */ (reader.readInt32());
+      msg.setTurretAddress(value);
+      break;
+    case 3:
+      var value = /** @type {number} */ (reader.readInt32());
+      msg.setFocusAddress(value);
+      break;
+    case 4:
+      var value = /** @type {number} */ (reader.readInt32());
+      msg.setFocusAxis(value);
+      break;
+    case 5:
+      var value = /** @type {number} */ (reader.readDouble());
+      msg.setValue(value);
+      break;
+    case 6:
+      var value = /** @type {string} */ (reader.readString());
+      msg.setUnit(value);
+      break;
+    default:
+      reader.skipField();
+      break;
+    }
+  }
+  return msg;
+};
+
+
+/**
+ * Serializes the message to binary data (in protobuf wire format).
+ * @return {!Uint8Array}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.serializeBinary = function() {
+  var writer = new jspb.BinaryWriter();
+  proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.serializeBinaryToWriter(this, writer);
+  return writer.getResultBuffer();
+};
+
+
+/**
+ * Serializes the given message to binary data (in protobuf wire
+ * format), writing to the given BinaryWriter.
+ * @param {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} message
+ * @param {!jspb.BinaryWriter} writer
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.serializeBinaryToWriter = function(message, writer) {
+  var f = undefined;
+  f = message.getInterfaceId();
+  if (f !== 0) {
+    writer.writeInt32(
+      1,
+      f
+    );
+  }
+  f = message.getTurretAddress();
+  if (f !== 0) {
+    writer.writeInt32(
+      2,
+      f
+    );
+  }
+  f = message.getFocusAddress();
+  if (f !== 0) {
+    writer.writeInt32(
+      3,
+      f
+    );
+  }
+  f = message.getFocusAxis();
+  if (f !== 0) {
+    writer.writeInt32(
+      4,
+      f
+    );
+  }
+  f = message.getValue();
+  if (f !== 0.0) {
+    writer.writeDouble(
+      5,
+      f
+    );
+  }
+  f = message.getUnit();
+  if (f.length > 0) {
+    writer.writeString(
+      6,
+      f
+    );
+  }
+};
+
+
+/**
+ * optional int32 interface_id = 1;
+ * @return {number}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.getInterfaceId = function() {
+  return /** @type {number} */ (jspb.Message.getFieldWithDefault(this, 1, 0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} returns this
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.setInterfaceId = function(value) {
+  return jspb.Message.setProto3IntField(this, 1, value);
+};
+
+
+/**
+ * optional int32 turret_address = 2;
+ * @return {number}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.getTurretAddress = function() {
+  return /** @type {number} */ (jspb.Message.getFieldWithDefault(this, 2, 0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} returns this
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.setTurretAddress = function(value) {
+  return jspb.Message.setProto3IntField(this, 2, value);
+};
+
+
+/**
+ * optional int32 focus_address = 3;
+ * @return {number}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.getFocusAddress = function() {
+  return /** @type {number} */ (jspb.Message.getFieldWithDefault(this, 3, 0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} returns this
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.setFocusAddress = function(value) {
+  return jspb.Message.setProto3IntField(this, 3, value);
+};
+
+
+/**
+ * optional int32 focus_axis = 4;
+ * @return {number}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.getFocusAxis = function() {
+  return /** @type {number} */ (jspb.Message.getFieldWithDefault(this, 4, 0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} returns this
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.setFocusAxis = function(value) {
+  return jspb.Message.setProto3IntField(this, 4, value);
+};
+
+
+/**
+ * optional double value = 5;
+ * @return {number}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.getValue = function() {
+  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 5, 0.0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} returns this
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.setValue = function(value) {
+  return jspb.Message.setProto3FloatField(this, 5, value);
+};
+
+
+/**
+ * optional string unit = 6;
+ * @return {string}
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.getUnit = function() {
+  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 6, ""));
+};
+
+
+/**
+ * @param {string} value
+ * @return {!proto.zaber.motion.protobufs.ObjectiveChangerSetRequest} returns this
+ */
+proto.zaber.motion.protobufs.ObjectiveChangerSetRequest.prototype.setUnit = function(value) {
+  return jspb.Message.setProto3StringField(this, 6, value);
+};
+
+
+
+
+
 if (jspb.Message.GENERATE_TO_OBJECT) {
 /**
  * Creates an object representation of this proto.