@zaber/motion 4.8.0 → 5.0.1

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Time, Native, Acceleration, AngularAcceleration, AngularVelocity, Velocity, Units } from '../units';\nimport { RotationDirection } from '../rotation_direction';\nimport * as gateway from '../gateway';\nimport { Measurement } from '../measurement';\nimport { StreamBuffer } from './stream_buffer';\nimport { StreamMode } from './stream_mode';\nimport { StreamAxisDefinition } from './stream_axis_definition';\n\n/**\n * A handle for a stream with this number on the device.\n * Streams provide a way to execute or store a sequence of actions.\n * Stream methods append actions to a queue which executes or stores actions in a first in, first out order.\n */\nexport class Stream {\n  /**\n   * Device that controls this stream.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the stream on the device.\n   */\n  public get streamId(): number {\n    return this._streamId;\n  }\n  private _streamId: number;\n\n  /**\n   * Current mode of the stream.\n   */\n  public get mode(): StreamMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the stream is set up to control.\n   */\n  public get axes(): StreamAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  constructor(device: Device, streamId: number) {\n    this._device = device;\n    this._streamId = streamId;\n  }\n\n  /**\n   * Setup the stream to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a stream.\n   * @param axes Definition of the stream axes.\n   */\n  public async setupLiveComposite(\n    ...axes: StreamAxisDefinition[]\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.streamId);\n    request.setAxesList(axes.map(StreamAxisDefinition.toProtobuf));\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the stream to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the stream 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.streamId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the stream to control the specified axes and queue actions into a stream buffer.\n   * Allows use of lockstep axes in a stream.\n   * @param streamBuffer The stream buffer to queue actions in.\n   * @param axes Definition of the stream axes.\n   */\n  public async setupStoreComposite(\n    streamBuffer: StreamBuffer,\n    ...axes: StreamAxisDefinition[]\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.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n    request.setAxesList(axes.map(StreamAxisDefinition.toProtobuf));\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the stream to control the specified axes and queue actions into a stream buffer.\n   * @param streamBuffer The stream buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the stream on.\n   */\n  public async setupStore(\n    streamBuffer: StreamBuffer,\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.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Setup the stream to use a specified number of axes, and to queue actions in a stream buffer.\n   * Afterwards, you may call the resulting stream buffer on arbitrary axes.\n   * This mode does not allow for unit conversions.\n   * @param streamBuffer The stream buffer to queue actions in.\n   * @param axesCount The number of axes in the stream.\n   */\n  public async setupStoreArbitraryAxes(\n    streamBuffer: StreamBuffer,\n    axesCount: number\n  ): Promise<void> {\n    const request = new gateway.StreamSetupStoreArbitraryAxesRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n    request.setAxesCount(axesCount);\n\n    await gateway.callAsync('device/stream_setup_store_arbitrary_axes', request);\n  }\n\n  /**\n   * Append the actions in a stream buffer to the queue.\n   * @param streamBuffer The stream buffer to call.\n   */\n  public async call(\n    streamBuffer: StreamBuffer\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.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queue an absolute line movement in the stream.\n   * @param endpoint Positions for the axes to move to, relative to their home positions.\n   */\n  public async lineAbsolute(\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.ABS);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue a relative line movement in the stream.\n   * @param endpoint Positions for the axes to move to, relative to their positions before movement.\n   */\n  public async lineRelative(\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.REL);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue an absolute line movement in the stream, targeting a subset of the stream axes.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param endpoint Positions for the axes to move to, relative to their home positions.\n   */\n  public async lineAbsoluteOn(\n    targetAxesIndices: number[],\n    endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue a relative line movement in the stream, targeting a subset of the stream axes.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param endpoint Positions for the axes to move to, relative to their positions before movement.\n   */\n  public async lineRelativeOn(\n    targetAxesIndices: number[],\n    endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue an absolute arc movement on the first two axes of the stream.\n   * Absolute meaning that the home positions of the axes is treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcAbsolute(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.ABS);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue a relative arc movement on the first two axes of the stream.\n   * Relative meaning that the current position of the axes is treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcRelative(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.REL);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue an absolute arc movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcAbsoluteOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue a relative arc movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcRelativeOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue an absolute helix movement in the stream.\n   * Requires at least Firmware 7.28.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * The first two axes refer to the helix's arc component,\n   * while the rest refers to the helix's line component.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the helix projects.\n   * @param centerY The second dimension of the position of the center of the circle on which the helix projects.\n   * @param endX The first dimension of the end position of the helix's arc component.\n   * @param endY The second dimension of the end position of the helix's arc component.\n   * @param endpoint Positions for the helix's line component axes, relative to their home positions.\n   */\n  public async helixAbsoluteOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement,\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_helix', request);\n  }\n\n  /**\n   * Queue a relative helix movement in the stream.\n   * Requires at least Firmware 7.28.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * The first two axes refer to the helix's arc component,\n   * while the rest refers to the helix's line component.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the helix projects.\n   * @param centerY The second dimension of the position of the center of the circle on which the helix projects.\n   * @param endX The first dimension of the end position of the helix's arc component.\n   * @param endY The second dimension of the end position of the helix's arc component.\n   * @param endpoint Positions for the helix's line component axes, relative to their positions before movement.\n   */\n  public async helixRelativeOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement,\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_helix', request);\n  }\n\n  /**\n   * Queue an absolute circle movement on the first two axes of the stream.\n   * Absolute meaning that the home positions of the axes are treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleAbsolute(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.ABS);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Queue a relative circle movement on the first two axes of the stream.\n   * Relative meaning that the current position of the axes is treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleRelative(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.REL);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Queue an absolute circle movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleAbsoluteOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Queue a relative circle movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleRelativeOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Wait for a digital input channel to reach a given value.\n   * @param channelNumber The number of the digital input channel.\n   * Channel numbers are numbered from one.\n   * @param value The value that the stream should wait for.\n   */\n  public async waitDigitalInput(\n    channelNumber: number,\n    value: boolean\n  ): Promise<void> {\n    const request = new gateway.StreamWaitDigitalInputRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/stream_wait_digital_input', request);\n  }\n\n  /**\n   * Wait for the value of a analog input channel to reach a condition concerning a given value.\n   * @param channelNumber The number of the analog input channel.\n   * Channel numbers are numbered from one.\n   * @param condition A condition (e.g. <, <=, ==, !=).\n   * @param value The value that the condition concerns, in Volts.\n   */\n  public async waitAnalogInput(\n    channelNumber: number,\n    condition: string,\n    value: number\n  ): Promise<void> {\n    const request = new gateway.StreamWaitAnalogInputRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setChannelNumber(channelNumber);\n    request.setCondition(condition);\n    request.setValue(value);\n\n    await gateway.callAsync('device/stream_wait_analog_input', 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.streamId);\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.streamId);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/stream_set_analog_output', request);\n  }\n\n  /**\n   * Toggle 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   */\n  public async toggleDigitalOutput(\n    channelNumber: number\n  ): Promise<void> {\n    const request = new gateway.StreamToggleDigitalOutputRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setChannelNumber(channelNumber);\n\n    await gateway.callAsync('device/stream_toggle_digital_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.streamId);\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.streamId);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n  }\n\n  /**\n   * Wait a specified time.\n   * @param time Amount of time to wait.\n   * @param [unit=Units.NATIVE] Units of time.\n   */\n  public async wait(\n    time: number,\n    unit: Time | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamWaitRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setTime(time);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_wait', request);\n  }\n\n  /**\n   * Waits until the live stream 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: Stream.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.streamId);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the stream'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 stream commands reaching the device late.\n   * You can only cork an idle live stream.\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.streamId);\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 stream 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.streamId);\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live stream is executing a queued action.\n   * @returns True if the stream 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.streamId);\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   * Gets the maximum speed of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @returns The maximum speed of the stream.\n   */\n  public async getMaxSpeed(\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.StreamGetMaxSpeedRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/stream_get_max_speed',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the maximum speed of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param maxSpeed Maximum speed at which any stream action is executed.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   */\n  public async setMaxSpeed(\n    maxSpeed: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamSetMaxSpeedRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setMaxSpeed(maxSpeed);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_set_max_speed', request);\n  }\n\n  /**\n   * Gets the maximum tangential acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   * @returns The maximum tangential acceleration of the live stream.\n   */\n  public async getMaxTangentialAcceleration(\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.StreamGetMaxTangentialAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/stream_get_max_tangential_acceleration',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the maximum tangential acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param maxTangentialAcceleration Maximum tangential acceleration at which any stream action is executed.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   */\n  public async setMaxTangentialAcceleration(\n    maxTangentialAcceleration: number,\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamSetMaxTangentialAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setMaxTangentialAcceleration(maxTangentialAcceleration);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_set_max_tangential_acceleration', request);\n  }\n\n  /**\n   * Gets the maximum centripetal acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   * @returns The maximum centripetal acceleration of the live stream.\n   */\n  public async getMaxCentripetalAcceleration(\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.StreamGetMaxCentripetalAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/stream_get_max_centripetal_acceleration',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the maximum centripetal acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param maxCentripetalAcceleration Maximum centripetal acceleration at which any stream action is executed.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   */\n  public async setMaxCentripetalAcceleration(\n    maxCentripetalAcceleration: number,\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamSetMaxCentripetalAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setMaxCentripetalAcceleration(maxCentripetalAcceleration);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_set_max_centripetal_acceleration', request);\n  }\n\n  /**\n   * Returns a string which represents the stream.\n   * @returns String which represents the stream.\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.streamId);\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 stream.\n   * If the stream is not setup, this command does nothing.\n   * Once disabled, the stream will no longer accept stream commands.\n   * The stream 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.streamId);\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the stream.\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.streamId);\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 stream.\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.streamId);\n    request.setBatchList(batch);\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the stream status from the device\n   * and returns boolean indicating whether the stream is disabled.\n   * Useful to determine if streaming was interrupted by other movements.\n   * @returns True if the stream 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.streamId);\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 stream throw StreamDiscontinuityException 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.streamId);\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents StreamDiscontinuityException as a result of expected discontinuity when resuming streaming.\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.streamId);\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the stream.\n   * @returns An array of axis numbers of the axes the stream is set up to control.\n   */\n  private _retrieveAxes(): StreamAxisDefinition[] {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n\n    const response = gateway.callSync<gateway.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      gateway.StreamGetAxesResponse);\n    return response.getAxesList().map(a => StreamAxisDefinition.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Get the mode of the stream.\n   * @returns Mode of the stream.\n   */\n  private _retrieveMode(): StreamMode {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\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 Stream {\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Time, Native, Acceleration, AngularAcceleration, AngularVelocity, Velocity, Units } from '../units';\nimport { RotationDirection } from '../rotation_direction';\nimport * as gateway from '../gateway';\nimport { Measurement } from '../measurement';\nimport { StreamBuffer } from './stream_buffer';\nimport { StreamMode } from './stream_mode';\nimport { StreamAxisDefinition } from './stream_axis_definition';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/**\n * A handle for a stream with this number on the device.\n * Streams provide a way to execute or store a sequence of actions.\n * Stream methods append actions to a queue which executes or stores actions in a first in, first out order.\n */\nexport class Stream {\n  /**\n   * Device that controls this stream.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the stream on the device.\n   */\n  public get streamId(): number {\n    return this._streamId;\n  }\n  private _streamId: number;\n\n  /**\n   * Current mode of the stream.\n   */\n  public get mode(): StreamMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the stream is set up to control.\n   */\n  public get axes(): StreamAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  constructor(device: Device, streamId: number) {\n    this._device = device;\n    this._streamId = streamId;\n  }\n\n  /**\n   * Setup the stream to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a stream.\n   * @param axes Definition of the stream axes.\n   */\n  public async setupLiveComposite(\n    ...axes: StreamAxisDefinition[]\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.streamId);\n    request.setAxesList(axes.map(StreamAxisDefinition.toProtobuf));\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the stream to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the stream 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.streamId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the stream to control the specified axes and queue actions into a stream buffer.\n   * Allows use of lockstep axes in a stream.\n   * @param streamBuffer The stream buffer to queue actions in.\n   * @param axes Definition of the stream axes.\n   */\n  public async setupStoreComposite(\n    streamBuffer: StreamBuffer,\n    ...axes: StreamAxisDefinition[]\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.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n    request.setAxesList(axes.map(StreamAxisDefinition.toProtobuf));\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the stream to control the specified axes and queue actions into a stream buffer.\n   * @param streamBuffer The stream buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the stream on.\n   */\n  public async setupStore(\n    streamBuffer: StreamBuffer,\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.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Setup the stream to use a specified number of axes, and to queue actions in a stream buffer.\n   * Afterwards, you may call the resulting stream buffer on arbitrary axes.\n   * This mode does not allow for unit conversions.\n   * @param streamBuffer The stream buffer to queue actions in.\n   * @param axesCount The number of axes in the stream.\n   */\n  public async setupStoreArbitraryAxes(\n    streamBuffer: StreamBuffer,\n    axesCount: number\n  ): Promise<void> {\n    const request = new gateway.StreamSetupStoreArbitraryAxesRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n    request.setAxesCount(axesCount);\n\n    await gateway.callAsync('device/stream_setup_store_arbitrary_axes', request);\n  }\n\n  /**\n   * Append the actions in a stream buffer to the queue.\n   * @param streamBuffer The stream buffer to call.\n   */\n  public async call(\n    streamBuffer: StreamBuffer\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.streamId);\n    request.setStreamBuffer(streamBuffer.bufferId);\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queue an absolute line movement in the stream.\n   * @param endpoint Positions for the axes to move to, relative to their home positions.\n   */\n  public async lineAbsolute(\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.ABS);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue a relative line movement in the stream.\n   * @param endpoint Positions for the axes to move to, relative to their positions before movement.\n   */\n  public async lineRelative(\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.REL);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue an absolute line movement in the stream, targeting a subset of the stream axes.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param endpoint Positions for the axes to move to, relative to their home positions.\n   */\n  public async lineAbsoluteOn(\n    targetAxesIndices: number[],\n    endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue a relative line movement in the stream, targeting a subset of the stream axes.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param endpoint Positions for the axes to move to, relative to their positions before movement.\n   */\n  public async lineRelativeOn(\n    targetAxesIndices: number[],\n    endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamLineRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamLineRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_line', request);\n  }\n\n  /**\n   * Queue an absolute arc movement on the first two axes of the stream.\n   * Absolute meaning that the home positions of the axes is treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcAbsolute(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.ABS);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue a relative arc movement on the first two axes of the stream.\n   * Relative meaning that the current position of the axes is treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcRelative(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.REL);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue an absolute arc movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcAbsoluteOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue a relative arc movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the arc exists.\n   * @param centerY The second dimension of the position of the center of the circle on which the arc exists.\n   * @param endX The first dimension of the end position of the arc.\n   * @param endY The second dimension of the end position of the arc.\n   */\n  public async arcRelativeOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n\n    await gateway.callAsync('device/stream_arc', request);\n  }\n\n  /**\n   * Queue an absolute helix movement in the stream.\n   * Requires at least Firmware 7.28.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * The first two axes refer to the helix's arc component,\n   * while the rest refers to the helix's line component.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the helix projects.\n   * @param centerY The second dimension of the position of the center of the circle on which the helix projects.\n   * @param endX The first dimension of the end position of the helix's arc component.\n   * @param endY The second dimension of the end position of the helix's arc component.\n   * @param endpoint Positions for the helix's line component axes, relative to their home positions.\n   */\n  public async helixAbsoluteOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement,\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_helix', request);\n  }\n\n  /**\n   * Queue a relative helix movement in the stream.\n   * Requires at least Firmware 7.28.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * The first two axes refer to the helix's arc component,\n   * while the rest refers to the helix's line component.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle on which the helix projects.\n   * @param centerY The second dimension of the position of the center of the circle on which the helix projects.\n   * @param endX The first dimension of the end position of the helix's arc component.\n   * @param endY The second dimension of the end position of the helix's arc component.\n   * @param endpoint Positions for the helix's line component axes, relative to their positions before movement.\n   */\n  public async helixRelativeOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement,\n    endX: Measurement,\n    endY: Measurement,\n    ...endpoint: Measurement[]\n  ): Promise<void> {\n    const request = new gateway.StreamArcRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamArcRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n    request.setEndX(Measurement.toProtobuf(endX));\n    request.setEndY(Measurement.toProtobuf(endY));\n    request.setEndpointList(endpoint.map(Measurement.toProtobuf));\n\n    await gateway.callAsync('device/stream_helix', request);\n  }\n\n  /**\n   * Queue an absolute circle movement on the first two axes of the stream.\n   * Absolute meaning that the home positions of the axes are treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleAbsolute(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.ABS);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Queue a relative circle movement on the first two axes of the stream.\n   * Relative meaning that the current position of the axes is treated as the origin.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleRelative(\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.REL);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Queue an absolute circle movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleAbsoluteOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.ABS);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Queue a relative circle movement in the stream.\n   * The movement will only target the specified subset of axes in the stream.\n   * Requires at least Firmware 7.11.\n   * @param targetAxesIndices Indices of the axes in the stream the movement targets.\n   * Refers to the axes provided during the stream setup or further execution.\n   * Indices are zero-based.\n   * @param rotationDirection The direction of the rotation.\n   * @param centerX The first dimension of the position of the center of the circle.\n   * @param centerY The second dimension of the position of the center of the circle.\n   */\n  public async circleRelativeOn(\n    targetAxesIndices: number[],\n    rotationDirection: RotationDirection,\n    centerX: Measurement,\n    centerY: Measurement\n  ): Promise<void> {\n    const request = new gateway.StreamCircleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setType(gateway.StreamCircleRequest.Type.REL);\n    request.setTargetAxesIndicesList(targetAxesIndices);\n    request.setRotationDirection(rotationDirection as any);\n    request.setCenterX(Measurement.toProtobuf(centerX));\n    request.setCenterY(Measurement.toProtobuf(centerY));\n\n    await gateway.callAsync('device/stream_circle', request);\n  }\n\n  /**\n   * Wait for a digital input channel to reach a given value.\n   * @param channelNumber The number of the digital input channel.\n   * Channel numbers are numbered from one.\n   * @param value The value that the stream should wait for.\n   */\n  public async waitDigitalInput(\n    channelNumber: number,\n    value: boolean\n  ): Promise<void> {\n    const request = new gateway.StreamWaitDigitalInputRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/stream_wait_digital_input', request);\n  }\n\n  /**\n   * Wait for the value of a analog input channel to reach a condition concerning a given value.\n   * @param channelNumber The number of the analog input channel.\n   * Channel numbers are numbered from one.\n   * @param condition A condition (e.g. <, <=, ==, !=).\n   * @param value The value that the condition concerns, in Volts.\n   */\n  public async waitAnalogInput(\n    channelNumber: number,\n    condition: string,\n    value: number\n  ): Promise<void> {\n    const request = new gateway.StreamWaitAnalogInputRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setChannelNumber(channelNumber);\n    request.setCondition(condition);\n    request.setValue(value);\n\n    await gateway.callAsync('device/stream_wait_analog_input', 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 type of action to perform on the channel.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: DigitalOutputAction\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.streamId);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value as any);\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.streamId);\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 The type of action to perform on the channel.\n   */\n  public async setAllDigitalOutputs(\n    values: DigitalOutputAction[]\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.streamId);\n    request.setValuesList(values as any);\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.streamId);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n  }\n\n  /**\n   * Wait a specified time.\n   * @param time Amount of time to wait.\n   * @param [unit=Units.NATIVE] Units of time.\n   */\n  public async wait(\n    time: number,\n    unit: Time | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamWaitRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setTime(time);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_wait', request);\n  }\n\n  /**\n   * Waits until the live stream 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: Stream.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.streamId);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the stream'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 stream commands reaching the device late.\n   * You can only cork an idle live stream.\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.streamId);\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 stream 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.streamId);\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live stream is executing a queued action.\n   * @returns True if the stream 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.streamId);\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   * Gets the maximum speed of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @returns The maximum speed of the stream.\n   */\n  public async getMaxSpeed(\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.StreamGetMaxSpeedRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/stream_get_max_speed',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the maximum speed of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param maxSpeed Maximum speed at which any stream action is executed.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   */\n  public async setMaxSpeed(\n    maxSpeed: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamSetMaxSpeedRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setMaxSpeed(maxSpeed);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_set_max_speed', request);\n  }\n\n  /**\n   * Gets the maximum tangential acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   * @returns The maximum tangential acceleration of the live stream.\n   */\n  public async getMaxTangentialAcceleration(\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.StreamGetMaxTangentialAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/stream_get_max_tangential_acceleration',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the maximum tangential acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param maxTangentialAcceleration Maximum tangential acceleration at which any stream action is executed.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   */\n  public async setMaxTangentialAcceleration(\n    maxTangentialAcceleration: number,\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamSetMaxTangentialAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setMaxTangentialAcceleration(maxTangentialAcceleration);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_set_max_tangential_acceleration', request);\n  }\n\n  /**\n   * Gets the maximum centripetal acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   * @returns The maximum centripetal acceleration of the live stream.\n   */\n  public async getMaxCentripetalAcceleration(\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.StreamGetMaxCentripetalAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/stream_get_max_centripetal_acceleration',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets the maximum centripetal acceleration of the live stream.\n   * Converts the units using the first axis of the stream.\n   * @param maxCentripetalAcceleration Maximum centripetal acceleration at which any stream action is executed.\n   * @param [unit=Units.NATIVE] Units of acceleration.\n   */\n  public async setMaxCentripetalAcceleration(\n    maxCentripetalAcceleration: number,\n    unit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.StreamSetMaxCentripetalAccelerationRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n    request.setMaxCentripetalAcceleration(maxCentripetalAcceleration);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/stream_set_max_centripetal_acceleration', request);\n  }\n\n  /**\n   * Returns a string which represents the stream.\n   * @returns String which represents the stream.\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.streamId);\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 stream.\n   * If the stream is not setup, this command does nothing.\n   * Once disabled, the stream will no longer accept stream commands.\n   * The stream 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.streamId);\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the stream.\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.streamId);\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 stream.\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.streamId);\n    request.setBatchList(batch);\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the stream status from the device\n   * and returns boolean indicating whether the stream is disabled.\n   * Useful to determine if streaming was interrupted by other movements.\n   * @returns True if the stream 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.streamId);\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 stream throw StreamDiscontinuityException 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.streamId);\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents StreamDiscontinuityException as a result of expected discontinuity when resuming streaming.\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.streamId);\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the stream.\n   * @returns An array of axis numbers of the axes the stream is set up to control.\n   */\n  private _retrieveAxes(): StreamAxisDefinition[] {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\n\n    const response = gateway.callSync<gateway.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      gateway.StreamGetAxesResponse);\n    return response.getAxesList().map(a => StreamAxisDefinition.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Get the mode of the stream.\n   * @returns Mode of the stream.\n   */\n  private _retrieveMode(): StreamMode {\n    const request = new gateway.StreamEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setStreamId(this.streamId);\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 Stream {\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}

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

@@ -0,0 +1,32 @@
+import { Device } from './device';
+import { Stream } from './stream';
+import { StreamBuffer } from './stream_buffer';
+/**
+ * Class providing access to device streams.
+ * Requires at least Firmware 7.05.
+ */
+export declare class Streams {
+    /**
+     * Device that these streams belong to.
+     */
+    get device(): Device;
+    private _device;
+    constructor(device: Device);
+    /**
+     * Gets a Stream class instance which allows you to control a particular stream on the device.
+     * @param streamId The ID of the stream to control. Stream IDs start at one.
+     * @returns Stream instance.
+     */
+    getStream(streamId: number): Stream;
+    /**
+     * Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.
+     * @param streamBufferId The ID of the stream buffer to control. Stream buffer IDs start at one.
+     * @returns StreamBuffer instance.
+     */
+    getBuffer(streamBufferId: number): StreamBuffer;
+    /**
+     * Get a list of buffer IDs that are currently in use.
+     * @returns List of buffer IDs.
+     */
+    listBufferIds(): Promise<number[]>;
+}

package/dist/lib/ascii/streams.js

@@ -0,0 +1,82 @@
+"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.Streams = void 0;
+const gateway = __importStar(require("../gateway"));
+const stream_1 = require("./stream");
+const stream_buffer_1 = require("./stream_buffer");
+/**
+ * Class providing access to device streams.
+ * Requires at least Firmware 7.05.
+ */
+class Streams {
+    /**
+     * Device that these streams belong to.
+     */
+    get device() {
+        return this._device;
+    }
+    constructor(device) {
+        this._device = device;
+    }
+    /**
+     * Gets a Stream class instance which allows you to control a particular stream on the device.
+     * @param streamId The ID of the stream to control. Stream IDs start at one.
+     * @returns Stream instance.
+     */
+    getStream(streamId) {
+        if (streamId <= 0) {
+            throw new TypeError('Invalid value; streams are numbered from 1.');
+        }
+        return new stream_1.Stream(this.device, streamId);
+    }
+    /**
+     * Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.
+     * @param streamBufferId The ID of the stream buffer to control. Stream buffer IDs start at one.
+     * @returns StreamBuffer instance.
+     */
+    getBuffer(streamBufferId) {
+        if (streamBufferId <= 0) {
+            throw new TypeError('Invalid value; stream buffers are numbered from 1.');
+        }
+        return new stream_buffer_1.StreamBuffer(this.device, streamBufferId);
+    }
+    /**
+     * Get a list of buffer IDs that are currently in use.
+     * @returns List of buffer IDs.
+     */
+    async listBufferIds() {
+        const request = new gateway.StreamBufferList();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setPvt(false);
+        const response = await gateway.callAsync('device/stream_buffer_list', request, gateway.IntArrayResponse);
+        return response.getValuesList();
+    }
+}
+exports.Streams = Streams;
+//# sourceMappingURL=streams.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"streams.js","sourceRoot":"","sources":["../../../src/ascii/streams.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AAEtC,qCAAkC;AAClC,mDAA+C;AAE/C;;;GAGG;AACH,MAAa,OAAO;IAClB;;OAEG;IACH,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IAGD,YAAY,MAAc;QACxB,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;IACxB,CAAC;IAED;;;;OAIG;IACI,SAAS,CACd,QAAgB;QAEhB,IAAI,QAAQ,IAAI,CAAC,EAAE;YACjB,MAAM,IAAI,SAAS,CAAC,6CAA6C,CAAC,CAAC;SACpE;QACD,OAAO,IAAI,eAAM,CAAC,IAAI,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;IAC3C,CAAC;IAED;;;;OAIG;IACI,SAAS,CACd,cAAsB;QAEtB,IAAI,cAAc,IAAI,CAAC,EAAE;YACvB,MAAM,IAAI,SAAS,CAAC,oDAAoD,CAAC,CAAC;SAC3E;QACD,OAAO,IAAI,4BAAY,CAAC,IAAI,CAAC,MAAM,EAAE,cAAc,CAAC,CAAC;IACvD,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,aAAa;QACxB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC/C,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QAEtB,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,2BAA2B,EAC3B,OAAO,EACP,OAAO,CAAC,gBAAgB,CAAC,CAAC;QAC5B,OAAO,QAAQ,CAAC,aAAa,EAAE,CAAC;IAClC,CAAC;CACF;AAzDD,0BAyDC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { Device } from './device';\nimport { Stream } from './stream';\nimport { StreamBuffer } from './stream_buffer';\n\n/**\n * Class providing access to device streams.\n * Requires at least Firmware 7.05.\n */\nexport class Streams {\n  /**\n   * Device that these streams belong to.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  constructor(device: Device) {\n    this._device = device;\n  }\n\n  /**\n   * Gets a Stream class instance which allows you to control a particular stream on the device.\n   * @param streamId The ID of the stream to control. Stream IDs start at one.\n   * @returns Stream instance.\n   */\n  public getStream(\n    streamId: number\n  ): Stream {\n    if (streamId <= 0) {\n      throw new TypeError('Invalid value; streams are numbered from 1.');\n    }\n    return new Stream(this.device, streamId);\n  }\n\n  /**\n   * Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.\n   * @param streamBufferId The ID of the stream buffer to control. Stream buffer IDs start at one.\n   * @returns StreamBuffer instance.\n   */\n  public getBuffer(\n    streamBufferId: number\n  ): StreamBuffer {\n    if (streamBufferId <= 0) {\n      throw new TypeError('Invalid value; stream buffers are numbered from 1.');\n    }\n    return new StreamBuffer(this.device, streamBufferId);\n  }\n\n  /**\n   * Get a list of buffer IDs that are currently in use.\n   * @returns List of buffer IDs.\n   */\n  public async listBufferIds(): Promise<number[]> {\n    const request = new gateway.StreamBufferList();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setPvt(false);\n\n    const response = await gateway.callAsync<gateway.IntArrayResponse>(\n      'device/stream_buffer_list',\n      request,\n      gateway.IntArrayResponse);\n    return response.getValuesList();\n  }\n}\n"]}

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

@@ -56,18 +56,18 @@ export declare class Trigger {
      * Set a trigger condition for when an encoder position has changed by a specific distance.
      * @param axis The axis to monitor for this condition.
      * May be set to 0 on single-axis devices only.
-     * @param dist The measured distance between trigger fires.
+     * @param distance The measured encoder distance between trigger fires.
      * @param [unit=Units.NATIVE] Units of dist.
      */
-    fireWhenEncoderDist(axis: number, dist: number, unit?: Length | Angle | Native): Promise<void>;
+    fireWhenEncoderDistanceTravelled(axis: number, distance: number, unit?: Length | Angle | Native): Promise<void>;
     /**
      * Set a trigger condition for when an axis position has changed by a specific distance.
      * @param axis The axis to monitor for this condition.
      * May be set to 0 on single-axis devices only.
-     * @param dist The measured distance between trigger fires.
+     * @param distance The measured distance between trigger fires.
      * @param [unit=Units.NATIVE] Units of dist.
      */
-    fireWhenDist(axis: number, dist: number, unit?: Length | Angle | Native): Promise<void>;
+    fireWhenDistanceTravelled(axis: number, distance: number, unit?: Length | Angle | Native): Promise<void>;
     /**
      * Set a trigger condition based on an IO channel value.
      * @param portType The type of IO channel to monitor.

package/dist/lib/ascii/trigger.js

@@ -123,41 +123,41 @@ class Trigger {
      * Set a trigger condition for when an encoder position has changed by a specific distance.
      * @param axis The axis to monitor for this condition.
      * May be set to 0 on single-axis devices only.
-     * @param dist The measured distance between trigger fires.
+     * @param distance The measured encoder distance between trigger fires.
      * @param [unit=Units.NATIVE] Units of dist.
      */
-    async fireWhenEncoderDist(axis, dist, unit = units_1.Units.NATIVE) {
-        if (dist <= 0) {
-            throw new TypeError('Invalid value; dist must be a positive value.');
+    async fireWhenEncoderDistanceTravelled(axis, distance, unit = units_1.Units.NATIVE) {
+        if (distance <= 0) {
+            throw new TypeError('Invalid value; encoder distance must be a positive value.');
         }
-        const request = new gateway.TriggerFireWhenDistRequest();
+        const request = new gateway.TriggerFireWhenDistanceTravelledRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setTriggerNumber(this.triggerNumber);
         request.setAxis(axis);
-        request.setDist(dist);
+        request.setDistance(distance);
         request.setUnit(unit);
-        await gateway.callAsync('trigger/fire_when_encoder_dist', request);
+        await gateway.callAsync('trigger/fire_when_encoder_distance_travelled', request);
     }
     /**
      * Set a trigger condition for when an axis position has changed by a specific distance.
      * @param axis The axis to monitor for this condition.
      * May be set to 0 on single-axis devices only.
-     * @param dist The measured distance between trigger fires.
+     * @param distance The measured distance between trigger fires.
      * @param [unit=Units.NATIVE] Units of dist.
      */
-    async fireWhenDist(axis, dist, unit = units_1.Units.NATIVE) {
-        if (dist <= 0) {
-            throw new TypeError('Invalid value; dist must be a positive value.');
+    async fireWhenDistanceTravelled(axis, distance, unit = units_1.Units.NATIVE) {
+        if (distance <= 0) {
+            throw new TypeError('Invalid value; distance must be a positive value.');
         }
-        const request = new gateway.TriggerFireWhenDistRequest();
+        const request = new gateway.TriggerFireWhenDistanceTravelledRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setTriggerNumber(this.triggerNumber);
         request.setAxis(axis);
-        request.setDist(dist);
+        request.setDistance(distance);
         request.setUnit(unit);
-        await gateway.callAsync('trigger/fire_when_dist', request);
+        await gateway.callAsync('trigger/fire_when_distance_travelled', request);
     }
     /**
      * Set a trigger condition based on an IO channel value.