@zaber/motion 4.8.0 → 5.1.0

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

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

@@ -5,6 +5,7 @@ import { Measurement } from '../measurement';
 import { StreamBuffer } from './stream_buffer';
 import { StreamMode } from './stream_mode';
 import { StreamAxisDefinition } from './stream_axis_definition';
+import { DigitalOutputAction } from './digital_output_action';
 /**
  * A handle for a stream with this number on the device.
  * Streams provide a way to execute or store a sequence of actions.
@@ -234,9 +235,9 @@ export declare class Stream {
      * Set the value of a digital output channel.
      * @param channelNumber The number of the digital output channel.
      * Channel numbers are numbered from one.
-     * @param value The value to set the channel to.
+     * @param value The type of action to perform on the channel.
      */
-    setDigitalOutput(channelNumber: number, value: boolean): Promise<void>;
+    setDigitalOutput(channelNumber: number, value: DigitalOutputAction): Promise<void>;
     /**
      * Set the value of an analog output channel.
      * @param channelNumber The number of the analog output channel.
@@ -244,17 +245,11 @@ export declare class Stream {
      * @param value The value to set the channel to, in Volts.
      */
     setAnalogOutput(channelNumber: number, value: number): Promise<void>;
-    /**
-     * Toggle the value of a digital output channel.
-     * @param channelNumber The number of the digital output channel.
-     * Channel numbers are numbered from one.
-     */
-    toggleDigitalOutput(channelNumber: number): Promise<void>;
     /**
      * Sets values for all digital output channels.
-     * @param values True to set the output channel to conducting and false to turn it off.
+     * @param values The type of action to perform on the channel.
      */
-    setAllDigitalOutputs(values: boolean[]): Promise<void>;
+    setAllDigitalOutputs(values: DigitalOutputAction[]): Promise<void>;
     /**
      * Sets values for all analog output channels.
      * @param values The values to set the output channels to, in Volts.

package/dist/lib/ascii/stream.js

@@ -484,7 +484,7 @@ class Stream {
      * Set the value of a digital output channel.
      * @param channelNumber The number of the digital output channel.
      * Channel numbers are numbered from one.
-     * @param value The value to set the channel to.
+     * @param value The type of action to perform on the channel.
      */
     async setDigitalOutput(channelNumber, value) {
         const request = new gateway.StreamSetDigitalOutputRequest();
@@ -510,22 +510,9 @@ class Stream {
         request.setValue(value);
         await gateway.callAsync('device/stream_set_analog_output', request);
     }
-    /**
-     * Toggle the value of a digital output channel.
-     * @param channelNumber The number of the digital output channel.
-     * Channel numbers are numbered from one.
-     */
-    async toggleDigitalOutput(channelNumber) {
-        const request = new gateway.StreamToggleDigitalOutputRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.streamId);
-        request.setChannelNumber(channelNumber);
-        await gateway.callAsync('device/stream_toggle_digital_output', request);
-    }
     /**
      * Sets values for all digital output channels.
-     * @param values True to set the output channel to conducting and false to turn it off.
+     * @param values The type of action to perform on the channel.
      */
     async setAllDigitalOutputs(values) {
         const request = new gateway.StreamSetAllDigitalOutputsRequest();

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

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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[]>;
+}