@zaber/motion 5.0.1 → 5.1.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/binding/wasm/zaber-motion-lib.wasm +0 -0
- package/dist/lib/ascii/axis.d.ts +2 -2
- package/dist/lib/ascii/axis.js +2 -2
- package/dist/lib/ascii/axis.js.map +1 -1
- package/dist/lib/ascii/device_io.d.ts +34 -0
- package/dist/lib/ascii/device_io.js +71 -0
- package/dist/lib/ascii/device_io.js.map +1 -1
- package/dist/lib/protobufs/main_pb.d.ts +146 -0
- package/dist/lib/protobufs/main_pb.js +1218 -83
- package/dist/lib/protobufs/main_pb.js.map +1 -1
- package/package.json +8 -2
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Binary file
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package/dist/lib/ascii/axis.d.ts
CHANGED
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@@ -286,8 +286,8 @@ export declare class Axis {
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driverEnable(): Promise<void>;
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/**
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* Activates a peripheral on this axis.
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-
* Removes all
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* Run the identify method on the device after activating to
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* Removes all identity information for the device.
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* Run the identify method on the device after activating to refresh the information.
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*/
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activate(): Promise<void>;
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}
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package/dist/lib/ascii/axis.js
CHANGED
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@@ -598,8 +598,8 @@ class Axis {
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}
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/**
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* Activates a peripheral on this axis.
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-
* Removes all
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* Run the identify method on the device after activating to
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* Removes all identity information for the device.
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* Run the identify method on the device after activating to refresh the information.
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*/
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async activate() {
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const request = new gateway.AxisEmptyRequest();
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@@ -1 +1 @@
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1
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-
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport { AxisStorage } from './storage';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n /**\n * Device that controls this axis.\n */\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /**\n * The axis number identifies the axis on the device.\n * The first axis has the number one.\n */\n public get axisNumber(): number {\n return this._axisNumber;\n }\n private _axisNumber: number;\n\n /**\n * Settings and properties of this axis.\n */\n public get settings(): AxisSettings {\n return this._settings;\n }\n private _settings: AxisSettings;\n\n /**\n * Key-value storage of this axis.\n * Requires at least Firmware 7.30.\n */\n public get storage(): AxisStorage {\n return this._storage;\n }\n private _storage: AxisStorage;\n\n /**\n * Warnings and faults of this axis.\n */\n public get warnings(): Warnings {\n return this._warnings;\n }\n private _warnings: Warnings;\n\n /**\n * Identity of the axis.\n */\n public get identity(): AxisIdentity {\n return this._retrieveIdentity();\n }\n\n /**\n * Unique ID of the peripheral hardware.\n */\n public get peripheralId(): number {\n return this.identity.peripheralId;\n }\n\n /**\n * Name of the peripheral.\n */\n public get peripheralName(): string {\n return this.identity.peripheralName;\n }\n\n /**\n * Indicates whether the axis is a peripheral or part of an integrated device.\n */\n public get isPeripheral(): boolean {\n return this.identity.isPeripheral;\n }\n\n /**\n * Determines the type of an axis and units it accepts.\n */\n public get axisType(): AxisType {\n return this.identity.axisType;\n }\n\n /**\n * User-assigned label of the peripheral.\n */\n public get label(): string {\n return this._retrieveLabel();\n }\n\n constructor(device: Device, axisNumber: number) {\n this._device = device;\n this._axisNumber = axisNumber;\n this._settings = new AxisSettings(this);\n this._storage = new AxisStorage(this);\n this._warnings = new Warnings(device, axisNumber);\n }\n\n /**\n * Homes axis. Axis returns to its homing position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n */\n public async home(\n options: Axis.HomeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request = new gateway.DeviceHomeRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setWaitUntilIdle(waitUntilIdle);\n\n await gateway.callAsync('device/home', request);\n }\n\n /**\n * Stops ongoing axis movement. Decelerates until zero speed.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n */\n public async stop(\n options: Axis.StopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request = new gateway.DeviceStopRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setWaitUntilIdle(waitUntilIdle);\n\n await gateway.callAsync('device/stop', request);\n }\n\n /**\n * Parks the axis in anticipation of turning the power off.\n * It can later be powered on, unparked, and moved without first having to home it.\n */\n public async park(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/park', request);\n }\n\n /**\n * Unparks axis. Axis will now be able to move.\n */\n public async unpark(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/unpark', request);\n }\n\n /**\n * Returns bool indicating whether the axis is parked or not.\n * @returns True if the axis is currently parked. False otherwise.\n */\n public async isParked(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_parked',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Waits until axis stops moving.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n */\n public async waitUntilIdle(\n options: Axis.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request = new gateway.DeviceWaitUntilIdleRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setThrowErrorOnFault(throwErrorOnFault);\n\n await gateway.callAsync('device/wait_until_idle', request);\n }\n\n /**\n * Returns bool indicating whether the axis is executing a motion command.\n * @returns True if the axis is currently executing a motion command.\n */\n public async isBusy(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_busy',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Returns bool indicating whether the axis has position reference and was homed.\n * @returns True if the axis has position reference and was homed.\n */\n public async isHomed(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_homed',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Move axis to absolute position.\n * @param position Absolute position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveAbsolute(\n position: number,\n unit: Length | Angle | Native = Units.NATIVE,\n options: Axis.MoveAbsoluteOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n request.setArg(position);\n request.setUnit(unit);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Moves the axis to the maximum position as specified by limit.max.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveMax(\n options: Axis.MoveMaxOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Moves the axis to the minimum position as specified by limit.min.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveMin(\n options: Axis.MoveMinOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Move axis to position relative to current position.\n * @param position Relative position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveRelative(\n position: number,\n unit: Length | Angle | Native = Units.NATIVE,\n options: Axis.MoveRelativeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n request.setArg(position);\n request.setUnit(unit);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Begins to move axis at specified speed.\n * @param velocity Movement velocity.\n * @param [unit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveVelocity(\n velocity: number,\n unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n options: Axis.MoveVelocityOptions = {}\n ): Promise<void> {\n const {\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n request.setArg(velocity);\n request.setUnit(unit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Returns current axis position.\n * @param [unit=Units.NATIVE] Units of position.\n * @returns Axis position.\n */\n public async getPosition(\n unit: Length | Angle | Native = Units.NATIVE\n ): Promise<number> {\n const request = new gateway.DeviceGetSettingRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setSetting('pos');\n request.setUnit(unit);\n\n const response = await gateway.callAsync<gateway.DoubleResponse>(\n 'device/get_setting',\n request,\n gateway.DoubleResponse);\n return response.getValue();\n }\n\n /**\n * Gets number of index positions of the axis.\n * @returns Number of index positions.\n */\n public async getNumberOfIndexPositions(): Promise<number> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.IntResponse>(\n 'device/get_index_count',\n request,\n gateway.IntResponse);\n return response.getValue();\n }\n\n /**\n * Returns current axis index position.\n * @returns Index position starting from 1 or 0 if the position is not an index position.\n */\n public async getIndexPosition(): Promise<number> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.IntResponse>(\n 'device/get_index_position',\n request,\n gateway.IntResponse);\n return response.getValue();\n }\n\n /**\n * Moves the axis to index position.\n * @param index Index position. Index positions are numbered from 1.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveIndex(\n index: number,\n options: Axis.MoveIndexOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.INDEX);\n request.setArgInt(index);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Sends a generic ASCII command to this axis.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns A response to the command.\n */\n public async genericCommand(\n command: string,\n options: Axis.GenericCommandOptions = {}\n ): Promise<Response> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n 'interface/generic_command',\n request,\n gateway.GenericCommandResponse);\n return Response.fromProtobuf(response.toObject());\n }\n\n /**\n * Sends a generic ASCII command to this axis and expect multiple responses.\n * Responses are returned in order of arrival.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns All responses to the command.\n */\n public async genericCommandMultiResponse(\n command: string,\n options: Axis.GenericCommandMultiResponseOptions = {}\n ): Promise<Response[]> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n 'interface/generic_command_multi_response',\n request,\n gateway.GenericCommandResponseCollection);\n return response.getResponsesList().map(a => Response.fromProtobuf(a.toObject()));\n }\n\n /**\n * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n */\n public async genericCommandNoResponse(\n command: string\n ): Promise<void> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n\n await gateway.callAsync('interface/generic_command_no_response', request);\n }\n\n /**\n * Formats parameters into a command and performs unit conversions.\n * Parameters in the command template are denoted by a question mark.\n * Command returned is only valid for this axis and this device.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n * @param parameters Variable number of command parameters.\n * @returns Command with converted parameters.\n */\n public prepareCommand(\n commandTemplate: string,\n ...parameters: Measurement[]\n ): string {\n const request = new gateway.PrepareCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommandTemplate(commandTemplate);\n request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/prepare_command',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Sets the user-assigned peripheral label.\n * The label is stored on the controller and recognized by other software.\n * @param label Label to set.\n */\n public async setLabel(\n label: string\n ): Promise<void> {\n const request = new gateway.DeviceSetStorageRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setValue(label);\n\n await gateway.callAsync('device/set_label', request);\n }\n\n /**\n * Gets the peripheral name.\n * @returns The label.\n */\n private _retrieveLabel(): string {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/get_label',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Returns a string that represents the axis.\n * @returns A string that represents the axis.\n */\n public toString(): string {\n const request = new gateway.AxisToStringRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/axis_to_string',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Returns a serialization of the current axis state that can be saved and reapplied.\n * @returns A serialization of the current state of the axis.\n */\n public async getState(): Promise<string> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.StringResponse>(\n 'device/get_state',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Applies a saved state to this axis.\n * @param state The state object to apply to this axis.\n */\n public async setState(\n state: string\n ): Promise<void> {\n const request = new gateway.SetStateRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setState(state);\n\n await gateway.callAsync('device/set_state', request);\n }\n\n /**\n * Checks if a state can be applied to this axis.\n * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n * the process of applying the state can still fail when running.\n * @param state The state object to check against.\n * @returns An explanation of why this state cannot be set to this axis.\n */\n public async canSetState(\n state: string\n ): Promise<string> {\n const request = new gateway.CanSetStateRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setState(state);\n\n const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n 'device/can_set_axis_state',\n request,\n gateway.CanSetStateAxisResponse);\n return response.getError();\n }\n\n /**\n * Returns identity.\n * @returns Axis identity.\n */\n private _retrieveIdentity(): AxisIdentity {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.AxisIdentity>(\n 'device/get_axis_identity',\n request,\n gateway.AxisIdentity);\n return AxisIdentity.fromProtobuf(response.toObject());\n }\n\n /**\n * Disables the driver, which prevents current from being sent to the motor or load.\n * If the driver is already disabled, the driver remains disabled.\n */\n public async driverDisable(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/driver_disable', request);\n }\n\n /**\n * Attempts to enable the driver.\n * If the driver is already enabled, the driver remains enabled.\n */\n public async driverEnable(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/driver_enable', request);\n }\n\n /**\n * Activates a peripheral on this axis.\n * Removes all cached identity information for this axis.\n * Run the identify method on the device after activating to update information about peripherals.\n */\n public async activate(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/activate', request);\n }\n}\n\nnamespace Axis {\n export interface HomeOptions {\n waitUntilIdle?: boolean;\n }\n export interface StopOptions {\n waitUntilIdle?: boolean;\n }\n export interface WaitUntilIdleOptions {\n throwErrorOnFault?: boolean;\n }\n export interface MoveAbsoluteOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveMaxOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveMinOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveRelativeOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveVelocityOptions {\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveIndexOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface GenericCommandOptions {\n checkErrors?: boolean;\n timeout?: number;\n }\n export interface GenericCommandMultiResponseOptions {\n checkErrors?: boolean;\n timeout?: number;\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 { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport { AxisStorage } from './storage';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n /**\n * Device that controls this axis.\n */\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /**\n * The axis number identifies the axis on the device.\n * The first axis has the number one.\n */\n public get axisNumber(): number {\n return this._axisNumber;\n }\n private _axisNumber: number;\n\n /**\n * Settings and properties of this axis.\n */\n public get settings(): AxisSettings {\n return this._settings;\n }\n private _settings: AxisSettings;\n\n /**\n * Key-value storage of this axis.\n * Requires at least Firmware 7.30.\n */\n public get storage(): AxisStorage {\n return this._storage;\n }\n private _storage: AxisStorage;\n\n /**\n * Warnings and faults of this axis.\n */\n public get warnings(): Warnings {\n return this._warnings;\n }\n private _warnings: Warnings;\n\n /**\n * Identity of the axis.\n */\n public get identity(): AxisIdentity {\n return this._retrieveIdentity();\n }\n\n /**\n * Unique ID of the peripheral hardware.\n */\n public get peripheralId(): number {\n return this.identity.peripheralId;\n }\n\n /**\n * Name of the peripheral.\n */\n public get peripheralName(): string {\n return this.identity.peripheralName;\n }\n\n /**\n * Indicates whether the axis is a peripheral or part of an integrated device.\n */\n public get isPeripheral(): boolean {\n return this.identity.isPeripheral;\n }\n\n /**\n * Determines the type of an axis and units it accepts.\n */\n public get axisType(): AxisType {\n return this.identity.axisType;\n }\n\n /**\n * User-assigned label of the peripheral.\n */\n public get label(): string {\n return this._retrieveLabel();\n }\n\n constructor(device: Device, axisNumber: number) {\n this._device = device;\n this._axisNumber = axisNumber;\n this._settings = new AxisSettings(this);\n this._storage = new AxisStorage(this);\n this._warnings = new Warnings(device, axisNumber);\n }\n\n /**\n * Homes axis. Axis returns to its homing position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n */\n public async home(\n options: Axis.HomeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request = new gateway.DeviceHomeRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setWaitUntilIdle(waitUntilIdle);\n\n await gateway.callAsync('device/home', request);\n }\n\n /**\n * Stops ongoing axis movement. Decelerates until zero speed.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n */\n public async stop(\n options: Axis.StopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request = new gateway.DeviceStopRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setWaitUntilIdle(waitUntilIdle);\n\n await gateway.callAsync('device/stop', request);\n }\n\n /**\n * Parks the axis in anticipation of turning the power off.\n * It can later be powered on, unparked, and moved without first having to home it.\n */\n public async park(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/park', request);\n }\n\n /**\n * Unparks axis. Axis will now be able to move.\n */\n public async unpark(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/unpark', request);\n }\n\n /**\n * Returns bool indicating whether the axis is parked or not.\n * @returns True if the axis is currently parked. False otherwise.\n */\n public async isParked(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_parked',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Waits until axis stops moving.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n */\n public async waitUntilIdle(\n options: Axis.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request = new gateway.DeviceWaitUntilIdleRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setThrowErrorOnFault(throwErrorOnFault);\n\n await gateway.callAsync('device/wait_until_idle', request);\n }\n\n /**\n * Returns bool indicating whether the axis is executing a motion command.\n * @returns True if the axis is currently executing a motion command.\n */\n public async isBusy(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_busy',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Returns bool indicating whether the axis has position reference and was homed.\n * @returns True if the axis has position reference and was homed.\n */\n public async isHomed(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_homed',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Move axis to absolute position.\n * @param position Absolute position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveAbsolute(\n position: number,\n unit: Length | Angle | Native = Units.NATIVE,\n options: Axis.MoveAbsoluteOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n request.setArg(position);\n request.setUnit(unit);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Moves the axis to the maximum position as specified by limit.max.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveMax(\n options: Axis.MoveMaxOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Moves the axis to the minimum position as specified by limit.min.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveMin(\n options: Axis.MoveMinOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Move axis to position relative to current position.\n * @param position Relative position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveRelative(\n position: number,\n unit: Length | Angle | Native = Units.NATIVE,\n options: Axis.MoveRelativeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n request.setArg(position);\n request.setUnit(unit);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Begins to move axis at specified speed.\n * @param velocity Movement velocity.\n * @param [unit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveVelocity(\n velocity: number,\n unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n options: Axis.MoveVelocityOptions = {}\n ): Promise<void> {\n const {\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n request.setArg(velocity);\n request.setUnit(unit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Returns current axis position.\n * @param [unit=Units.NATIVE] Units of position.\n * @returns Axis position.\n */\n public async getPosition(\n unit: Length | Angle | Native = Units.NATIVE\n ): Promise<number> {\n const request = new gateway.DeviceGetSettingRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setSetting('pos');\n request.setUnit(unit);\n\n const response = await gateway.callAsync<gateway.DoubleResponse>(\n 'device/get_setting',\n request,\n gateway.DoubleResponse);\n return response.getValue();\n }\n\n /**\n * Gets number of index positions of the axis.\n * @returns Number of index positions.\n */\n public async getNumberOfIndexPositions(): Promise<number> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.IntResponse>(\n 'device/get_index_count',\n request,\n gateway.IntResponse);\n return response.getValue();\n }\n\n /**\n * Returns current axis index position.\n * @returns Index position starting from 1 or 0 if the position is not an index position.\n */\n public async getIndexPosition(): Promise<number> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.IntResponse>(\n 'device/get_index_position',\n request,\n gateway.IntResponse);\n return response.getValue();\n }\n\n /**\n * Moves the axis to index position.\n * @param index Index position. Index positions are numbered from 1.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n */\n public async moveIndex(\n index: number,\n options: Axis.MoveIndexOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.INDEX);\n request.setArgInt(index);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /**\n * Sends a generic ASCII command to this axis.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns A response to the command.\n */\n public async genericCommand(\n command: string,\n options: Axis.GenericCommandOptions = {}\n ): Promise<Response> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n 'interface/generic_command',\n request,\n gateway.GenericCommandResponse);\n return Response.fromProtobuf(response.toObject());\n }\n\n /**\n * Sends a generic ASCII command to this axis and expect multiple responses.\n * Responses are returned in order of arrival.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns All responses to the command.\n */\n public async genericCommandMultiResponse(\n command: string,\n options: Axis.GenericCommandMultiResponseOptions = {}\n ): Promise<Response[]> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n 'interface/generic_command_multi_response',\n request,\n gateway.GenericCommandResponseCollection);\n return response.getResponsesList().map(a => Response.fromProtobuf(a.toObject()));\n }\n\n /**\n * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n */\n public async genericCommandNoResponse(\n command: string\n ): Promise<void> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n\n await gateway.callAsync('interface/generic_command_no_response', request);\n }\n\n /**\n * Formats parameters into a command and performs unit conversions.\n * Parameters in the command template are denoted by a question mark.\n * Command returned is only valid for this axis and this device.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n * @param parameters Variable number of command parameters.\n * @returns Command with converted parameters.\n */\n public prepareCommand(\n commandTemplate: string,\n ...parameters: Measurement[]\n ): string {\n const request = new gateway.PrepareCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommandTemplate(commandTemplate);\n request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/prepare_command',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Sets the user-assigned peripheral label.\n * The label is stored on the controller and recognized by other software.\n * @param label Label to set.\n */\n public async setLabel(\n label: string\n ): Promise<void> {\n const request = new gateway.DeviceSetStorageRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setValue(label);\n\n await gateway.callAsync('device/set_label', request);\n }\n\n /**\n * Gets the peripheral name.\n * @returns The label.\n */\n private _retrieveLabel(): string {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/get_label',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Returns a string that represents the axis.\n * @returns A string that represents the axis.\n */\n public toString(): string {\n const request = new gateway.AxisToStringRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/axis_to_string',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Returns a serialization of the current axis state that can be saved and reapplied.\n * @returns A serialization of the current state of the axis.\n */\n public async getState(): Promise<string> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.StringResponse>(\n 'device/get_state',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /**\n * Applies a saved state to this axis.\n * @param state The state object to apply to this axis.\n */\n public async setState(\n state: string\n ): Promise<void> {\n const request = new gateway.SetStateRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setState(state);\n\n await gateway.callAsync('device/set_state', request);\n }\n\n /**\n * Checks if a state can be applied to this axis.\n * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n * the process of applying the state can still fail when running.\n * @param state The state object to check against.\n * @returns An explanation of why this state cannot be set to this axis.\n */\n public async canSetState(\n state: string\n ): Promise<string> {\n const request = new gateway.CanSetStateRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setState(state);\n\n const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n 'device/can_set_axis_state',\n request,\n gateway.CanSetStateAxisResponse);\n return response.getError();\n }\n\n /**\n * Returns identity.\n * @returns Axis identity.\n */\n private _retrieveIdentity(): AxisIdentity {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.AxisIdentity>(\n 'device/get_axis_identity',\n request,\n gateway.AxisIdentity);\n return AxisIdentity.fromProtobuf(response.toObject());\n }\n\n /**\n * Disables the driver, which prevents current from being sent to the motor or load.\n * If the driver is already disabled, the driver remains disabled.\n */\n public async driverDisable(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/driver_disable', request);\n }\n\n /**\n * Attempts to enable the driver.\n * If the driver is already enabled, the driver remains enabled.\n */\n public async driverEnable(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/driver_enable', request);\n }\n\n /**\n * Activates a peripheral on this axis.\n * Removes all identity information for the device.\n * Run the identify method on the device after activating to refresh the information.\n */\n public async activate(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/activate', request);\n }\n}\n\nnamespace Axis {\n export interface HomeOptions {\n waitUntilIdle?: boolean;\n }\n export interface StopOptions {\n waitUntilIdle?: boolean;\n }\n export interface WaitUntilIdleOptions {\n throwErrorOnFault?: boolean;\n }\n export interface MoveAbsoluteOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveMaxOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveMinOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveRelativeOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveVelocityOptions {\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface MoveIndexOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity | AngularVelocity | Native;\n acceleration?: number;\n accelerationUnit?: Acceleration | AngularAcceleration | Native;\n }\n export interface GenericCommandOptions {\n checkErrors?: boolean;\n timeout?: number;\n }\n export interface GenericCommandMultiResponseOptions {\n checkErrors?: boolean;\n timeout?: number;\n }\n}\n"]}
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* @param values Voltage values to set the output channels to.
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request.setValue(value);
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await gateway.callAsync('device/set_digital_output', request);
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/**
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* Sets current and future value for the specified digital output channel.
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* Requires at least Firmware 7.37.
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* @param channelNumber Channel number starting at 1.
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* @param value The type of action to perform immediately on the channel.
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* @param futureValue The type of action to perform in the future on the channel.
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* @param delay Delay between setting current value and setting future value.
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* @param [unit=Units.NATIVE] Units of time.
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*/
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async setDigitalOutputSchedule(channelNumber, value, futureValue, delay, unit = units_1.Units.NATIVE) {
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if (delay <= 0) {
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throw new TypeError('Delay must be a positive value.');
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}
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const request = new gateway.DeviceSetDigitalOutputScheduleRequest();
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request.setInterfaceId(this._device.connection.interfaceId);
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request.setDevice(this._device.deviceAddress);
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request.setChannelNumber(channelNumber);
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request.setValue(value);
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request.setFutureValue(futureValue);
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request.setDelay(delay);
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request.setUnit(unit);
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await gateway.callAsync('device/set_digital_output_schedule', request);
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}
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/**
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* Cancels a scheduled digital output action.
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* Requires at least Firmware 7.37.
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* @param channelNumber Channel number starting at 1.
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*/
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async cancelDigitalOutputSchedule(channelNumber) {
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const request = new gateway.DeviceCancelDigitalOutputScheduleRequest();
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request.setInterfaceId(this._device.connection.interfaceId);
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request.setDevice(this._device.deviceAddress);
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request.setChannelNumber(channelNumber);
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await gateway.callAsync('device/cancel_digital_output_schedule', request);
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}
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/**
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* Sets value for the specified analog output channel.
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@@ -1 +1 @@
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-
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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 { DeviceIOInfo } from './device_io_info';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/**\n * Class providing access to the I/O channels of the device.\n */\nexport class DeviceIO {\n private _device: Device;\n\n constructor(device: Device) {\n this._device = device;\n }\n\n /**\n * Returns the current values of all digital input channels.\n * @returns True if voltage is present on the input channel and false otherwise.\n */\n public async getAllDigitalInputs(): Promise<boolean[]> {\n const request = new gateway.DeviceGetAllDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('di');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n 'device/get_all_digital_io',\n request,\n gateway.DeviceGetAllDigitalIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current values of all digital output channels.\n * @returns True if the output channel is conducting and false otherwise.\n */\n public async getAllDigitalOutputs(): Promise<boolean[]> {\n const request = new gateway.DeviceGetAllDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('do');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n 'device/get_all_digital_io',\n request,\n gateway.DeviceGetAllDigitalIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current values of all analog input channels.\n * @returns Measurements of the voltage present on the input channels.\n */\n public async getAllAnalogInputs(): Promise<number[]> {\n const request = new gateway.DeviceGetAllAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ai');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n 'device/get_all_analog_io',\n request,\n gateway.DeviceGetAllAnalogIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current values of all analog output channels.\n * @returns Measurements of voltage that the output channels are conducting.\n */\n public async getAllAnalogOutputs(): Promise<number[]> {\n const request = new gateway.DeviceGetAllAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ao');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n 'device/get_all_analog_io',\n request,\n gateway.DeviceGetAllAnalogIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current value of the specified digital input channel.\n * @param channelNumber Channel number starting at 1.\n * @returns True if voltage is present on the input channel and false otherwise.\n */\n public async getDigitalInput(\n channelNumber: number\n ): Promise<boolean> {\n const request = new gateway.DeviceGetDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('di');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/get_digital_io',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Returns the current value of the specified digital output channel.\n * @param channelNumber Channel number starting at 1.\n * @returns True if the output channel is conducting and false otherwise.\n */\n public async getDigitalOutput(\n channelNumber: number\n ): Promise<boolean> {\n const request = new gateway.DeviceGetDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('do');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/get_digital_io',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Returns the current value of the specified analog input channel.\n * @param channelNumber Channel number starting at 1.\n * @returns A measurementsof the voltage present on the input channel.\n */\n public async getAnalogInput(\n channelNumber: number\n ): Promise<number> {\n const request = new gateway.DeviceGetAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ai');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.DoubleResponse>(\n 'device/get_analog_io',\n request,\n gateway.DoubleResponse);\n return response.getValue();\n }\n\n /**\n * Returns the current values of the specified analog output channel.\n * @param channelNumber Channel number starting at 1.\n * @returns A measurement of voltage that the output channel is conducting.\n */\n public async getAnalogOutput(\n channelNumber: number\n ): Promise<number> {\n const request = new gateway.DeviceGetAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ao');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.DoubleResponse>(\n 'device/get_analog_io',\n request,\n gateway.DoubleResponse);\n return response.getValue();\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.DeviceSetAllDigitalOutputsRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setValuesList(values as any);\n\n await gateway.callAsync('device/set_all_digital_outputs', request);\n }\n\n /**\n * Sets values for all analog output channels.\n * @param values Voltage values to set the output channels to.\n */\n public async setAllAnalogOutputs(\n values: number[]\n ): Promise<void> {\n const request = new gateway.DeviceSetAllAnalogOutputsRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setValuesList(values);\n\n await gateway.callAsync('device/set_all_analog_outputs', request);\n }\n\n /**\n * Sets value for the specified digital output channel.\n * @param channelNumber Channel number starting at 1.\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.DeviceSetDigitalOutputRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelNumber(channelNumber);\n request.setValue(value as any);\n\n await gateway.callAsync('device/set_digital_output', request);\n }\n\n /**\n * Sets value for the specified analog output channel.\n * @param channelNumber Channel number starting at 1.\n * @param value Value to set the output channel voltage to.\n */\n public async setAnalogOutput(\n channelNumber: number,\n value: number\n ): Promise<void> {\n const request = new gateway.DeviceSetAnalogOutputRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelNumber(channelNumber);\n request.setValue(value);\n\n await gateway.callAsync('device/set_analog_output', request);\n }\n\n /**\n * Returns the number of I/O channels the device has.\n * @returns An object containing the number of I/O channels the device has.\n */\n public async getChannelsInfo(): Promise<DeviceIOInfo> {\n const request = new gateway.DeviceEmptyRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n\n const response = await gateway.callAsync<gateway.DeviceIOInfo>(\n 'device/get_io_info',\n request,\n gateway.DeviceIOInfo);\n return DeviceIOInfo.fromProtobuf(response.toObject());\n }\n}\n"]}
|
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1
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+
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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 { Native, Units, Time } from '../units';\nimport { DeviceIOInfo } from './device_io_info';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/**\n * Class providing access to the I/O channels of the device.\n */\nexport class DeviceIO {\n private _device: Device;\n\n constructor(device: Device) {\n this._device = device;\n }\n\n /**\n * Returns the current values of all digital input channels.\n * @returns True if voltage is present on the input channel and false otherwise.\n */\n public async getAllDigitalInputs(): Promise<boolean[]> {\n const request = new gateway.DeviceGetAllDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('di');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n 'device/get_all_digital_io',\n request,\n gateway.DeviceGetAllDigitalIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current values of all digital output channels.\n * @returns True if the output channel is conducting and false otherwise.\n */\n public async getAllDigitalOutputs(): Promise<boolean[]> {\n const request = new gateway.DeviceGetAllDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('do');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n 'device/get_all_digital_io',\n request,\n gateway.DeviceGetAllDigitalIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current values of all analog input channels.\n * @returns Measurements of the voltage present on the input channels.\n */\n public async getAllAnalogInputs(): Promise<number[]> {\n const request = new gateway.DeviceGetAllAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ai');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n 'device/get_all_analog_io',\n request,\n gateway.DeviceGetAllAnalogIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current values of all analog output channels.\n * @returns Measurements of voltage that the output channels are conducting.\n */\n public async getAllAnalogOutputs(): Promise<number[]> {\n const request = new gateway.DeviceGetAllAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ao');\n\n const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n 'device/get_all_analog_io',\n request,\n gateway.DeviceGetAllAnalogIOResponse);\n return response.getValuesList();\n }\n\n /**\n * Returns the current value of the specified digital input channel.\n * @param channelNumber Channel number starting at 1.\n * @returns True if voltage is present on the input channel and false otherwise.\n */\n public async getDigitalInput(\n channelNumber: number\n ): Promise<boolean> {\n const request = new gateway.DeviceGetDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('di');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/get_digital_io',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Returns the current value of the specified digital output channel.\n * @param channelNumber Channel number starting at 1.\n * @returns True if the output channel is conducting and false otherwise.\n */\n public async getDigitalOutput(\n channelNumber: number\n ): Promise<boolean> {\n const request = new gateway.DeviceGetDigitalIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('do');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/get_digital_io',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /**\n * Returns the current value of the specified analog input channel.\n * @param channelNumber Channel number starting at 1.\n * @returns A measurementsof the voltage present on the input channel.\n */\n public async getAnalogInput(\n channelNumber: number\n ): Promise<number> {\n const request = new gateway.DeviceGetAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ai');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.DoubleResponse>(\n 'device/get_analog_io',\n request,\n gateway.DoubleResponse);\n return response.getValue();\n }\n\n /**\n * Returns the current values of the specified analog output channel.\n * @param channelNumber Channel number starting at 1.\n * @returns A measurement of voltage that the output channel is conducting.\n */\n public async getAnalogOutput(\n channelNumber: number\n ): Promise<number> {\n const request = new gateway.DeviceGetAnalogIORequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelType('ao');\n request.setChannelNumber(channelNumber);\n\n const response = await gateway.callAsync<gateway.DoubleResponse>(\n 'device/get_analog_io',\n request,\n gateway.DoubleResponse);\n return response.getValue();\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.DeviceSetAllDigitalOutputsRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setValuesList(values as any);\n\n await gateway.callAsync('device/set_all_digital_outputs', request);\n }\n\n /**\n * Sets current and future value for all digital output channels.\n * Requires at least Firmware 7.37.\n * @param values The type of actions to perform immediately on output channels.\n * @param futureValues The type of actions to perform in the future on output channels.\n * @param delay Delay between setting current values and setting future values.\n * @param [unit=Units.NATIVE] Units of time.\n */\n public async setAllDigitalOutputsSchedule(\n values: DigitalOutputAction[],\n futureValues: DigitalOutputAction[],\n delay: number,\n unit: Time | Native = Units.NATIVE\n ): Promise<void> {\n if (delay <= 0) {\n throw new TypeError('Delay must be a positive value.');\n }\n const request = new gateway.DeviceSetAllDigitalOutputsScheduleRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setValuesList(values as any);\n request.setFutureValuesList(futureValues as any);\n request.setDelay(delay);\n request.setUnit(unit);\n\n await gateway.callAsync('device/set_all_digital_outputs_schedule', request);\n }\n\n /**\n * Cancel all scheduled digital output actions.\n * Requires at least Firmware 7.37.\n * @param [channels=[]] Optionally specify which channels to cancel.\n * Array length must be empty or equal to the number of channels on device.\n * Specifying \"True\" for a channel will cancel the scheduled digital output action for that channel.\n */\n public async cancelAllDigitalOutputsSchedule(\n channels: boolean[] = []\n ): Promise<void> {\n const request = new gateway.DeviceCancelAllDigitalOutputsScheduleRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelsList(channels);\n\n await gateway.callAsync('device/cancel_all_digital_outputs_schedule', request);\n }\n\n /**\n * Sets values for all analog output channels.\n * @param values Voltage values to set the output channels to.\n */\n public async setAllAnalogOutputs(\n values: number[]\n ): Promise<void> {\n const request = new gateway.DeviceSetAllAnalogOutputsRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setValuesList(values);\n\n await gateway.callAsync('device/set_all_analog_outputs', request);\n }\n\n /**\n * Sets value for the specified digital output channel.\n * @param channelNumber Channel number starting at 1.\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.DeviceSetDigitalOutputRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelNumber(channelNumber);\n request.setValue(value as any);\n\n await gateway.callAsync('device/set_digital_output', request);\n }\n\n /**\n * Sets current and future value for the specified digital output channel.\n * Requires at least Firmware 7.37.\n * @param channelNumber Channel number starting at 1.\n * @param value The type of action to perform immediately on the channel.\n * @param futureValue The type of action to perform in the future on the channel.\n * @param delay Delay between setting current value and setting future value.\n * @param [unit=Units.NATIVE] Units of time.\n */\n public async setDigitalOutputSchedule(\n channelNumber: number,\n value: DigitalOutputAction,\n futureValue: DigitalOutputAction,\n delay: number,\n unit: Time | Native = Units.NATIVE\n ): Promise<void> {\n if (delay <= 0) {\n throw new TypeError('Delay must be a positive value.');\n }\n const request = new gateway.DeviceSetDigitalOutputScheduleRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelNumber(channelNumber);\n request.setValue(value as any);\n request.setFutureValue(futureValue as any);\n request.setDelay(delay);\n request.setUnit(unit);\n\n await gateway.callAsync('device/set_digital_output_schedule', request);\n }\n\n /**\n * Cancels a scheduled digital output action.\n * Requires at least Firmware 7.37.\n * @param channelNumber Channel number starting at 1.\n */\n public async cancelDigitalOutputSchedule(\n channelNumber: number\n ): Promise<void> {\n const request = new gateway.DeviceCancelDigitalOutputScheduleRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelNumber(channelNumber);\n\n await gateway.callAsync('device/cancel_digital_output_schedule', request);\n }\n\n /**\n * Sets value for the specified analog output channel.\n * @param channelNumber Channel number starting at 1.\n * @param value Value to set the output channel voltage to.\n */\n public async setAnalogOutput(\n channelNumber: number,\n value: number\n ): Promise<void> {\n const request = new gateway.DeviceSetAnalogOutputRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n request.setChannelNumber(channelNumber);\n request.setValue(value);\n\n await gateway.callAsync('device/set_analog_output', request);\n }\n\n /**\n * Returns the number of I/O channels the device has.\n * @returns An object containing the number of I/O channels the device has.\n */\n public async getChannelsInfo(): Promise<DeviceIOInfo> {\n const request = new gateway.DeviceEmptyRequest();\n request.setInterfaceId(this._device.connection.interfaceId);\n request.setDevice(this._device.deviceAddress);\n\n const response = await gateway.callAsync<gateway.DeviceIOInfo>(\n 'device/get_io_info',\n request,\n gateway.DeviceIOInfo);\n return DeviceIOInfo.fromProtobuf(response.toObject());\n }\n}\n"]}
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