@zaber/motion 5.1.4 → 5.2.0

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

@@ -50,6 +50,10 @@ export declare class Axis {
      * Name of the peripheral.
      */
     get peripheralName(): string;
+    /**
+     * Serial number of the peripheral, or 0 when not applicable.
+     */
+    get peripheralSerialNumber(): number;
     /**
      * Indicates whether the axis is a peripheral or part of an integrated device.
      */

package/dist/lib/ascii/axis.js

@@ -88,6 +88,12 @@ class Axis {
     get peripheralName() {
         return this.identity.peripheralName;
     }
+    /**
+     * Serial number of the peripheral, or 0 when not applicable.
+     */
+    get peripheralSerialNumber() {
+        return this.identity.peripheralSerialNumber;
+    }
     /**
      * Indicates whether the axis is a peripheral or part of an integrated device.
      */

package/dist/lib/ascii/axis.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 { 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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==== 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   * Serial number of the peripheral, or 0 when not applicable.\n   */\n  public get peripheralSerialNumber(): number {\n    return this.identity.peripheralSerialNumber;\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"]}

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

@@ -11,6 +11,10 @@ export interface AxisIdentity {
      * Name of the peripheral.
      */
     peripheralName: string;
+    /**
+     * Serial number of the peripheral, or 0 when not applicable.
+     */
+    peripheralSerialNumber: number;
     /**
      * Indicates whether the axis is a peripheral or part of an integrated device.
      */

package/dist/lib/ascii/axis_identity.js

@@ -11,6 +11,7 @@ var AxisIdentity;
         return {
             peripheralId: pbData.peripheralId,
             peripheralName: pbData.peripheralName,
+            peripheralSerialNumber: pbData.peripheralSerialNumber,
             isPeripheral: pbData.isPeripheral,
             axisType: pbData.axisType,
             isModified: pbData.isModified,

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

@@ -1 +1 @@
-{"version":3,"file":"axis_identity.js","sourceRoot":"","sources":["../../../src/ascii/axis_identity.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAoCtD,IAAiB,YAAY,CAa5B;AAbD,WAAiB,YAAY;IACd,mBAAM,GAAG,cAAc,CAAC;IAErC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAqC;QAChE,OAAO;YACL,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,cAAc,EAAE,MAAM,CAAC,cAAc;YACrC,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,QAAQ,EAAE,MAAM,CAAC,QAAe;YAChC,UAAU,EAAE,MAAM,CAAC,UAAU;SAC9B,CAAC;IACJ,CAAC;IARe,yBAAY,eAQ3B,CAAA;AACH,CAAC,EAbgB,YAAY,GAAZ,oBAAY,KAAZ,oBAAY,QAa5B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { AxisType } from './axis_type';\n\n/**\n * Representation of data gathered during axis identification.\n */\nexport interface AxisIdentity {\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  peripheralId: number;\n\n  /**\n   * Name of the peripheral.\n   */\n  peripheralName: string;\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  isPeripheral: boolean;\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  axisType: AxisType;\n\n  /**\n   * The peripheral has hardware modifications.\n   */\n  isModified: boolean;\n\n}\n\nexport namespace AxisIdentity {\n  export const __type = 'AxisIdentity';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.AxisIdentity.AsObject): AxisIdentity {\n    return {\n      peripheralId: pbData.peripheralId,\n      peripheralName: pbData.peripheralName,\n      isPeripheral: pbData.isPeripheral,\n      axisType: pbData.axisType as any,\n      isModified: pbData.isModified,\n    };\n  }\n}\n"]}
+{"version":3,"file":"axis_identity.js","sourceRoot":"","sources":["../../../src/ascii/axis_identity.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAyCtD,IAAiB,YAAY,CAc5B;AAdD,WAAiB,YAAY;IACd,mBAAM,GAAG,cAAc,CAAC;IAErC,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAqC;QAChE,OAAO;YACL,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,cAAc,EAAE,MAAM,CAAC,cAAc;YACrC,sBAAsB,EAAE,MAAM,CAAC,sBAAsB;YACrD,YAAY,EAAE,MAAM,CAAC,YAAY;YACjC,QAAQ,EAAE,MAAM,CAAC,QAAe;YAChC,UAAU,EAAE,MAAM,CAAC,UAAU;SAC9B,CAAC;IACJ,CAAC;IATe,yBAAY,eAS3B,CAAA;AACH,CAAC,EAdgB,YAAY,GAAZ,oBAAY,KAAZ,oBAAY,QAc5B","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { AxisType } from './axis_type';\n\n/**\n * Representation of data gathered during axis identification.\n */\nexport interface AxisIdentity {\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  peripheralId: number;\n\n  /**\n   * Name of the peripheral.\n   */\n  peripheralName: string;\n\n  /**\n   * Serial number of the peripheral, or 0 when not applicable.\n   */\n  peripheralSerialNumber: number;\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  isPeripheral: boolean;\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  axisType: AxisType;\n\n  /**\n   * The peripheral has hardware modifications.\n   */\n  isModified: boolean;\n\n}\n\nexport namespace AxisIdentity {\n  export const __type = 'AxisIdentity';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.AxisIdentity.AsObject): AxisIdentity {\n    return {\n      peripheralId: pbData.peripheralId,\n      peripheralName: pbData.peripheralName,\n      peripheralSerialNumber: pbData.peripheralSerialNumber,\n      isPeripheral: pbData.isPeripheral,\n      axisType: pbData.axisType as any,\n      isModified: pbData.isModified,\n    };\n  }\n}\n"]}

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

@@ -177,6 +177,7 @@ export declare class Device {
      * Formats parameters into a command and performs unit conversions.
      * Parameters in the command template are denoted by a question mark.
      * Command returned is only valid for this device.
+     * Unit conversion is not supported for commands where axes can be remapped, such as stream and PVT commands.
      * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
      * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.
      * @param parameters Variable number of command parameters.

package/dist/lib/ascii/device.js

@@ -294,6 +294,7 @@ class Device {
      * Formats parameters into a command and performs unit conversions.
      * Parameters in the command template are denoted by a question mark.
      * Command returned is only valid for this device.
+     * Unit conversion is not supported for commands where axes can be remapped, such as stream and PVT commands.
      * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
      * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.
      * @param parameters Variable number of command parameters.

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { CanSetStateDeviceResponse } from './can_set_state_device_response';\nimport { Pvt } from './pvt';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport * as gateway from '../gateway';\nimport { DeviceStorage } from './storage';\nimport { Triggers } from './triggers';\nimport { Streams } from './streams';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * Key-value storage of this device.\n   */\n  public get storage(): DeviceStorage {\n    return this._storage;\n  }\n  private _storage: DeviceStorage;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   * Requires at least Firmware 7.00.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  /**\n   * User-assigned label of the device.\n   */\n  public get label(): string {\n    return this._retrieveLabel();\n  }\n\n  /**\n   * Triggers for this device.\n   * Requires at least Firmware 7.06.\n   */\n  public get triggers(): Triggers {\n    return this._triggers;\n  }\n  private _triggers: Triggers;\n\n  /**\n   * Gets an object that provides access to Streams on this device.\n   * Requires at least Firmware 7.05.\n   */\n  public get streams(): Streams {\n    return this._streams;\n  }\n  private _streams: Streams;\n\n  /**\n   * Gets an object that provides access to PVT functions of this device.\n   * Note that as of ZML v5.0.0, this returns a Pvt object and NOT a PvtSequence object.\n   * The PvtSequence can now be obtained from the Pvt object.\n   * Requires at least Firmware 7.33.\n   */\n  public get pvt(): Pvt {\n    return this._pvt;\n  }\n  private _pvt: Pvt;\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._storage = new DeviceStorage(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n    this._triggers = new Triggers(this);\n    this._streams = new Streams(this);\n    this._pvt = new Pvt(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @param options.assumeVersion The identification assumes the specified firmware version\n   * instead of the version queried from the device.\n   * Providing this argument can lead to unexpected compatibility issues.\n   * @returns Device identification data.\n   */\n  public async identify(\n    options: Device.IdentifyOptions = {}\n  ): Promise<DeviceIdentity> {\n    const {\n      assumeVersion,\n    } = options;\n    const request = new gateway.DeviceIdentifyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setAssumeVersion(FirmwareVersion.toProtobuf(assumeVersion));\n\n    const response = await gateway.callAsync<gateway.DeviceIdentity>(\n      'device/identify',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\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 device 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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\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 device 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   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Device.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      axis = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @returns Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * Requires at least Firmware 6.15 or 7.11.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @returns Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\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 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.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\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 device 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.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setValue(label);\n\n    await gateway.callAsync('device/set_label', request);\n  }\n\n  /**\n   * Gets the device name.\n   * @returns The label.\n   */\n  private _retrieveLabel(): string {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\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 device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.AxisToStringRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @returns A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\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 device.\n   * @param state The state object to apply to this device.\n   * @param [options.deviceOnly=false] If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    options: Device.SetStateOptions = {}\n  ): Promise<void> {\n    const {\n      deviceOnly = false,\n    } = options;\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n    request.setDeviceOnly(deviceOnly);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to this device.\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 object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateDeviceResponse);\n    return CanSetStateDeviceResponse.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Waits for the device to start responding to messages.\n   * Useful to call after resetting the device.\n   * Throws RequestTimeoutException upon timeout.\n   * @param timeout For how long to wait in milliseconds for the device to start responding.\n   */\n  public async waitToRespond(\n    timeout: number\n  ): Promise<void> {\n    const request = new gateway.WaitToRespondRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setTimeout(timeout);\n\n    await gateway.callAsync('device/wait_to_respond', request);\n  }\n\n  /**\n   * Returns identity.\n   * @returns Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceIdentity>(\n      'device/get_identity',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @returns True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BoolResponse>(\n      'device/get_is_identified',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Device {\n  export interface IdentifyOptions {\n      assumeVersion?: FirmwareVersion;\n  }\n  export interface GenericCommandOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      axis?: number;\n  }\n  export interface SetStateOptions {\n      deviceOnly?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { CanSetStateDeviceResponse } from './can_set_state_device_response';\nimport { Pvt } from './pvt';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport * as gateway from '../gateway';\nimport { DeviceStorage } from './storage';\nimport { Triggers } from './triggers';\nimport { Streams } from './streams';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * Key-value storage of this device.\n   */\n  public get storage(): DeviceStorage {\n    return this._storage;\n  }\n  private _storage: DeviceStorage;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   * Requires at least Firmware 7.00.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  /**\n   * User-assigned label of the device.\n   */\n  public get label(): string {\n    return this._retrieveLabel();\n  }\n\n  /**\n   * Triggers for this device.\n   * Requires at least Firmware 7.06.\n   */\n  public get triggers(): Triggers {\n    return this._triggers;\n  }\n  private _triggers: Triggers;\n\n  /**\n   * Gets an object that provides access to Streams on this device.\n   * Requires at least Firmware 7.05.\n   */\n  public get streams(): Streams {\n    return this._streams;\n  }\n  private _streams: Streams;\n\n  /**\n   * Gets an object that provides access to PVT functions of this device.\n   * Note that as of ZML v5.0.0, this returns a Pvt object and NOT a PvtSequence object.\n   * The PvtSequence can now be obtained from the Pvt object.\n   * Requires at least Firmware 7.33.\n   */\n  public get pvt(): Pvt {\n    return this._pvt;\n  }\n  private _pvt: Pvt;\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._storage = new DeviceStorage(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n    this._triggers = new Triggers(this);\n    this._streams = new Streams(this);\n    this._pvt = new Pvt(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @param options.assumeVersion The identification assumes the specified firmware version\n   * instead of the version queried from the device.\n   * Providing this argument can lead to unexpected compatibility issues.\n   * @returns Device identification data.\n   */\n  public async identify(\n    options: Device.IdentifyOptions = {}\n  ): Promise<DeviceIdentity> {\n    const {\n      assumeVersion,\n    } = options;\n    const request = new gateway.DeviceIdentifyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setAssumeVersion(FirmwareVersion.toProtobuf(assumeVersion));\n\n    const response = await gateway.callAsync<gateway.DeviceIdentity>(\n      'device/identify',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\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 device 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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\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 device 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   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Device.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      axis = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @returns Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * Requires at least Firmware 6.15 or 7.11.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @returns Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\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 device.\n   * Unit conversion is not supported for commands where axes can be remapped, such as stream and PVT commands.\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.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\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 device 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.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setValue(label);\n\n    await gateway.callAsync('device/set_label', request);\n  }\n\n  /**\n   * Gets the device name.\n   * @returns The label.\n   */\n  private _retrieveLabel(): string {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\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 device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.AxisToStringRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @returns A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\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 device.\n   * @param state The state object to apply to this device.\n   * @param [options.deviceOnly=false] If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    options: Device.SetStateOptions = {}\n  ): Promise<void> {\n    const {\n      deviceOnly = false,\n    } = options;\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n    request.setDeviceOnly(deviceOnly);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to this device.\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 object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateDeviceResponse);\n    return CanSetStateDeviceResponse.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Waits for the device to start responding to messages.\n   * Useful to call after resetting the device.\n   * Throws RequestTimeoutException upon timeout.\n   * @param timeout For how long to wait in milliseconds for the device to start responding.\n   */\n  public async waitToRespond(\n    timeout: number\n  ): Promise<void> {\n    const request = new gateway.WaitToRespondRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setTimeout(timeout);\n\n    await gateway.callAsync('device/wait_to_respond', request);\n  }\n\n  /**\n   * Returns identity.\n   * @returns Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceIdentity>(\n      'device/get_identity',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @returns True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.BoolResponse>(\n      'device/get_is_identified',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Device {\n  export interface IdentifyOptions {\n      assumeVersion?: FirmwareVersion;\n  }\n  export interface GenericCommandOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      axis?: number;\n  }\n  export interface SetStateOptions {\n      deviceOnly?: boolean;\n  }\n}\n"]}

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

@@ -2,6 +2,8 @@ import { Device } from './device';
 import { Native, Time } from '../units';
 import { DeviceIOInfo } from './device_io_info';
 import { DigitalOutputAction } from './digital_output_action';
+import { IoPortType } from './io_port_type';
+import { IoPortLabel } from './io_port_label';
 /**
  * Class providing access to the I/O channels of the device.
  */
@@ -74,11 +76,28 @@ export declare class DeviceIO {
      * Specifying "True" for a channel will cancel the scheduled digital output action for that channel.
      */
     cancelAllDigitalOutputsSchedule(channels?: boolean[]): Promise<void>;
+    /**
+     * Cancel all scheduled analog output actions.
+     * Requires at least Firmware 7.38.
+     * @param [channels=[]] Optionally specify which channels to cancel.
+     * Array length must be empty or equal to the number of channels on device.
+     * Specifying "True" for a channel will cancel the scheduled analog output value for that channel.
+     */
+    cancelAllAnalogOutputsSchedule(channels?: boolean[]): Promise<void>;
     /**
      * Sets values for all analog output channels.
      * @param values Voltage values to set the output channels to.
      */
     setAllAnalogOutputs(values: number[]): Promise<void>;
+    /**
+     * Sets current and future values for all analog output channels.
+     * Requires at least Firmware 7.38.
+     * @param values Voltage values to set the output channels to immediately.
+     * @param futureValues Voltage values to set the output channels to in the future.
+     * @param delay Delay between setting current values and setting future values.
+     * @param [unit=Units.NATIVE] Units of time.
+     */
+    setAllAnalogOutputsSchedule(values: number[], futureValues: number[], delay: number, unit?: Time | Native): Promise<void>;
     /**
      * Sets value for the specified digital output channel.
      * @param channelNumber Channel number starting at 1.
@@ -101,15 +120,50 @@ export declare class DeviceIO {
      * @param channelNumber Channel number starting at 1.
      */
     cancelDigitalOutputSchedule(channelNumber: number): Promise<void>;
+    /**
+     * Cancels a scheduled analog output value.
+     * Requires at least Firmware 7.38.
+     * @param channelNumber Channel number starting at 1.
+     */
+    cancelAnalogOutputSchedule(channelNumber: number): Promise<void>;
     /**
      * Sets value for the specified analog output channel.
      * @param channelNumber Channel number starting at 1.
      * @param value Value to set the output channel voltage to.
      */
     setAnalogOutput(channelNumber: number, value: number): Promise<void>;
+    /**
+     * Sets current and future value for the specified analog output channel.
+     * Requires at least Firmware 7.38.
+     * @param channelNumber Channel number starting at 1.
+     * @param value Value to set the output channel voltage to immediately.
+     * @param futureValue Value to set the output channel voltage to in the future.
+     * @param delay Delay between setting current value and setting future value.
+     * @param [unit=Units.NATIVE] Units of time.
+     */
+    setAnalogOutputSchedule(channelNumber: number, value: number, futureValue: number, delay: number, unit?: Time | Native): Promise<void>;
     /**
      * Returns the number of I/O channels the device has.
      * @returns An object containing the number of I/O channels the device has.
      */
     getChannelsInfo(): Promise<DeviceIOInfo>;
+    /**
+     * Sets the label of the specified channel.
+     * @param portType The type of channel to set the label of.
+     * @param channelNumber Channel number starting at 1.
+     * @param label The label to set for the specified channel.
+     */
+    setLabel(portType: IoPortType, channelNumber: number, label: string): Promise<void>;
+    /**
+     * Returns the label of the specified channel.
+     * @param portType The type of channel to get the label of.
+     * @param channelNumber Channel number starting at 1.
+     * @returns The label of the specified channel.
+     */
+    getLabel(portType: IoPortType, channelNumber: number): Promise<string>;
+    /**
+     * Returns every label assigned to an IO port on this device.
+     * @returns The labels set for this device's IO.
+     */
+    getAllLabels(): Promise<IoPortLabel[]>;
 }