@zaber/motion 5.2.1 → 6.0.0

package/dist/lib/ascii/axis.js

@@ -31,8 +31,8 @@ const warnings_1 = require("./warnings");
 const axis_settings_1 = require("./axis_settings");
 const units_1 = require("../units");
 const response_1 = require("./response");
-const measurement_1 = require("../measurement");
 const gateway = __importStar(require("../gateway"));
+const requests = __importStar(require("../requests"));
 const storage_1 = require("./storage");
 /**
  * Represents an axis of motion associated with a device.
@@ -125,11 +125,15 @@ class Axis {
      */
     async home(options = {}) {
         const { waitUntilIdle = true, } = options;
-        const request = new gateway.DeviceHomeRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setWaitUntilIdle(waitUntilIdle);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            waitUntilIdle: waitUntilIdle,
+            toBinary() {
+                return requests.DeviceHomeRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/home', request);
     }
     /**
@@ -138,11 +142,15 @@ class Axis {
      */
     async stop(options = {}) {
         const { waitUntilIdle = true, } = options;
-        const request = new gateway.DeviceStopRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setWaitUntilIdle(waitUntilIdle);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            waitUntilIdle: waitUntilIdle,
+            toBinary() {
+                return requests.DeviceStopRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stop', request);
     }
     /**
@@ -150,20 +158,28 @@ class Axis {
      * It can later be powered on, unparked, and moved without first having to home it.
      */
     async park() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/park', request);
     }
     /**
      * Unparks axis. Axis will now be able to move.
      */
     async unpark() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/unpark', request);
     }
     /**
@@ -171,12 +187,16 @@ class Axis {
      * @returns True if the axis is currently parked. False otherwise.
      */
     async isParked() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/is_parked', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/is_parked', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Waits until axis stops moving.
@@ -184,11 +204,15 @@ class Axis {
      */
     async waitUntilIdle(options = {}) {
         const { throwErrorOnFault = true, } = options;
-        const request = new gateway.DeviceWaitUntilIdleRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setThrowErrorOnFault(throwErrorOnFault);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            throwErrorOnFault: throwErrorOnFault,
+            toBinary() {
+                return requests.DeviceWaitUntilIdleRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/wait_until_idle', request);
     }
     /**
@@ -196,24 +220,32 @@ class Axis {
      * @returns True if the axis is currently executing a motion command.
      */
     async isBusy() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/is_busy', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/is_busy', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns bool indicating whether the axis has position reference and was homed.
      * @returns True if the axis has position reference and was homed.
      */
     async isHomed() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/is_homed', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/is_homed', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Move axis to absolute position.
@@ -231,18 +263,22 @@ class Axis {
      */
     async moveAbsolute(position, unit = units_1.Units.NATIVE, options = {}) {
         const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
-        const request = new gateway.DeviceMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setType(gateway.DeviceMoveRequest.MoveType.ABS);
-        request.setArg(position);
-        request.setUnit(unit);
-        request.setWaitUntilIdle(waitUntilIdle);
-        request.setVelocity(velocity);
-        request.setVelocityUnit(velocityUnit);
-        request.setAcceleration(acceleration);
-        request.setAccelerationUnit(accelerationUnit);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            type: requests.AxisMoveType.ABS,
+            arg: position,
+            unit: unit,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.DeviceMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -259,16 +295,20 @@ class Axis {
      */
     async moveMax(options = {}) {
         const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
-        const request = new gateway.DeviceMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setType(gateway.DeviceMoveRequest.MoveType.MAX);
-        request.setWaitUntilIdle(waitUntilIdle);
-        request.setVelocity(velocity);
-        request.setVelocityUnit(velocityUnit);
-        request.setAcceleration(acceleration);
-        request.setAccelerationUnit(accelerationUnit);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            type: requests.AxisMoveType.MAX,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.DeviceMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -285,16 +325,20 @@ class Axis {
      */
     async moveMin(options = {}) {
         const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
-        const request = new gateway.DeviceMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setType(gateway.DeviceMoveRequest.MoveType.MIN);
-        request.setWaitUntilIdle(waitUntilIdle);
-        request.setVelocity(velocity);
-        request.setVelocityUnit(velocityUnit);
-        request.setAcceleration(acceleration);
-        request.setAccelerationUnit(accelerationUnit);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            type: requests.AxisMoveType.MIN,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.DeviceMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -313,18 +357,22 @@ class Axis {
      */
     async moveRelative(position, unit = units_1.Units.NATIVE, options = {}) {
         const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
-        const request = new gateway.DeviceMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setType(gateway.DeviceMoveRequest.MoveType.REL);
-        request.setArg(position);
-        request.setUnit(unit);
-        request.setWaitUntilIdle(waitUntilIdle);
-        request.setVelocity(velocity);
-        request.setVelocityUnit(velocityUnit);
-        request.setAcceleration(acceleration);
-        request.setAccelerationUnit(accelerationUnit);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            type: requests.AxisMoveType.REL,
+            arg: position,
+            unit: unit,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.DeviceMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -338,15 +386,19 @@ class Axis {
      */
     async moveVelocity(velocity, unit = units_1.Units.NATIVE, options = {}) {
         const { acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
-        const request = new gateway.DeviceMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setType(gateway.DeviceMoveRequest.MoveType.VEL);
-        request.setArg(velocity);
-        request.setUnit(unit);
-        request.setAcceleration(acceleration);
-        request.setAccelerationUnit(accelerationUnit);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            type: requests.AxisMoveType.VEL,
+            arg: velocity,
+            unit: unit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.DeviceMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -355,38 +407,50 @@ class Axis {
      * @returns Axis position.
      */
     async getPosition(unit = units_1.Units.NATIVE) {
-        const request = new gateway.DeviceGetSettingRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setSetting('pos');
-        request.setUnit(unit);
-        const response = await gateway.callAsync('device/get_setting', request, gateway.DoubleResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            setting: 'pos',
+            unit: unit,
+            toBinary() {
+                return requests.DeviceGetSettingRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/get_setting', request, requests.DoubleResponse.fromBinary);
+        return response.value;
     }
     /**
      * Gets number of index positions of the axis.
      * @returns Number of index positions.
      */
     async getNumberOfIndexPositions() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/get_index_count', request, gateway.IntResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/get_index_count', request, requests.IntResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns current axis index position.
      * @returns Index position starting from 1 or 0 if the position is not an index position.
      */
     async getIndexPosition() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/get_index_position', request, gateway.IntResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/get_index_position', request, requests.IntResponse.fromBinary);
+        return response.value;
     }
     /**
      * Moves the axis to index position.
@@ -403,17 +467,21 @@ class Axis {
      */
     async moveIndex(index, options = {}) {
         const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
-        const request = new gateway.DeviceMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setType(gateway.DeviceMoveRequest.MoveType.INDEX);
-        request.setArgInt(index);
-        request.setWaitUntilIdle(waitUntilIdle);
-        request.setVelocity(velocity);
-        request.setVelocityUnit(velocityUnit);
-        request.setAcceleration(acceleration);
-        request.setAccelerationUnit(accelerationUnit);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            type: requests.AxisMoveType.INDEX,
+            argInt: index,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.DeviceMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -427,15 +495,19 @@ class Axis {
      */
     async genericCommand(command, options = {}) {
         const { checkErrors = true, timeout = 0, } = options;
-        const request = new gateway.GenericCommandRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setCommand(command);
-        request.setCheckErrors(checkErrors);
-        request.setTimeout(timeout);
-        const response = await gateway.callAsync('interface/generic_command', request, gateway.GenericCommandResponse);
-        return response_1.Response.fromProtobuf(response.toObject());
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            command: command,
+            checkErrors: checkErrors,
+            timeout: timeout,
+            toBinary() {
+                return requests.GenericCommandRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('interface/generic_command', request, response_1.Response.fromBinary);
+        return response;
     }
     /**
      * Sends a generic ASCII command to this axis and expect multiple responses.
@@ -449,15 +521,19 @@ class Axis {
      */
     async genericCommandMultiResponse(command, options = {}) {
         const { checkErrors = true, timeout = 0, } = options;
-        const request = new gateway.GenericCommandRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setCommand(command);
-        request.setCheckErrors(checkErrors);
-        request.setTimeout(timeout);
-        const response = await gateway.callAsync('interface/generic_command_multi_response', request, gateway.GenericCommandResponseCollection);
-        return response.getResponsesList().map(a => response_1.Response.fromProtobuf(a.toObject()));
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            command: command,
+            checkErrors: checkErrors,
+            timeout: timeout,
+            toBinary() {
+                return requests.GenericCommandRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('interface/generic_command_multi_response', request, requests.GenericCommandResponseCollection.fromBinary);
+        return response.responses;
     }
     /**
      * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID
@@ -465,11 +541,15 @@ class Axis {
      * @param command Command and its parameters.
      */
     async genericCommandNoResponse(command) {
-        const request = new gateway.GenericCommandRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setCommand(command);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            command: command,
+            toBinary() {
+                return requests.GenericCommandRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('interface/generic_command_no_response', request);
     }
     /**
@@ -482,14 +562,18 @@ class Axis {
      * @returns Command with converted parameters.
      */
     prepareCommand(commandTemplate, ...parameters) {
-        const request = new gateway.PrepareCommandRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setCommandTemplate(commandTemplate);
-        request.setParametersList(parameters.map(measurement_1.Measurement.toProtobuf));
-        const response = gateway.callSync('device/prepare_command', request, gateway.StringResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            commandTemplate: commandTemplate,
+            parameters: parameters,
+            toBinary() {
+                return requests.PrepareCommandRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/prepare_command', request, requests.StringResponse.fromBinary);
+        return response.value;
     }
     /**
      * Sets the user-assigned peripheral label.
@@ -497,11 +581,15 @@ class Axis {
      * @param label Label to set.
      */
     async setLabel(label) {
-        const request = new gateway.DeviceSetStorageRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setValue(label);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            value: label,
+            toBinary() {
+                return requests.DeviceSetStorageRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/set_label', request);
     }
     /**
@@ -509,47 +597,63 @@ class Axis {
      * @returns The label.
      */
     _retrieveLabel() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = gateway.callSync('device/get_label', request, gateway.StringResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/get_label', request, requests.StringResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns a string that represents the axis.
      * @returns A string that represents the axis.
      */
     toString() {
-        const request = new gateway.AxisToStringRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = gateway.callSync('device/axis_to_string', request, gateway.StringResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisToStringRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/axis_to_string', request, requests.StringResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns a serialization of the current axis state that can be saved and reapplied.
      * @returns A serialization of the current state of the axis.
      */
     async getState() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/get_state', request, gateway.StringResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/get_state', request, requests.StringResponse.fromBinary);
+        return response.value;
     }
     /**
      * Applies a saved state to this axis.
      * @param state The state object to apply to this axis.
      */
     async setState(state) {
-        const request = new gateway.SetStateRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setState(state);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            state: state,
+            toBinary() {
+                return requests.SetStateRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/set_state', request);
     }
     /**
@@ -560,35 +664,48 @@ class Axis {
      * @returns An explanation of why this state cannot be set to this axis.
      */
     async canSetState(state) {
-        const request = new gateway.CanSetStateRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        request.setState(state);
-        const response = await gateway.callAsync('device/can_set_axis_state', request, gateway.CanSetStateAxisResponse);
-        return response.getError();
+        var _a;
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            state: state,
+            toBinary() {
+                return requests.CanSetStateRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/can_set_axis_state', request, requests.CanSetStateAxisResponse.fromBinary);
+        return (_a = response.error) !== null && _a !== void 0 ? _a : null;
     }
     /**
      * Returns identity.
      * @returns Axis identity.
      */
     _retrieveIdentity() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
-        const response = gateway.callSync('device/get_axis_identity', request, gateway.AxisIdentity);
-        return axis_identity_1.AxisIdentity.fromProtobuf(response.toObject());
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/get_axis_identity', request, axis_identity_1.AxisIdentity.fromBinary);
+        return response;
     }
     /**
      * Disables the driver, which prevents current from being sent to the motor or load.
      * If the driver is already disabled, the driver remains disabled.
      */
     async driverDisable() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/driver_disable', request);
     }
     /**
@@ -596,10 +713,14 @@ class Axis {
      * If the driver is already enabled, the driver remains enabled.
      */
     async driverEnable() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/driver_enable', request);
     }
     /**
@@ -608,10 +729,14 @@ class Axis {
      * Run the identify method on the device after activating to refresh the information.
      */
     async activate() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setAxis(this.axisNumber);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            axis: this.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/activate', request);
     }
 }