@zaber/motion 5.2.2 → 6.0.0

package/dist/lib/ascii/lockstep.js

@@ -28,6 +28,7 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.Lockstep = void 0;
 const units_1 = require("../units");
 const gateway = __importStar(require("../gateway"));
+const requests = __importStar(require("../requests"));
 const lockstep_axes_1 = require("./lockstep_axes");
 /**
  * Represents a lockstep group with this ID on a device.
@@ -56,21 +57,29 @@ class Lockstep {
      * @param axes The numbers of axes in the lockstep group.
      */
     async enable(...axes) {
-        const request = new gateway.LockstepEnableRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setAxesList(axes);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            axes: axes,
+            toBinary() {
+                return requests.LockstepEnableRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_enable', request);
     }
     /**
      * Disable the lockstep group.
      */
     async disable() {
-        const request = new gateway.LockstepDisableRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            toBinary() {
+                return requests.LockstepDisableRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_disable', request);
     }
     /**
@@ -79,11 +88,15 @@ class Lockstep {
      */
     async stop(options = {}) {
         const { waitUntilIdle = true, } = options;
-        const request = new gateway.LockstepStopRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setWaitUntilIdle(waitUntilIdle);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            waitUntilIdle: waitUntilIdle,
+            toBinary() {
+                return requests.LockstepStopRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_stop', request);
     }
     /**
@@ -92,11 +105,15 @@ class Lockstep {
      */
     async home(options = {}) {
         const { waitUntilIdle = true, } = options;
-        const request = new gateway.LockstepHomeRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setWaitUntilIdle(waitUntilIdle);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            waitUntilIdle: waitUntilIdle,
+            toBinary() {
+                return requests.LockstepHomeRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_home', request);
     }
     /**
@@ -116,18 +133,22 @@ class Lockstep {
      */
     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.LockstepMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setType(gateway.LockstepMoveRequest.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,
+            lockstepGroupId: this.lockstepGroupId,
+            type: requests.AxisMoveType.ABS,
+            arg: position,
+            unit: unit,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.LockstepMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -147,18 +168,22 @@ class Lockstep {
      */
     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.LockstepMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setType(gateway.LockstepMoveRequest.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,
+            lockstepGroupId: this.lockstepGroupId,
+            type: requests.AxisMoveType.REL,
+            arg: position,
+            unit: unit,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.LockstepMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -173,15 +198,19 @@ class Lockstep {
      */
     async moveVelocity(velocity, unit = units_1.Units.NATIVE, options = {}) {
         const { acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
-        const request = new gateway.LockstepMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setType(gateway.LockstepMoveRequest.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,
+            lockstepGroupId: this.lockstepGroupId,
+            type: requests.AxisMoveType.VEL,
+            arg: velocity,
+            unit: unit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.LockstepMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -200,16 +229,20 @@ class Lockstep {
      */
     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.LockstepMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setType(gateway.LockstepMoveRequest.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,
+            lockstepGroupId: this.lockstepGroupId,
+            type: requests.AxisMoveType.MAX,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.LockstepMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -228,16 +261,20 @@ class Lockstep {
      */
     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.LockstepMoveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setType(gateway.LockstepMoveRequest.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,
+            lockstepGroupId: this.lockstepGroupId,
+            type: requests.AxisMoveType.MIN,
+            waitUntilIdle: waitUntilIdle,
+            velocity: velocity,
+            velocityUnit: velocityUnit,
+            acceleration: acceleration,
+            accelerationUnit: accelerationUnit,
+            toBinary() {
+                return requests.LockstepMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -246,11 +283,15 @@ class Lockstep {
      */
     async waitUntilIdle(options = {}) {
         const { throwErrorOnFault = true, } = options;
-        const request = new gateway.LockstepWaitUntilIdleRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setThrowErrorOnFault(throwErrorOnFault);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            throwErrorOnFault: throwErrorOnFault,
+            toBinary() {
+                return requests.LockstepWaitUntilIdleRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_wait_until_idle', request);
     }
     /**
@@ -258,12 +299,16 @@ class Lockstep {
      * @returns True if the axes are currently executing a motion command.
      */
     async isBusy() {
-        const request = new gateway.LockstepEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        const response = await gateway.callAsync('device/lockstep_is_busy', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            toBinary() {
+                return requests.LockstepEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/lockstep_is_busy', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * @deprecated Use GetAxisNumbers instead.
@@ -272,24 +317,32 @@ class Lockstep {
      * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.
      */
     async getAxes() {
-        const request = new gateway.LockstepEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        const response = await gateway.callAsync('device/lockstep_get_axes', request, gateway.LockstepAxes);
-        return lockstep_axes_1.LockstepAxes.fromProtobuf(response.toObject());
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            toBinary() {
+                return requests.LockstepEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/lockstep_get_axes', request, lockstep_axes_1.LockstepAxes.fromBinary);
+        return response;
     }
     /**
      * Gets the axis numbers of the lockstep group.
      * @returns Axis numbers in order specified when enabling lockstep.
      */
     async getAxisNumbers() {
-        const request = new gateway.LockstepEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        const response = await gateway.callAsync('device/lockstep_get_axis_numbers', request, gateway.LockstepGetAxisNumbersResponse);
-        return response.getAxesList();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            toBinary() {
+                return requests.LockstepEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/lockstep_get_axis_numbers', request, requests.LockstepGetAxisNumbersResponse.fromBinary);
+        return response.axes;
     }
     /**
      * Gets the initial offsets of secondary axes of an enabled lockstep group.
@@ -298,13 +351,17 @@ class Lockstep {
      * @returns Initial offset for each axis of the lockstep group.
      */
     async getOffsets(unit = units_1.Units.NATIVE) {
-        const request = new gateway.LockstepGetRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setUnit(unit);
-        const response = await gateway.callAsync('device/lockstep_get_offsets', request, gateway.DoubleArrayResponse);
-        return response.getValuesList();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            unit: unit,
+            toBinary() {
+                return requests.LockstepGetRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/lockstep_get_offsets', request, requests.DoubleArrayResponse.fromBinary);
+        return response.values;
     }
     /**
      * Gets the twists of secondary axes of an enabled lockstep group.
@@ -313,13 +370,17 @@ class Lockstep {
      * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.
      */
     async getTwists(unit = units_1.Units.NATIVE) {
-        const request = new gateway.LockstepGetRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setUnit(unit);
-        const response = await gateway.callAsync('device/lockstep_get_twists', request, gateway.DoubleArrayResponse);
-        return response.getValuesList();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            unit: unit,
+            toBinary() {
+                return requests.LockstepGetRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/lockstep_get_twists', request, requests.DoubleArrayResponse.fromBinary);
+        return response.values;
     }
     /**
      * Returns current position of the primary axis.
@@ -327,13 +388,17 @@ class Lockstep {
      * @returns Primary axis position.
      */
     async getPosition(unit = units_1.Units.NATIVE) {
-        const request = new gateway.LockstepGetRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setUnit(unit);
-        const response = await gateway.callAsync('device/lockstep_get_pos', request, gateway.DoubleResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            unit: unit,
+            toBinary() {
+                return requests.LockstepGetRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/lockstep_get_pos', request, requests.DoubleResponse.fromBinary);
+        return response.value;
     }
     /**
      * Sets lockstep twist tolerance.
@@ -347,13 +412,17 @@ class Lockstep {
      */
     async setTolerance(tolerance, unit = units_1.Units.NATIVE, options = {}) {
         const { axisIndex = 0, } = options;
-        const request = new gateway.LockstepSetRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        request.setValue(tolerance);
-        request.setUnit(unit);
-        request.setAxisIndex(axisIndex);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            value: tolerance,
+            unit: unit,
+            axisIndex: axisIndex,
+            toBinary() {
+                return requests.LockstepSetRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/lockstep_set_tolerance', request);
     }
     /**
@@ -361,24 +430,32 @@ class Lockstep {
      * @returns True if a lockstep group with this ID is enabled on the device.
      */
     async isEnabled() {
-        const request = new gateway.LockstepEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        const response = await gateway.callAsync('device/lockstep_is_enabled', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            toBinary() {
+                return requests.LockstepEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/lockstep_is_enabled', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns a string which represents the enabled lockstep group.
      * @returns String which represents the enabled lockstep group.
      */
     toString() {
-        const request = new gateway.LockstepEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setLockstepGroupId(this.lockstepGroupId);
-        const response = gateway.callSync('device/lockstep_to_string', request, gateway.StringResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            toBinary() {
+                return requests.LockstepEmptyRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/lockstep_to_string', request, requests.StringResponse.fromBinary);
+        return response.value;
     }
 }
 exports.Lockstep = Lockstep;

package/dist/lib/ascii/lockstep.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 { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport * as gateway from '../gateway';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request = new gateway.LockstepEnableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request = new gateway.LockstepDisableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group 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: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.LockstepStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\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: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.LockstepHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.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.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.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/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.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.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.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/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\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: Lockstep.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.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.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/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\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: Lockstep.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.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.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/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request = new gateway.LockstepWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepAxes>(\n      'device/lockstep_get_axes',\n      request,\n      gateway.LockstepAxes);\n    return LockstepAxes.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      gateway.LockstepGetAxisNumbersResponse);\n    return response.getAxesList();\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleArrayResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      gateway.DoubleArrayResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleArrayResponse>(\n      'device/lockstep_get_twists',\n      request,\n      gateway.DoubleArrayResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns current position of the primary axis.\n   * @param [unit=Units.NATIVE] Units of the position.\n   * @returns Primary axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.LockstepGetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/lockstep_get_pos',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets lockstep twist tolerance.\n   * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n   * @param tolerance Twist tolerance.\n   * @param [unit=Units.NATIVE] Units of the tolerance.\n   * Uses primary axis unit conversion when setting to all axes,\n   * otherwise uses specified secondary axis unit conversion.\n   * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n   * If left empty or set to 0, the tolerance is set to all the secondary axes.\n   */\n  public async setTolerance(\n    tolerance: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.SetToleranceOptions = {}\n  ): Promise<void> {\n    const {\n      axisIndex = 0,\n    } = options;\n    const request = new gateway.LockstepSetRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setValue(tolerance);\n    request.setUnit(unit);\n    request.setAxisIndex(axisIndex);\n\n    await gateway.callAsync('device/lockstep_set_tolerance', request);\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request = new gateway.LockstepEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n}\n\nnamespace Lockstep {\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      waitUntilIdle?: 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 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 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 WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n  export interface SetToleranceOptions {\n      axisIndex?: 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 { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: Partial<requests.LockstepEnableRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      axes: axes,\n      toBinary() {\n        return requests.LockstepEnableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request: Partial<requests.LockstepDisableRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepDisableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group 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: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: Partial<requests.LockstepStopRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\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: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: Partial<requests.LockstepHomeRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.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: Partial<requests.LockstepMoveRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.ABS,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.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: Partial<requests.LockstepMoveRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.REL,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: Partial<requests.LockstepMoveRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.VEL,\n      arg: velocity,\n      unit: unit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\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: Lockstep.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: Partial<requests.LockstepMoveRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.MAX,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\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: Lockstep.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: Partial<requests.LockstepMoveRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.MIN,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: Partial<requests.LockstepWaitUntilIdleRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.LockstepWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: Partial<requests.LockstepEmptyRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request: Partial<requests.LockstepEmptyRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<LockstepAxes>(\n      'device/lockstep_get_axes',\n      request,\n      LockstepAxes.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request: Partial<requests.LockstepEmptyRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      requests.LockstepGetAxisNumbersResponse.fromBinary);\n    return response.axes;\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: Partial<requests.LockstepGetRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: Partial<requests.LockstepGetRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_twists',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Returns current position of the primary axis.\n   * @param [unit=Units.NATIVE] Units of the position.\n   * @returns Primary axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request: Partial<requests.LockstepGetRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'device/lockstep_get_pos',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets lockstep twist tolerance.\n   * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n   * @param tolerance Twist tolerance.\n   * @param [unit=Units.NATIVE] Units of the tolerance.\n   * Uses primary axis unit conversion when setting to all axes,\n   * otherwise uses specified secondary axis unit conversion.\n   * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n   * If left empty or set to 0, the tolerance is set to all the secondary axes.\n   */\n  public async setTolerance(\n    tolerance: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.SetToleranceOptions = {}\n  ): Promise<void> {\n    const {\n      axisIndex = 0,\n    } = options;\n    const request: Partial<requests.LockstepSetRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      value: tolerance,\n      unit: unit,\n      axisIndex: axisIndex,\n      toBinary() {\n        return requests.LockstepSetRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_set_tolerance', request);\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request: Partial<requests.LockstepEmptyRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request: Partial<requests.LockstepEmptyRequest> & gateway.Message = {\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Lockstep {\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      waitUntilIdle?: 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 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 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 WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n  export interface SetToleranceOptions {\n      axisIndex?: number;\n  }\n}\n"]}