@zaber/motion 5.2.2 → 6.0.0

package/dist/lib/ascii/pvt_sequence.js

@@ -27,8 +27,7 @@ var __importStar = (this && this.__importStar) || function (mod) {
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.PvtSequence = void 0;
 const gateway = __importStar(require("../gateway"));
-const measurement_1 = require("../measurement");
-const pvt_axis_definition_1 = require("./pvt_axis_definition");
+const requests = __importStar(require("../requests"));
 /**
  * A handle for a PVT sequence with this number on the device.
  * PVT sequences provide a way execute or store trajectory
@@ -68,15 +67,19 @@ class PvtSequence {
     /**
      * Setup the PVT sequence to control the specified axes and to queue actions on the device.
      * Allows use of lockstep axes in a PVT sequence.
-     * @param axes Definition of the PVT sequence axes.
+     * @param pvtAxes Definition of the PVT sequence axes.
      */
-    async setupLiveComposite(...axes) {
-        const request = new gateway.StreamSetupLiveCompositeRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setAxesList(axes.map(pvt_axis_definition_1.PvtAxisDefinition.toProtobuf));
+    async setupLiveComposite(...pvtAxes) {
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            pvtAxes: pvtAxes,
+            toBinary() {
+                return requests.StreamSetupLiveCompositeRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_setup_live_composite', request);
     }
     /**
@@ -84,28 +87,36 @@ class PvtSequence {
      * @param axes Numbers of physical axes to setup the PVT sequence on.
      */
     async setupLive(...axes) {
-        const request = new gateway.StreamSetupLiveRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setAxesList(axes);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            axes: axes,
+            toBinary() {
+                return requests.StreamSetupLiveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_setup_live', request);
     }
     /**
      * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
      * Allows use of lockstep axes in a PVT sequence.
      * @param pvtBuffer The PVT buffer to queue actions in.
-     * @param axes Definition of the PVT sequence axes.
+     * @param pvtAxes Definition of the PVT sequence axes.
      */
-    async setupStoreComposite(pvtBuffer, ...axes) {
-        const request = new gateway.StreamSetupStoreCompositeRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setPvtBuffer(pvtBuffer.bufferId);
-        request.setAxesList(axes.map(pvt_axis_definition_1.PvtAxisDefinition.toProtobuf));
+    async setupStoreComposite(pvtBuffer, ...pvtAxes) {
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            pvtBuffer: pvtBuffer.bufferId,
+            pvtAxes: pvtAxes,
+            toBinary() {
+                return requests.StreamSetupStoreCompositeRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_setup_store_composite', request);
     }
     /**
@@ -114,13 +125,17 @@ class PvtSequence {
      * @param axes Numbers of physical axes to setup the PVT sequence on.
      */
     async setupStore(pvtBuffer, ...axes) {
-        const request = new gateway.StreamSetupStoreRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setPvtBuffer(pvtBuffer.bufferId);
-        request.setAxesList(axes);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            pvtBuffer: pvtBuffer.bufferId,
+            axes: axes,
+            toBinary() {
+                return requests.StreamSetupStoreRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_setup_store', request);
     }
     /**
@@ -128,12 +143,16 @@ class PvtSequence {
      * @param pvtBuffer The PVT buffer to call.
      */
     async call(pvtBuffer) {
-        const request = new gateway.StreamCallRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setPvtBuffer(pvtBuffer.bufferId);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            pvtBuffer: pvtBuffer.bufferId,
+            toBinary() {
+                return requests.StreamCallRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_call', request);
     }
     /**
@@ -147,15 +166,19 @@ class PvtSequence {
      * @param time The duration between the previous point in the sequence and this one.
      */
     async point(positions, velocities, time) {
-        const request = new gateway.PvtPointRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setType(gateway.PvtPointRequest.Type.ABS);
-        request.setPositionsList(positions.map(measurement_1.Measurement.toProtobuf));
-        request.setVelocitiesList(velocities.map(measurement_1.Measurement.toProtobuf));
-        request.setTime(measurement_1.Measurement.toProtobuf(time));
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            type: requests.StreamSegmentType.ABS,
+            positions: positions,
+            velocities: velocities,
+            time: time,
+            toBinary() {
+                return requests.PvtPointRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_point', request);
     }
     /**
@@ -169,15 +192,19 @@ class PvtSequence {
      * @param time The duration between the previous point in the sequence and this one.
      */
     async pointRelative(positions, velocities, time) {
-        const request = new gateway.PvtPointRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setType(gateway.PvtPointRequest.Type.REL);
-        request.setPositionsList(positions.map(measurement_1.Measurement.toProtobuf));
-        request.setVelocitiesList(velocities.map(measurement_1.Measurement.toProtobuf));
-        request.setTime(measurement_1.Measurement.toProtobuf(time));
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            type: requests.StreamSegmentType.REL,
+            positions: positions,
+            velocities: velocities,
+            time: time,
+            toBinary() {
+                return requests.PvtPointRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_point', request);
     }
     /**
@@ -187,13 +214,17 @@ class PvtSequence {
      * @param value The type of action to perform on the channel.
      */
     async setDigitalOutput(channelNumber, value) {
-        const request = new gateway.StreamSetDigitalOutputRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setChannelNumber(channelNumber);
-        request.setValue(value);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            channelNumber: channelNumber,
+            value: value,
+            toBinary() {
+                return requests.StreamSetDigitalOutputRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_set_digital_output', request);
     }
     /**
@@ -203,13 +234,17 @@ class PvtSequence {
      * @param value The value to set the channel to, in Volts.
      */
     async setAnalogOutput(channelNumber, value) {
-        const request = new gateway.StreamSetAnalogOutputRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setChannelNumber(channelNumber);
-        request.setValue(value);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            channelNumber: channelNumber,
+            value: value,
+            toBinary() {
+                return requests.StreamSetAnalogOutputRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_set_analog_output', request);
     }
     /**
@@ -217,12 +252,16 @@ class PvtSequence {
      * @param values The type of action to perform on the channel.
      */
     async setAllDigitalOutputs(values) {
-        const request = new gateway.StreamSetAllDigitalOutputsRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setValuesList(values);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            values: values,
+            toBinary() {
+                return requests.StreamSetAllDigitalOutputsRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_set_all_digital_outputs', request);
     }
     /**
@@ -230,12 +269,16 @@ class PvtSequence {
      * @param values The values to set the output channels to, in Volts.
      */
     async setAllAnalogOutputs(values) {
-        const request = new gateway.StreamSetAllAnalogOutputsRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setValuesList(values);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            values: values,
+            toBinary() {
+                return requests.StreamSetAllAnalogOutputsRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_set_all_analog_outputs', request);
     }
     /**
@@ -244,12 +287,16 @@ class PvtSequence {
      */
     async waitUntilIdle(options = {}) {
         const { throwErrorOnFault = true, } = options;
-        const request = new gateway.StreamWaitUntilIdleRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setThrowErrorOnFault(throwErrorOnFault);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            throwErrorOnFault: throwErrorOnFault,
+            toBinary() {
+                return requests.StreamWaitUntilIdleRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_wait_until_idle', request);
     }
     /**
@@ -259,11 +306,15 @@ class PvtSequence {
      * You can only cork an idle live PVT sequence.
      */
     async cork() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_cork', request);
     }
     /**
@@ -271,11 +322,15 @@ class PvtSequence {
      * You can only uncork an idle live PVT sequence that is corked.
      */
     async uncork() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_uncork', request);
     }
     /**
@@ -283,26 +338,34 @@ class PvtSequence {
      * @returns True if the PVT sequence is executing a queued action.
      */
     async isBusy() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        const response = await gateway.callAsync('device/stream_is_busy', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/stream_is_busy', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns a string which represents the PVT sequence.
      * @returns String which represents the PVT sequence.
      */
     toString() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        const response = gateway.callSync('device/stream_to_string', request, gateway.StringResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/stream_to_string', request, requests.StringResponse.fromBinary);
+        return response.value;
     }
     /**
      * Disables the PVT sequence.
@@ -311,11 +374,15 @@ class PvtSequence {
      * The PVT sequence will process the rest of the commands in the queue until it is empty.
      */
     async disable() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_disable', request);
     }
     /**
@@ -324,12 +391,16 @@ class PvtSequence {
      * @param command Command and its parameters.
      */
     async genericCommand(command) {
-        const request = new gateway.StreamGenericCommandRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setCommand(command);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            command: command,
+            toBinary() {
+                return requests.StreamGenericCommandRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_generic_command', request);
     }
     /**
@@ -339,12 +410,16 @@ class PvtSequence {
      * @param batch Array of commands.
      */
     async genericCommandBatch(batch) {
-        const request = new gateway.StreamGenericCommandBatchRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        request.setBatchList(batch);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            batch: batch,
+            toBinary() {
+                return requests.StreamGenericCommandBatchRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('device/stream_generic_command_batch', request);
     }
     /**
@@ -354,34 +429,46 @@ class PvtSequence {
      * @returns True if the PVT sequence is disabled.
      */
     async checkDisabled() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        const response = await gateway.callAsync('device/stream_check_disabled', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/stream_check_disabled', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).
      */
     treatDiscontinuitiesAsError() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
         gateway.callSync('device/stream_treat_discontinuities', request);
     }
     /**
      * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.
      */
     ignoreCurrentDiscontinuity() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
         gateway.callSync('device/stream_ignore_discontinuity', request);
     }
     /**
@@ -389,26 +476,34 @@ class PvtSequence {
      * @returns An array of axis numbers of the axes the PVT sequence is set up to control.
      */
     _retrieveAxes() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        const response = gateway.callSync('device/stream_get_axes', request, gateway.StreamGetAxesResponse);
-        return response.getAxesList().map(a => pvt_axis_definition_1.PvtAxisDefinition.fromProtobuf(a.toObject()));
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/stream_get_axes', request, requests.StreamGetAxesResponse.fromBinary);
+        return response.pvtAxes;
     }
     /**
      * Get the mode of the PVT sequence.
      * @returns Mode of the PVT sequence.
      */
     _retrieveMode() {
-        const request = new gateway.StreamEmptyRequest();
-        request.setInterfaceId(this.device.connection.interfaceId);
-        request.setDevice(this.device.deviceAddress);
-        request.setStreamId(this.pvtId);
-        request.setPvt(true);
-        const response = gateway.callSync('device/stream_get_mode', request, gateway.IntResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            toBinary() {
+                return requests.StreamEmptyRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('device/stream_get_mode', request, requests.StreamModeResponse.fromBinary);
+        return response.pvtMode;
     }
 }
 exports.PvtSequence = PvtSequence;