npm - @zaber/motion - Versions diffs - 5.2.2 → 6.0.0 - Mend

@zaber/motion 5.2.2 → 6.0.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (1614) hide show

package/dist/lib/ascii/pvt_sequence.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/*\n A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n /\nexport class PvtSequence {\n /\n Device that controls this PVT sequence.\n /\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /\n The number that identifies the PVT sequence on the device.\n /\n public get pvtId(): number {\n return this._pvtId;\n }\n private _pvtId: number;\n\n /\n Current mode of the PVT sequence.\n /\n public get mode(): PvtMode {\n return this._retrieveMode();\n }\n\n /\n An array of axes definitions the PVT sequence is set up to control.\n /\n public get axes(): PvtAxisDefinition[] {\n return this._retrieveAxes();\n }\n\n constructor(device: Device, pvtId: number) {\n this._device = device;\n this._pvtId = pvtId;\n }\n\n /\n Setup the PVT sequence to control the specified axes and to queue actions on the device.\n * Allows use of lockstep axes in a PVT sequence.\n * @param axes Definition of the PVT sequence axes.\n /\n public async setupLiveComposite(\n ...axes: PvtAxisDefinition[]\n ): Promise<void> {\n const request = new gateway.StreamSetupLiveCompositeRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setAxesList(axes.map(PvtAxisDefinition.toProtobuf));\n\n await gateway.callAsync('device/stream_setup_live_composite', request);\n }\n\n /\n Setup the PVT sequence to control the specified axes and to queue actions on the device.\n * @param axes Numbers of physical axes to setup the PVT sequence on.\n /\n public async setupLive(\n ...axes: number[]\n ): Promise<void> {\n const request = new gateway.StreamSetupLiveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setAxesList(axes);\n\n await gateway.callAsync('device/stream_setup_live', request);\n }\n\n /\n Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n * Allows use of lockstep axes in a PVT sequence.\n * @param pvtBuffer The PVT buffer to queue actions in.\n * @param axes Definition of the PVT sequence axes.\n /\n public async setupStoreComposite(\n pvtBuffer: PvtBuffer,\n ...axes: PvtAxisDefinition[]\n ): Promise<void> {\n const request = new gateway.StreamSetupStoreCompositeRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setPvtBuffer(pvtBuffer.bufferId);\n request.setAxesList(axes.map(PvtAxisDefinition.toProtobuf));\n\n await gateway.callAsync('device/stream_setup_store_composite', request);\n }\n\n /\n Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n * @param pvtBuffer The PVT buffer to queue actions in.\n * @param axes Numbers of physical axes to setup the PVT sequence on.\n /\n public async setupStore(\n pvtBuffer: PvtBuffer,\n ...axes: number[]\n ): Promise<void> {\n const request = new gateway.StreamSetupStoreRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setPvtBuffer(pvtBuffer.bufferId);\n request.setAxesList(axes);\n\n await gateway.callAsync('device/stream_setup_store', request);\n }\n\n /\n Append the actions in a PVT buffer to the sequence's queue.\n * @param pvtBuffer The PVT buffer to call.\n /\n public async call(\n pvtBuffer: PvtBuffer\n ): Promise<void> {\n const request = new gateway.StreamCallRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setPvtBuffer(pvtBuffer.bufferId);\n\n await gateway.callAsync('device/stream_call', request);\n }\n\n /\n Queues a point with absolute coordinates in the PVT sequence.\n * If some or all velocities are not provided, the sequence calculates the velocities\n * from surrounding points using finite difference.\n * The last point of the sequence must have defined velocity (likely zero).\n * @param positions Positions for the axes to move through, relative to their home positions.\n * @param velocities The axes velocities at the given point.\n * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n * @param time The duration between the previous point in the sequence and this one.\n /\n public async point(\n positions: Measurement[],\n velocities: (Measurement \| null)[],\n time: Measurement\n ): Promise<void> {\n const request = new gateway.PvtPointRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setType(gateway.PvtPointRequest.Type.ABS);\n request.setPositionsList(positions.map(Measurement.toProtobuf));\n request.setVelocitiesList(velocities.map(Measurement.toProtobuf));\n request.setTime(Measurement.toProtobuf(time));\n\n await gateway.callAsync('device/stream_point', request);\n }\n\n /\n Queues a point with coordinates relative to the previous point in the PVT sequence.\n * If some or all velocities are not provided, the sequence calculates the velocities\n * from surrounding points using finite difference.\n * The last point of the sequence must have defined velocity (likely zero).\n * @param positions Positions for the axes to move through, relative to the previous point.\n * @param velocities The axes velocities at the given point.\n * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n * @param time The duration between the previous point in the sequence and this one.\n /\n public async pointRelative(\n positions: Measurement[],\n velocities: (Measurement \| null)[],\n time: Measurement\n ): Promise<void> {\n const request = new gateway.PvtPointRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setType(gateway.PvtPointRequest.Type.REL);\n request.setPositionsList(positions.map(Measurement.toProtobuf));\n request.setVelocitiesList(velocities.map(Measurement.toProtobuf));\n request.setTime(Measurement.toProtobuf(time));\n\n await gateway.callAsync('device/stream_point', request);\n }\n\n /\n Set the value of a digital output channel.\n * @param channelNumber The number of the digital output channel.\n * Channel numbers are numbered from one.\n * @param value The type of action to perform on the channel.\n /\n public async setDigitalOutput(\n channelNumber: number,\n value: DigitalOutputAction\n ): Promise<void> {\n const request = new gateway.StreamSetDigitalOutputRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setChannelNumber(channelNumber);\n request.setValue(value as any);\n\n await gateway.callAsync('device/stream_set_digital_output', request);\n }\n\n /\n Set the value of an analog output channel.\n * @param channelNumber The number of the analog output channel.\n * Channel numbers are numbered from one.\n * @param value The value to set the channel to, in Volts.\n /\n public async setAnalogOutput(\n channelNumber: number,\n value: number\n ): Promise<void> {\n const request = new gateway.StreamSetAnalogOutputRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setChannelNumber(channelNumber);\n request.setValue(value);\n\n await gateway.callAsync('device/stream_set_analog_output', request);\n }\n\n /\n Sets values for all digital output channels.\n * @param values The type of action to perform on the channel.\n /\n public async setAllDigitalOutputs(\n values: DigitalOutputAction[]\n ): Promise<void> {\n const request = new gateway.StreamSetAllDigitalOutputsRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setValuesList(values as any);\n\n await gateway.callAsync('device/stream_set_all_digital_outputs', request);\n }\n\n /\n Sets values for all analog output channels.\n * @param values The values to set the output channels to, in Volts.\n /\n public async setAllAnalogOutputs(\n values: number[]\n ): Promise<void> {\n const request = new gateway.StreamSetAllAnalogOutputsRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setValuesList(values);\n\n await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n }\n\n /\n Waits until the live PVT sequence executes all queued actions.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n /\n public async waitUntilIdle(\n options: PvtSequence.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request = new gateway.StreamWaitUntilIdleRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setThrowErrorOnFault(throwErrorOnFault);\n\n await gateway.callAsync('device/stream_wait_until_idle', request);\n }\n\n /\n Cork the front of the PVT sequences's action queue, blocking execution.\n * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n * You can only cork an idle live PVT sequence.\n /\n public async cork(): Promise<void> {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n await gateway.callAsync('device/stream_cork', request);\n }\n\n /\n Uncork the front of the queue, unblocking command execution.\n * You can only uncork an idle live PVT sequence that is corked.\n /\n public async uncork(): Promise<void> {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n await gateway.callAsync('device/stream_uncork', request);\n }\n\n /\n Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n * @returns True if the PVT sequence is executing a queued action.\n /\n public async isBusy(): Promise<boolean> {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/stream_is_busy',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /\n Returns a string which represents the PVT sequence.\n * @returns String which represents the PVT sequence.\n /\n public toString(): string {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/stream_to_string',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /\n Disables the PVT sequence.\n * If the PVT sequence is not setup, this command does nothing.\n * Once disabled, the PVT sequence will no longer accept PVT commands.\n * The PVT sequence will process the rest of the commands in the queue until it is empty.\n /\n public async disable(): Promise<void> {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n await gateway.callAsync('device/stream_disable', request);\n }\n\n /\n Sends a generic ASCII command to the PVT sequence.\n * Keeps resending the command while the device rejects with AGAIN reason.\n * @param command Command and its parameters.\n /\n public async genericCommand(\n command: string\n ): Promise<void> {\n const request = new gateway.StreamGenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setCommand(command);\n\n await gateway.callAsync('device/stream_generic_command', request);\n }\n\n /\n Sends a batch of generic ASCII commands to the PVT sequence.\n * Keeps resending command while the device rejects with AGAIN reason.\n * The batch is atomic in terms of thread safety.\n * @param batch Array of commands.\n /\n public async genericCommandBatch(\n batch: string[]\n ): Promise<void> {\n const request = new gateway.StreamGenericCommandBatchRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n request.setBatchList(batch);\n\n await gateway.callAsync('device/stream_generic_command_batch', request);\n }\n\n /\n Queries the PVT sequence status from the device\n * and returns boolean indicating whether the PVT sequence is disabled.\n * Useful to determine if execution was interrupted by other movements.\n * @returns True if the PVT sequence is disabled.\n /\n public async checkDisabled(): Promise<boolean> {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/stream_check_disabled',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /\n Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n /\n public treatDiscontinuitiesAsError(): void {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n gateway.callSync('device/stream_treat_discontinuities', request);\n }\n\n /\n Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n /\n public ignoreCurrentDiscontinuity(): void {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n gateway.callSync('device/stream_ignore_discontinuity', request);\n }\n\n /\n Gets the axes of the PVT sequence.\n * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n /\n private _retrieveAxes(): PvtAxisDefinition[] {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n const response = gateway.callSync<gateway.StreamGetAxesResponse>(\n 'device/stream_get_axes',\n request,\n gateway.StreamGetAxesResponse);\n return response.getAxesList().map(a => PvtAxisDefinition.fromProtobuf(a.toObject()));\n }\n\n /\n Get the mode of the PVT sequence.\n * @returns Mode of the PVT sequence.\n */\n private _retrieveMode(): PvtMode {\n const request = new gateway.StreamEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setStreamId(this.pvtId);\n request.setPvt(true);\n\n const response = gateway.callSync<gateway.IntResponse>(\n 'device/stream_get_mode',\n request,\n gateway.IntResponse);\n return response.getValue();\n }\n}\n\nnamespace PvtSequence {\n export interface WaitUntilIdleOptions {\n throwErrorOnFault?: boolean;\n }\n}\n"]}
1	+ 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/*\n A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n /\nexport class PvtSequence {\n /\n Device that controls this PVT sequence.\n /\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /\n The number that identifies the PVT sequence on the device.\n /\n public get pvtId(): number {\n return this._pvtId;\n }\n private _pvtId: number;\n\n /\n Current mode of the PVT sequence.\n /\n public get mode(): PvtMode {\n return this._retrieveMode();\n }\n\n /\n An array of axes definitions the PVT sequence is set up to control.\n /\n public get axes(): PvtAxisDefinition[] {\n return this._retrieveAxes();\n }\n\n constructor(device: Device, pvtId: number) {\n this._device = device;\n this._pvtId = pvtId;\n }\n\n /\n Setup the PVT sequence to control the specified axes and to queue actions on the device.\n * Allows use of lockstep axes in a PVT sequence.\n * @param pvtAxes Definition of the PVT sequence axes.\n /\n public async setupLiveComposite(\n ...pvtAxes: PvtAxisDefinition[]\n ): Promise<void> {\n const request: Partial<requests.StreamSetupLiveCompositeRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n pvtAxes: pvtAxes,\n toBinary() {\n return requests.StreamSetupLiveCompositeRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_setup_live_composite', request);\n }\n\n /\n Setup the PVT sequence to control the specified axes and to queue actions on the device.\n * @param axes Numbers of physical axes to setup the PVT sequence on.\n /\n public async setupLive(\n ...axes: number[]\n ): Promise<void> {\n const request: Partial<requests.StreamSetupLiveRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n axes: axes,\n toBinary() {\n return requests.StreamSetupLiveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_setup_live', request);\n }\n\n /\n Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n * Allows use of lockstep axes in a PVT sequence.\n * @param pvtBuffer The PVT buffer to queue actions in.\n * @param pvtAxes Definition of the PVT sequence axes.\n /\n public async setupStoreComposite(\n pvtBuffer: PvtBuffer,\n ...pvtAxes: PvtAxisDefinition[]\n ): Promise<void> {\n const request: Partial<requests.StreamSetupStoreCompositeRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n pvtBuffer: pvtBuffer.bufferId,\n pvtAxes: pvtAxes,\n toBinary() {\n return requests.StreamSetupStoreCompositeRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_setup_store_composite', request);\n }\n\n /\n Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n * @param pvtBuffer The PVT buffer to queue actions in.\n * @param axes Numbers of physical axes to setup the PVT sequence on.\n /\n public async setupStore(\n pvtBuffer: PvtBuffer,\n ...axes: number[]\n ): Promise<void> {\n const request: Partial<requests.StreamSetupStoreRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n pvtBuffer: pvtBuffer.bufferId,\n axes: axes,\n toBinary() {\n return requests.StreamSetupStoreRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_setup_store', request);\n }\n\n /\n Append the actions in a PVT buffer to the sequence's queue.\n * @param pvtBuffer The PVT buffer to call.\n /\n public async call(\n pvtBuffer: PvtBuffer\n ): Promise<void> {\n const request: Partial<requests.StreamCallRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n pvtBuffer: pvtBuffer.bufferId,\n toBinary() {\n return requests.StreamCallRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_call', request);\n }\n\n /\n Queues a point with absolute coordinates in the PVT sequence.\n * If some or all velocities are not provided, the sequence calculates the velocities\n * from surrounding points using finite difference.\n * The last point of the sequence must have defined velocity (likely zero).\n * @param positions Positions for the axes to move through, relative to their home positions.\n * @param velocities The axes velocities at the given point.\n * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n * @param time The duration between the previous point in the sequence and this one.\n /\n public async point(\n positions: Measurement[],\n velocities: (Measurement \| null)[],\n time: Measurement\n ): Promise<void> {\n const request: Partial<requests.PvtPointRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n type: requests.StreamSegmentType.ABS,\n positions: positions,\n velocities: velocities,\n time: time,\n toBinary() {\n return requests.PvtPointRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_point', request);\n }\n\n /\n Queues a point with coordinates relative to the previous point in the PVT sequence.\n * If some or all velocities are not provided, the sequence calculates the velocities\n * from surrounding points using finite difference.\n * The last point of the sequence must have defined velocity (likely zero).\n * @param positions Positions for the axes to move through, relative to the previous point.\n * @param velocities The axes velocities at the given point.\n * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n * @param time The duration between the previous point in the sequence and this one.\n /\n public async pointRelative(\n positions: Measurement[],\n velocities: (Measurement \| null)[],\n time: Measurement\n ): Promise<void> {\n const request: Partial<requests.PvtPointRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n type: requests.StreamSegmentType.REL,\n positions: positions,\n velocities: velocities,\n time: time,\n toBinary() {\n return requests.PvtPointRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_point', request);\n }\n\n /\n Set the value of a digital output channel.\n * @param channelNumber The number of the digital output channel.\n * Channel numbers are numbered from one.\n * @param value The type of action to perform on the channel.\n /\n public async setDigitalOutput(\n channelNumber: number,\n value: DigitalOutputAction\n ): Promise<void> {\n const request: Partial<requests.StreamSetDigitalOutputRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n channelNumber: channelNumber,\n value: value,\n toBinary() {\n return requests.StreamSetDigitalOutputRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_set_digital_output', request);\n }\n\n /\n Set the value of an analog output channel.\n * @param channelNumber The number of the analog output channel.\n * Channel numbers are numbered from one.\n * @param value The value to set the channel to, in Volts.\n /\n public async setAnalogOutput(\n channelNumber: number,\n value: number\n ): Promise<void> {\n const request: Partial<requests.StreamSetAnalogOutputRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n channelNumber: channelNumber,\n value: value,\n toBinary() {\n return requests.StreamSetAnalogOutputRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_set_analog_output', request);\n }\n\n /\n Sets values for all digital output channels.\n * @param values The type of action to perform on the channel.\n /\n public async setAllDigitalOutputs(\n values: DigitalOutputAction[]\n ): Promise<void> {\n const request: Partial<requests.StreamSetAllDigitalOutputsRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n values: values,\n toBinary() {\n return requests.StreamSetAllDigitalOutputsRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_set_all_digital_outputs', request);\n }\n\n /\n Sets values for all analog output channels.\n * @param values The values to set the output channels to, in Volts.\n /\n public async setAllAnalogOutputs(\n values: number[]\n ): Promise<void> {\n const request: Partial<requests.StreamSetAllAnalogOutputsRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n values: values,\n toBinary() {\n return requests.StreamSetAllAnalogOutputsRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n }\n\n /\n Waits until the live PVT sequence executes all queued actions.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n /\n public async waitUntilIdle(\n options: PvtSequence.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request: Partial<requests.StreamWaitUntilIdleRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n throwErrorOnFault: throwErrorOnFault,\n toBinary() {\n return requests.StreamWaitUntilIdleRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_wait_until_idle', request);\n }\n\n /\n Cork the front of the PVT sequences's action queue, blocking execution.\n * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n * You can only cork an idle live PVT sequence.\n /\n public async cork(): Promise<void> {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_cork', request);\n }\n\n /\n Uncork the front of the queue, unblocking command execution.\n * You can only uncork an idle live PVT sequence that is corked.\n /\n public async uncork(): Promise<void> {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_uncork', request);\n }\n\n /\n Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n * @returns True if the PVT sequence is executing a queued action.\n /\n public async isBusy(): Promise<boolean> {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/stream_is_busy',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns a string which represents the PVT sequence.\n * @returns String which represents the PVT sequence.\n /\n public toString(): string {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StringResponse>(\n 'device/stream_to_string',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n\n /\n Disables the PVT sequence.\n * If the PVT sequence is not setup, this command does nothing.\n * Once disabled, the PVT sequence will no longer accept PVT commands.\n * The PVT sequence will process the rest of the commands in the queue until it is empty.\n /\n public async disable(): Promise<void> {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_disable', request);\n }\n\n /\n Sends a generic ASCII command to the PVT sequence.\n * Keeps resending the command while the device rejects with AGAIN reason.\n * @param command Command and its parameters.\n /\n public async genericCommand(\n command: string\n ): Promise<void> {\n const request: Partial<requests.StreamGenericCommandRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n command: command,\n toBinary() {\n return requests.StreamGenericCommandRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_generic_command', request);\n }\n\n /\n Sends a batch of generic ASCII commands to the PVT sequence.\n * Keeps resending command while the device rejects with AGAIN reason.\n * The batch is atomic in terms of thread safety.\n * @param batch Array of commands.\n /\n public async genericCommandBatch(\n batch: string[]\n ): Promise<void> {\n const request: Partial<requests.StreamGenericCommandBatchRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n batch: batch,\n toBinary() {\n return requests.StreamGenericCommandBatchRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stream_generic_command_batch', request);\n }\n\n /\n Queries the PVT sequence status from the device\n * and returns boolean indicating whether the PVT sequence is disabled.\n * Useful to determine if execution was interrupted by other movements.\n * @returns True if the PVT sequence is disabled.\n /\n public async checkDisabled(): Promise<boolean> {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/stream_check_disabled',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n /\n public treatDiscontinuitiesAsError(): void {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n gateway.callSync('device/stream_treat_discontinuities', request);\n }\n\n /\n Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n /\n public ignoreCurrentDiscontinuity(): void {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n gateway.callSync('device/stream_ignore_discontinuity', request);\n }\n\n /\n Gets the axes of the PVT sequence.\n * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n /\n private _retrieveAxes(): PvtAxisDefinition[] {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StreamGetAxesResponse>(\n 'device/stream_get_axes',\n request,\n requests.StreamGetAxesResponse.fromBinary);\n return response.pvtAxes;\n }\n\n /\n Get the mode of the PVT sequence.\n * @returns Mode of the PVT sequence.\n */\n private _retrieveMode(): PvtMode {\n const request: Partial<requests.StreamEmptyRequest> & gateway.Message = {\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n streamId: this.pvtId,\n pvt: true,\n toBinary() {\n return requests.StreamEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StreamModeResponse>(\n 'device/stream_get_mode',\n request,\n requests.StreamModeResponse.fromBinary);\n return response.pvtMode;\n }\n}\n\nnamespace PvtSequence {\n export interface WaitUntilIdleOptions {\n throwErrorOnFault?: boolean;\n }\n}\n"]}

package/dist/lib/ascii/response.d.ts CHANGED Viewed

@@ -1,4 +1,4 @@
-import { MessageType } from './message_type';
+import { MessageType } from '../ascii/message_type';
 /**
  * Response message from the device.
  */
@@ -32,6 +32,9 @@ export interface Response {
      */
     messageType: MessageType;
 }
-export declare namespace Response {
-    const __type = "Response";
-}
+export declare const Response: {
+    fromBinary: (buffer: Uint8Array) => Response;
+    toBinary: (value: Partial<Response>) => Uint8Array;
+    DEFAULT: Readonly<Response>;
+};
+//# sourceMappingURL=response.d.ts.map

package/dist/lib/ascii/response.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"response.d.ts","sourceRoot":"","sources":["../../../src/ascii/response.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,WAAW,EAAE,MAAM,uBAAuB,CAAC;AAEpD;;GAEG;AACH,MAAM,WAAW,QAAQ;IACvB;;OAEG;IACH,aAAa,EAAE,MAAM,CAAC;IAEtB;;OAEG;IACH,UAAU,EAAE,MAAM,CAAC;IAEnB;;OAEG;IACH,SAAS,EAAE,MAAM,CAAC;IAElB;;OAEG;IACH,MAAM,EAAE,MAAM,CAAC;IAEf;;OAEG;IACH,WAAW,EAAE,MAAM,CAAC;IAEpB;;OAEG;IACH,IAAI,EAAE,MAAM,CAAC;IAEb;;OAEG;IACH,WAAW,EAAE,WAAW,CAAC;CAE1B;AAED,eAAO,MAAM,QAAQ;yBACE,UAAU,KAAG,QAAQ;sBACxB,QAAQ,QAAQ,CAAC,KAAG,UAAU;;CAUjD,CAAC"}

package/dist/lib/ascii/response.js CHANGED Viewed

@@ -1,23 +1,19 @@
 "use strict";
-// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
-// ============= DO NOT EDIT DIRECTLY ============= //
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.Response = void 0;
-var Response;
-(function (Response) {
-    Response.__type = 'Response';
-    /** @internal */
-    function fromProtobuf(pbData) {
-        return {
-            deviceAddress: pbData.deviceAddress,
-            axisNumber: pbData.axisNumber,
-            replyFlag: pbData.replyFlag,
-            status: pbData.status,
-            warningFlag: pbData.warningFlag,
-            data: pbData.data,
-            messageType: pbData.messageType,
-        };
-    }
-    Response.fromProtobuf = fromProtobuf;
-})(Response = exports.Response || (exports.Response = {}));
+/* This file is generated. Do not modify by hand. */
+const bson_1 = require("bson");
+exports.Response = {
+    fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
+    toBinary: (value) => bson_1.BSON.serialize(value),
+    DEFAULT: {
+        deviceAddress: 0,
+        axisNumber: 0,
+        replyFlag: '',
+        status: '',
+        warningFlag: '',
+        data: '',
+        messageType: 0,
+    },
+};
 //# sourceMappingURL=response.js.map

package/dist/lib/ascii/response.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"response.js","sourceRoot":"","sources":["../../../src/ascii/response.ts"],"names":[],"mappings":";AAAA,~~sDAAsD~~;~~AACtD~~,~~sDAAsD;;;AA8CtD~~,~~IAAiB,~~QAAQ,~~CAexB~~;~~AAfD~~,~~WAAiB~~,~~QAAQ;IACV~~,~~eAAM~~,~~GAAG~~,~~UAAU~~,CAAC~~;IAEjC~~,~~gBAAgB;IAChB~~,~~SAAgB~~,~~YAAY~~,CAAC,~~MAA+C;QAC1E~~,~~OAAO~~;~~YACL~~,~~aAAa~~,EAAE,~~MAAM,~~CAAC,~~aAAa;YACnC~~,~~UAAU~~,EAAE,~~MAAM~~,CAAC,~~UAAU;YAC7B,~~SAAS,~~EAAE~~,~~MAAM~~,CAAC,~~SAAS~~;~~YAC3B~~,~~MAAM~~,EAAE,~~MAAM,~~CAAC~~,MAAM~~;~~YACrB~~,~~WAAW~~,EAAE,~~MAAM,~~CAAC~~,WAAW~~;~~YAC/B~~,~~IAAI~~,EAAE,MAAM,~~CAAC~~,~~IAAI~~;~~YACjB~~,WAAW,EAAE,~~MAAM~~,~~CAAC~~,~~WAAkB;SACvC~~,~~CAAC~~;~~IACJ~~,~~CAAC;IAVe~~,~~qBAAY~~,~~eAU3B,CAAA~~;~~AACH~~,CAAC~~,EAfgB,QAAQ,GAAR,gBAAQ,KAAR,gBAAQ,QAexB~~","sourcesContent":["// ~~====~~ ~~THIS~~ ~~FILE~~ IS ~~GENERATED~~ ~~FROM~~ A ~~TEMPLATE~~ ~~====~~ ~~//\n// ============= DO NOT EDIT DIRECTLY ============= //\n\~~nimport * as ~~gateway~~ from '~~../gateway~~';\nimport { MessageType } from './message_type';\n\n/*\n Response message from the device.\n /\nexport interface Response {\n /\n Number of the device that sent the message.\n /\n deviceAddress: number;\n\n /\n Number of the axis which the response applies to. Zero denotes device scope.\n /\n axisNumber: number;\n\n /\n The reply flag indicates if the request was accepted (OK) or rejected (RJ).\n /\n replyFlag: string;\n\n /\n The device status contains BUSY when the axis is moving and IDLE otherwise.\n /\n status: string;\n\n /\n The warning flag contains the highest priority warning currently active for the device or axis.\n /\n warningFlag: string;\n\n /\n Response data which varies depending on the request.\n /\n data: string;\n\n /\n Type of the reply received.\n /\n messageType: MessageType;\n\n}\n\nexport ~~namespace~~ Response {\n ~~export~~ ~~const~~ ~~__type~~ ~~= '~~Response';\n\n /* ~~@internal~~ */\n ~~export~~ ~~function fromProtobuf~~(~~pbData~~: ~~gateway.GenericCommandResponse.AsObject~~): ~~Response~~ {\n ~~return~~ {\n deviceAddress: ~~pbData.deviceAddress~~,\n axisNumber: ~~pbData.axisNumber~~,\n replyFlag: ~~pbData.replyFlag~~,\n status: ~~pbData.status~~,\n warningFlag: ~~pbData.warningFlag~~,\n data: ~~pbData.data~~,\n messageType: ~~pbData.messageType~~ as ~~any~~,\n ~~};\n~~ }\n}\n"]}
1	+ {"version":3,"file":"response.js","sourceRoot":"","sources":["../../../src/ascii/response.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AA4Cf,QAAA,QAAQ,GAAG;IACtB,UAAU,EAAE,CAAC,MAAkB,EAAY,EAAE,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,CAAa;IAClF,QAAQ,EAAE,CAAC,KAAwB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,KAAK,CAAC;IACzE,OAAO,EAAE;QACP,aAAa,EAAE,CAAC;QAChB,UAAU,EAAE,CAAC;QACb,SAAS,EAAE,EAAE;QACb,MAAM,EAAE,EAAE;QACV,WAAW,EAAE,EAAE;QACf,IAAI,EAAE,EAAE;QACR,WAAW,EAAE,CAAgB;KACR;CACxB,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. /\nimport { BSON } from 'bson';\nimport { MessageType } from '../ascii/message_type';\n\n/\n Response message from the device.\n /\nexport interface Response {\n /\n Number of the device that sent the message.\n /\n deviceAddress: number;\n\n /\n Number of the axis which the response applies to. Zero denotes device scope.\n /\n axisNumber: number;\n\n /\n The reply flag indicates if the request was accepted (OK) or rejected (RJ).\n /\n replyFlag: string;\n\n /\n The device status contains BUSY when the axis is moving and IDLE otherwise.\n /\n status: string;\n\n /\n The warning flag contains the highest priority warning currently active for the device or axis.\n /\n warningFlag: string;\n\n /\n Response data which varies depending on the request.\n /\n data: string;\n\n /\n Type of the reply received.\n */\n messageType: MessageType;\n\n}\n\nexport const Response = {\n fromBinary: (buffer: Uint8Array): Response => BSON.deserialize(buffer) as Response,\n toBinary: (value: Partial<Response>): Uint8Array => BSON.serialize(value),\n DEFAULT: {\n deviceAddress: 0,\n axisNumber: 0,\n replyFlag: '',\n status: '',\n warningFlag: '',\n data: '',\n messageType: 0 as MessageType,\n } as Readonly<Response>,\n};\n"]}

package/dist/lib/ascii/servo_tuner.d.ts CHANGED Viewed

@@ -76,7 +76,7 @@ export declare class ServoTuner {
      * To get what parameters are expected, call GetSimpleTuningParamList.
      * All values must be between 0 and 1.
      * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-     * @param [options.carriageMass=-1.0] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
      */
     setSimpleTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], loadMass: number, options?: ServoTuner.SetSimpleTuningOptions): Promise<void>;
     /**
@@ -94,7 +94,7 @@ export declare class ServoTuner {
      * To get what parameters are expected, call GetSimpleTuningParamList.
      * All values must be between 0 and 1.
      * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-     * @param [options.carriageMass=-1.0] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
      * @returns True if the provided simple tuning is currently stored in this paramset.
      */
     isUsingSimpleTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], loadMass: number, options?: ServoTuner.IsUsingSimpleTuningOptions): Promise<boolean>;
@@ -108,3 +108,4 @@ declare namespace ServoTuner {
     }
 }
 export {};
+//# sourceMappingURL=servo_tuner.d.ts.map

package/dist/lib/ascii/servo_tuner.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/lib/ascii/servo_tuner.js CHANGED Viewed

@@ -27,10 +27,9 @@ var __importStar = (this && this.__importStar) || function (mod) {
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.ServoTuner = void 0;
 const gateway = __importStar(require("../gateway"));
+const requests = __importStar(require("../requests"));
 const paramset_info_1 = require("./paramset_info");
-const servo_tuning_param_1 = require("./servo_tuning_param");
 const pid_tuning_1 = require("./pid_tuning");
-const simple_tuning_param_definition_1 = require("./simple_tuning_param_definition");
 const simple_tuning_1 = require("./simple_tuning");
 /**
  * Exposes the capabilities to inspect and edit an axis' servo tuning.
@@ -54,23 +53,31 @@ class ServoTuner {
      * @returns The paramset used when the device restarts.
      */
     async getStartupParamset() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        const response = await gateway.callAsync('servotuning/get_startup_set', request, gateway.IntResponse);
-        return response.getValue();
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('servotuning/get_startup_set', request, requests.ServoTuningParamsetResponse.fromBinary);
+        return response.paramset;
     }
     /**
      * Set the paramset that this device uses by default when it starts up.
      * @param paramset The paramset to use at startup.
      */
     async setStartupParamset(paramset) {
-        const request = new gateway.ServoTuningRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            toBinary() {
+                return requests.ServoTuningRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('servotuning/set_startup_set', request);
     }
     /**
@@ -79,12 +86,16 @@ class ServoTuner {
      * @param fromParamset The paramset to load from.
      */
     async loadParamset(toParamset, fromParamset) {
-        const request = new gateway.LoadParamset();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setToParamset(toParamset);
-        request.setFromParamset(fromParamset);
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            toParamset: toParamset,
+            fromParamset: fromParamset,
+            toBinary() {
+                return requests.LoadParamset.toBinary(this);
+            },
+        };
         await gateway.callAsync('servotuning/load_paramset', request);
     }
     /**
@@ -93,13 +104,17 @@ class ServoTuner {
      * @returns The raw representation of the current tuning.
      */
     async getTuning(paramset) {
-        const request = new gateway.ServoTuningRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
-        const response = await gateway.callAsync('servotuning/get_raw', request, gateway.ParamsetInfo);
-        return paramset_info_1.ParamsetInfo.fromProtobuf(response.toObject());
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            toBinary() {
+                return requests.ServoTuningRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('servotuning/get_raw', request, paramset_info_1.ParamsetInfo.fromBinary);
+        return response;
     }
     /**
      * Set individual tuning parameters.
@@ -108,12 +123,16 @@ class ServoTuner {
      * @param tuningParams The params to set.
      */
     async setTuning(paramset, tuningParams) {
-        const request = new gateway.SetServoTuningRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
-        request.setTuningParamsList(tuningParams.map(servo_tuning_param_1.ServoTuningParam.toProtobuf));
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            tuningParams: tuningParams,
+            toBinary() {
+                return requests.SetServoTuningRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('servotuning/set_raw', request);
     }
     /**
@@ -126,17 +145,21 @@ class ServoTuner {
      * @returns The PID representation of the current tuning after your changes have been applied.
      */
     async setPidTuning(paramset, p, i, d, fc) {
-        const request = new gateway.SetServoTuningPIDRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
-        request.setP(p);
-        request.setI(i);
-        request.setD(d);
-        request.setFc(fc);
-        const response = await gateway.callAsync('servotuning/set_pid', request, gateway.PidTuning);
-        return pid_tuning_1.PidTuning.fromProtobuf(response.toObject());
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            p: p,
+            i: i,
+            d: d,
+            fc: fc,
+            toBinary() {
+                return requests.SetServoTuningPIDRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('servotuning/set_pid', request, pid_tuning_1.PidTuning.fromBinary);
+        return response;
     }
     /**
      * Gets the PID representation of this paramset's servo tuning.
@@ -144,25 +167,33 @@ class ServoTuner {
      * @returns The PID representation of the current tuning.
      */
     async getPidTuning(paramset) {
-        const request = new gateway.ServoTuningRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
-        const response = await gateway.callAsync('servotuning/get_pid', request, gateway.PidTuning);
-        return pid_tuning_1.PidTuning.fromProtobuf(response.toObject());
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            toBinary() {
+                return requests.ServoTuningRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('servotuning/get_pid', request, pid_tuning_1.PidTuning.fromBinary);
+        return response;
     }
     /**
      * Gets the parameters that are required to tune this device.
      * @returns The tuning parameters.
      */
     async getSimpleTuningParamDefinitions() {
-        const request = new gateway.AxisEmptyRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        const response = await gateway.callAsync('servotuning/get_simple_params_definition', request, gateway.GetSimpleTuningParamDefinitionResponse);
-        return response.getParamsList().map(a => simple_tuning_param_definition_1.SimpleTuningParamDefinition.fromProtobuf(a.toObject()));
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            toBinary() {
+                return requests.AxisEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('servotuning/get_simple_params_definition', request, requests.GetSimpleTuningParamDefinitionResponse.fromBinary);
+        return response.params;
     }
     /**
      * Set the tuning of this device using the simple input method.
@@ -171,18 +202,22 @@ class ServoTuner {
      * To get what parameters are expected, call GetSimpleTuningParamList.
      * All values must be between 0 and 1.
      * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-     * @param [options.carriageMass=-1.0] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
      */
     async setSimpleTuning(paramset, tuningParams, loadMass, options = {}) {
-        const { carriageMass = -1.0, } = options;
-        const request = new gateway.SetSimpleTuning();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
-        request.setTuningParamsList(tuningParams.map(servo_tuning_param_1.ServoTuningParam.toProtobuf));
-        request.setLoadMass(loadMass);
-        request.setCarriageMass(carriageMass);
+        const { carriageMass = null, } = options;
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            tuningParams: tuningParams,
+            loadMass: loadMass,
+            carriageMass: carriageMass,
+            toBinary() {
+                return requests.SetSimpleTuning.toBinary(this);
+            },
+        };
         await gateway.callAsync('servotuning/set_simple_tuning', request);
     }
     /**
@@ -191,13 +226,17 @@ class ServoTuner {
      * @returns The simple tuning parameters.
      */
     async getSimpleTuning(paramset) {
-        const request = new gateway.ServoTuningRequest();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
-        const response = await gateway.callAsync('servotuning/get_simple_tuning', request, gateway.SimpleTuning);
-        return simple_tuning_1.SimpleTuning.fromProtobuf(response.toObject());
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            toBinary() {
+                return requests.ServoTuningRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('servotuning/get_simple_tuning', request, simple_tuning_1.SimpleTuning.fromBinary);
+        return response;
     }
     /**
      * @deprecated Use GetSimpleTuning instead.
@@ -208,21 +247,25 @@ class ServoTuner {
      * To get what parameters are expected, call GetSimpleTuningParamList.
      * All values must be between 0 and 1.
      * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-     * @param [options.carriageMass=-1.0] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
      * @returns True if the provided simple tuning is currently stored in this paramset.
      */
     async isUsingSimpleTuning(paramset, tuningParams, loadMass, options = {}) {
-        const { carriageMass = -1.0, } = options;
-        const request = new gateway.SetSimpleTuning();
-        request.setInterfaceId(this.axis.device.connection.interfaceId);
-        request.setDevice(this.axis.device.deviceAddress);
-        request.setAxis(this.axis.axisNumber);
-        request.setParamset(paramset);
-        request.setTuningParamsList(tuningParams.map(servo_tuning_param_1.ServoTuningParam.toProtobuf));
-        request.setLoadMass(loadMass);
-        request.setCarriageMass(carriageMass);
-        const response = await gateway.callAsync('servotuning/is_using_simple_tuning', request, gateway.BoolResponse);
-        return response.getValue();
+        const { carriageMass = null, } = options;
+        const request = {
+            interfaceId: this.axis.device.connection.interfaceId,
+            device: this.axis.device.deviceAddress,
+            axis: this.axis.axisNumber,
+            paramset: paramset,
+            tuningParams: tuningParams,
+            loadMass: loadMass,
+            carriageMass: carriageMass,
+            toBinary() {
+                return requests.SetSimpleTuning.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('servotuning/is_using_simple_tuning', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
 }
 exports.ServoTuner = ServoTuner;