@zaber/motion 5.2.2 → 6.0.1

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 +57,31 @@ 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 = {
+            ...requests.LockstepEnableRequest.DEFAULT,
+            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 = {
+            ...requests.LockstepDisableRequest.DEFAULT,
+            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 +90,16 @@ 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 = {
+            ...requests.LockstepStopRequest.DEFAULT,
+            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 +108,16 @@ 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 = {
+            ...requests.LockstepHomeRequest.DEFAULT,
+            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 +137,23 @@ 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 = {
+            ...requests.LockstepMoveRequest.DEFAULT,
+            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 +173,23 @@ 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 = {
+            ...requests.LockstepMoveRequest.DEFAULT,
+            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 +204,20 @@ 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 = {
+            ...requests.LockstepMoveRequest.DEFAULT,
+            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 +236,21 @@ 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 = {
+            ...requests.LockstepMoveRequest.DEFAULT,
+            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 +269,21 @@ 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 = {
+            ...requests.LockstepMoveRequest.DEFAULT,
+            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 +292,16 @@ 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 = {
+            ...requests.LockstepWaitUntilIdleRequest.DEFAULT,
+            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 +309,17 @@ 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 = {
+            ...requests.LockstepEmptyRequest.DEFAULT,
+            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 +328,34 @@ 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 = {
+            ...requests.LockstepEmptyRequest.DEFAULT,
+            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 = {
+            ...requests.LockstepEmptyRequest.DEFAULT,
+            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 +364,18 @@ 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 = {
+            ...requests.LockstepGetRequest.DEFAULT,
+            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 +384,18 @@ 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 = {
+            ...requests.LockstepGetRequest.DEFAULT,
+            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 +403,18 @@ 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 = {
+            ...requests.LockstepGetRequest.DEFAULT,
+            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 +428,18 @@ 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 = {
+            ...requests.LockstepSetRequest.DEFAULT,
+            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 +447,34 @@ 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 = {
+            ...requests.LockstepEmptyRequest.DEFAULT,
+            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 = {
+            ...requests.LockstepEmptyRequest.DEFAULT,
+            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;