npm - @zaber/motion - Versions diffs - 5.2.2 → 6.0.1 - Mend

@zaber/motion 5.2.2 → 6.0.1

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 (1618) hide show

package/dist/lib/ascii/axis.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 { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport { AxisStorage } from './storage';\n\n/*\n Represents an axis of motion associated with a device.\n /\nexport class Axis {\n /\n Device that controls this axis.\n /\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /\n The axis number identifies the axis on the device.\n * The first axis has the number one.\n /\n public get axisNumber(): number {\n return this._axisNumber;\n }\n private _axisNumber: number;\n\n /\n Settings and properties of this axis.\n /\n public get settings(): AxisSettings {\n return this._settings;\n }\n private _settings: AxisSettings;\n\n /\n Key-value storage of this axis.\n * Requires at least Firmware 7.30.\n /\n public get storage(): AxisStorage {\n return this._storage;\n }\n private _storage: AxisStorage;\n\n /\n Warnings and faults of this axis.\n /\n public get warnings(): Warnings {\n return this._warnings;\n }\n private _warnings: Warnings;\n\n /\n Identity of the axis.\n /\n public get identity(): AxisIdentity {\n return this._retrieveIdentity();\n }\n\n /\n Unique ID of the peripheral hardware.\n /\n public get peripheralId(): number {\n return this.identity.peripheralId;\n }\n\n /\n Name of the peripheral.\n /\n public get peripheralName(): string {\n return this.identity.peripheralName;\n }\n\n /\n Serial number of the peripheral, or 0 when not applicable.\n /\n public get peripheralSerialNumber(): number {\n return this.identity.peripheralSerialNumber;\n }\n\n /\n Indicates whether the axis is a peripheral or part of an integrated device.\n /\n public get isPeripheral(): boolean {\n return this.identity.isPeripheral;\n }\n\n /\n Determines the type of an axis and units it accepts.\n /\n public get axisType(): AxisType {\n return this.identity.axisType;\n }\n\n /\n User-assigned label of the peripheral.\n /\n public get label(): string {\n return this._retrieveLabel();\n }\n\n constructor(device: Device, axisNumber: number) {\n this._device = device;\n this._axisNumber = axisNumber;\n this._settings = new AxisSettings(this);\n this._storage = new AxisStorage(this);\n this._warnings = new Warnings(device, axisNumber);\n }\n\n /\n Homes axis. Axis returns to its homing position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async home(\n options: Axis.HomeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request = new gateway.DeviceHomeRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setWaitUntilIdle(waitUntilIdle);\n\n await gateway.callAsync('device/home', request);\n }\n\n /\n Stops ongoing axis movement. Decelerates until zero speed.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async stop(\n options: Axis.StopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request = new gateway.DeviceStopRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setWaitUntilIdle(waitUntilIdle);\n\n await gateway.callAsync('device/stop', request);\n }\n\n /\n Parks the axis in anticipation of turning the power off.\n * It can later be powered on, unparked, and moved without first having to home it.\n /\n public async park(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/park', request);\n }\n\n /\n Unparks axis. Axis will now be able to move.\n /\n public async unpark(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/unpark', request);\n }\n\n /\n Returns bool indicating whether the axis is parked or not.\n * @returns True if the axis is currently parked. False otherwise.\n /\n public async isParked(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_parked',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /\n Waits until axis stops moving.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n /\n public async waitUntilIdle(\n options: Axis.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request = new gateway.DeviceWaitUntilIdleRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setThrowErrorOnFault(throwErrorOnFault);\n\n await gateway.callAsync('device/wait_until_idle', request);\n }\n\n /\n Returns bool indicating whether the axis is executing a motion command.\n * @returns True if the axis is currently executing a motion command.\n /\n public async isBusy(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_busy',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /\n Returns bool indicating whether the axis has position reference and was homed.\n * @returns True if the axis has position reference and was homed.\n /\n public async isHomed(): Promise<boolean> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'device/is_homed',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /\n Move axis to absolute position.\n * @param position Absolute position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveAbsolute(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Axis.MoveAbsoluteOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n request.setArg(position);\n request.setUnit(unit);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Moves the axis to the maximum position as specified by limit.max.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMax(\n options: Axis.MoveMaxOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Moves the axis to the minimum position as specified by limit.min.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMin(\n options: Axis.MoveMinOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Move axis to position relative to current position.\n * @param position Relative position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveRelative(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Axis.MoveRelativeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n request.setArg(position);\n request.setUnit(unit);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Begins to move axis at specified speed.\n * @param velocity Movement velocity.\n * @param [unit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveVelocity(\n velocity: number,\n unit: Velocity \| AngularVelocity \| Native = Units.NATIVE,\n options: Axis.MoveVelocityOptions = {}\n ): Promise<void> {\n const {\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n request.setArg(velocity);\n request.setUnit(unit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Returns current axis position.\n * @param [unit=Units.NATIVE] Units of position.\n * @returns Axis position.\n /\n public async getPosition(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number> {\n const request = new gateway.DeviceGetSettingRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setSetting('pos');\n request.setUnit(unit);\n\n const response = await gateway.callAsync<gateway.DoubleResponse>(\n 'device/get_setting',\n request,\n gateway.DoubleResponse);\n return response.getValue();\n }\n\n /\n Gets number of index positions of the axis.\n * @returns Number of index positions.\n /\n public async getNumberOfIndexPositions(): Promise<number> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.IntResponse>(\n 'device/get_index_count',\n request,\n gateway.IntResponse);\n return response.getValue();\n }\n\n /\n Returns current axis index position.\n * @returns Index position starting from 1 or 0 if the position is not an index position.\n /\n public async getIndexPosition(): Promise<number> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.IntResponse>(\n 'device/get_index_position',\n request,\n gateway.IntResponse);\n return response.getValue();\n }\n\n /\n Moves the axis to index position.\n * @param index Index position. Index positions are numbered from 1.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveIndex(\n index: number,\n options: Axis.MoveIndexOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request = new gateway.DeviceMoveRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setType(gateway.DeviceMoveRequest.MoveType.INDEX);\n request.setArgInt(index);\n request.setWaitUntilIdle(waitUntilIdle);\n request.setVelocity(velocity);\n request.setVelocityUnit(velocityUnit);\n request.setAcceleration(acceleration);\n request.setAccelerationUnit(accelerationUnit);\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Sends a generic ASCII command to this axis.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns A response to the command.\n /\n public async genericCommand(\n command: string,\n options: Axis.GenericCommandOptions = {}\n ): Promise<Response> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n 'interface/generic_command',\n request,\n gateway.GenericCommandResponse);\n return Response.fromProtobuf(response.toObject());\n }\n\n /\n Sends a generic ASCII command to this axis and expect multiple responses.\n * Responses are returned in order of arrival.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns All responses to the command.\n /\n public async genericCommandMultiResponse(\n command: string,\n options: Axis.GenericCommandMultiResponseOptions = {}\n ): Promise<Response[]> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n request.setCheckErrors(checkErrors);\n request.setTimeout(timeout);\n\n const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n 'interface/generic_command_multi_response',\n request,\n gateway.GenericCommandResponseCollection);\n return response.getResponsesList().map(a => Response.fromProtobuf(a.toObject()));\n }\n\n /\n Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n /\n public async genericCommandNoResponse(\n command: string\n ): Promise<void> {\n const request = new gateway.GenericCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommand(command);\n\n await gateway.callAsync('interface/generic_command_no_response', request);\n }\n\n /\n Formats parameters into a command and performs unit conversions.\n * Parameters in the command template are denoted by a question mark.\n * Command returned is only valid for this axis and this device.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n * @param parameters Variable number of command parameters.\n * @returns Command with converted parameters.\n /\n public prepareCommand(\n commandTemplate: string,\n ...parameters: Measurement[]\n ): string {\n const request = new gateway.PrepareCommandRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setCommandTemplate(commandTemplate);\n request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/prepare_command',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /\n Sets the user-assigned peripheral label.\n * The label is stored on the controller and recognized by other software.\n * @param label Label to set.\n /\n public async setLabel(\n label: string\n ): Promise<void> {\n const request = new gateway.DeviceSetStorageRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setValue(label);\n\n await gateway.callAsync('device/set_label', request);\n }\n\n /\n Gets the peripheral name.\n * @returns The label.\n /\n private _retrieveLabel(): string {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/get_label',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /\n Returns a string that represents the axis.\n * @returns A string that represents the axis.\n /\n public toString(): string {\n const request = new gateway.AxisToStringRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'device/axis_to_string',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /\n Returns a serialization of the current axis state that can be saved and reapplied.\n * @returns A serialization of the current state of the axis.\n /\n public async getState(): Promise<string> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = await gateway.callAsync<gateway.StringResponse>(\n 'device/get_state',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n\n /\n Applies a saved state to this axis.\n * @param state The state object to apply to this axis.\n /\n public async setState(\n state: string\n ): Promise<void> {\n const request = new gateway.SetStateRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setState(state);\n\n await gateway.callAsync('device/set_state', request);\n }\n\n /\n Checks if a state can be applied to this axis.\n * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n * the process of applying the state can still fail when running.\n * @param state The state object to check against.\n * @returns An explanation of why this state cannot be set to this axis.\n /\n public async canSetState(\n state: string\n ): Promise<string> {\n const request = new gateway.CanSetStateRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n request.setState(state);\n\n const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n 'device/can_set_axis_state',\n request,\n gateway.CanSetStateAxisResponse);\n return response.getError();\n }\n\n /\n Returns identity.\n * @returns Axis identity.\n /\n private _retrieveIdentity(): AxisIdentity {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n const response = gateway.callSync<gateway.AxisIdentity>(\n 'device/get_axis_identity',\n request,\n gateway.AxisIdentity);\n return AxisIdentity.fromProtobuf(response.toObject());\n }\n\n /\n Disables the driver, which prevents current from being sent to the motor or load.\n * If the driver is already disabled, the driver remains disabled.\n /\n public async driverDisable(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/driver_disable', request);\n }\n\n /\n Attempts to enable the driver.\n * If the driver is already enabled, the driver remains enabled.\n /\n public async driverEnable(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/driver_enable', request);\n }\n\n /\n Activates a peripheral on this axis.\n * Removes all identity information for the device.\n * Run the identify method on the device after activating to refresh the information.\n */\n public async activate(): Promise<void> {\n const request = new gateway.AxisEmptyRequest();\n request.setInterfaceId(this.device.connection.interfaceId);\n request.setDevice(this.device.deviceAddress);\n request.setAxis(this.axisNumber);\n\n await gateway.callAsync('device/activate', request);\n }\n}\n\nnamespace Axis {\n export interface HomeOptions {\n waitUntilIdle?: boolean;\n }\n export interface StopOptions {\n waitUntilIdle?: boolean;\n }\n export interface WaitUntilIdleOptions {\n throwErrorOnFault?: boolean;\n }\n export interface MoveAbsoluteOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveMaxOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveMinOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveRelativeOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveVelocityOptions {\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveIndexOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface GenericCommandOptions {\n checkErrors?: boolean;\n timeout?: number;\n }\n export interface GenericCommandMultiResponseOptions {\n checkErrors?: boolean;\n timeout?: number;\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 { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { AxisStorage } from './storage';\n\n/*\n Represents an axis of motion associated with a device.\n /\nexport class Axis {\n /\n Device that controls this axis.\n /\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /\n The axis number identifies the axis on the device.\n * The first axis has the number one.\n /\n public get axisNumber(): number {\n return this._axisNumber;\n }\n private _axisNumber: number;\n\n /\n Settings and properties of this axis.\n /\n public get settings(): AxisSettings {\n return this._settings;\n }\n private _settings: AxisSettings;\n\n /\n Key-value storage of this axis.\n * Requires at least Firmware 7.30.\n /\n public get storage(): AxisStorage {\n return this._storage;\n }\n private _storage: AxisStorage;\n\n /\n Warnings and faults of this axis.\n /\n public get warnings(): Warnings {\n return this._warnings;\n }\n private _warnings: Warnings;\n\n /\n Identity of the axis.\n /\n public get identity(): AxisIdentity {\n return this._retrieveIdentity();\n }\n\n /\n Unique ID of the peripheral hardware.\n /\n public get peripheralId(): number {\n return this.identity.peripheralId;\n }\n\n /\n Name of the peripheral.\n /\n public get peripheralName(): string {\n return this.identity.peripheralName;\n }\n\n /\n Serial number of the peripheral, or 0 when not applicable.\n /\n public get peripheralSerialNumber(): number {\n return this.identity.peripheralSerialNumber;\n }\n\n /\n Indicates whether the axis is a peripheral or part of an integrated device.\n /\n public get isPeripheral(): boolean {\n return this.identity.isPeripheral;\n }\n\n /\n Determines the type of an axis and units it accepts.\n /\n public get axisType(): AxisType {\n return this.identity.axisType;\n }\n\n /\n User-assigned label of the peripheral.\n /\n public get label(): string {\n return this._retrieveLabel();\n }\n\n constructor(device: Device, axisNumber: number) {\n this._device = device;\n this._axisNumber = axisNumber;\n this._settings = new AxisSettings(this);\n this._storage = new AxisStorage(this);\n this._warnings = new Warnings(device, axisNumber);\n }\n\n /\n Homes axis. Axis returns to its homing position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async home(\n options: Axis.HomeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.DeviceHomeRequest & gateway.Message = {\n ...requests.DeviceHomeRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.DeviceHomeRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/home', request);\n }\n\n /\n Stops ongoing axis movement. Decelerates until zero speed.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async stop(\n options: Axis.StopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.DeviceStopRequest & gateway.Message = {\n ...requests.DeviceStopRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.DeviceStopRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/stop', request);\n }\n\n /\n Parks the axis in anticipation of turning the power off.\n * It can later be powered on, unparked, and moved without first having to home it.\n /\n public async park(): Promise<void> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/park', request);\n }\n\n /\n Unparks axis. Axis will now be able to move.\n /\n public async unpark(): Promise<void> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/unpark', request);\n }\n\n /\n Returns bool indicating whether the axis is parked or not.\n * @returns True if the axis is currently parked. False otherwise.\n /\n public async isParked(): Promise<boolean> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/is_parked',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Waits until axis stops moving.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n /\n public async waitUntilIdle(\n options: Axis.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request: requests.DeviceWaitUntilIdleRequest & gateway.Message = {\n ...requests.DeviceWaitUntilIdleRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n throwErrorOnFault: throwErrorOnFault,\n toBinary() {\n return requests.DeviceWaitUntilIdleRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/wait_until_idle', request);\n }\n\n /\n Returns bool indicating whether the axis is executing a motion command.\n * @returns True if the axis is currently executing a motion command.\n /\n public async isBusy(): Promise<boolean> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/is_busy',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns bool indicating whether the axis has position reference and was homed.\n * @returns True if the axis has position reference and was homed.\n /\n public async isHomed(): Promise<boolean> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/is_homed',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Move axis to absolute position.\n * @param position Absolute position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveAbsolute(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Axis.MoveAbsoluteOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.DeviceMoveRequest & gateway.Message = {\n ...requests.DeviceMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n type: requests.AxisMoveType.ABS,\n arg: position,\n unit: unit,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.DeviceMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Moves the axis to the maximum position as specified by limit.max.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMax(\n options: Axis.MoveMaxOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.DeviceMoveRequest & gateway.Message = {\n ...requests.DeviceMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n type: requests.AxisMoveType.MAX,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.DeviceMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Moves the axis to the minimum position as specified by limit.min.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMin(\n options: Axis.MoveMinOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.DeviceMoveRequest & gateway.Message = {\n ...requests.DeviceMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n type: requests.AxisMoveType.MIN,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.DeviceMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Move axis to position relative to current position.\n * @param position Relative position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveRelative(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Axis.MoveRelativeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.DeviceMoveRequest & gateway.Message = {\n ...requests.DeviceMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n type: requests.AxisMoveType.REL,\n arg: position,\n unit: unit,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.DeviceMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Begins to move axis at specified speed.\n * @param velocity Movement velocity.\n * @param [unit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveVelocity(\n velocity: number,\n unit: Velocity \| AngularVelocity \| Native = Units.NATIVE,\n options: Axis.MoveVelocityOptions = {}\n ): Promise<void> {\n const {\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.DeviceMoveRequest & gateway.Message = {\n ...requests.DeviceMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n type: requests.AxisMoveType.VEL,\n arg: velocity,\n unit: unit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.DeviceMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Returns current axis position.\n * @param [unit=Units.NATIVE] Units of position.\n * @returns Axis position.\n /\n public async getPosition(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number> {\n const request: requests.DeviceGetSettingRequest & gateway.Message = {\n ...requests.DeviceGetSettingRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n setting: 'pos',\n unit: unit,\n toBinary() {\n return requests.DeviceGetSettingRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleResponse>(\n 'device/get_setting',\n request,\n requests.DoubleResponse.fromBinary);\n return response.value;\n }\n\n /\n Gets number of index positions of the axis.\n * @returns Number of index positions.\n /\n public async getNumberOfIndexPositions(): Promise<number> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.IntResponse>(\n 'device/get_index_count',\n request,\n requests.IntResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns current axis index position.\n * @returns Index position starting from 1 or 0 if the position is not an index position.\n /\n public async getIndexPosition(): Promise<number> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.IntResponse>(\n 'device/get_index_position',\n request,\n requests.IntResponse.fromBinary);\n return response.value;\n }\n\n /\n Moves the axis to index position.\n * @param index Index position. Index positions are numbered from 1.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveIndex(\n index: number,\n options: Axis.MoveIndexOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.DeviceMoveRequest & gateway.Message = {\n ...requests.DeviceMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n type: requests.AxisMoveType.INDEX,\n argInt: index,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.DeviceMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/move', request);\n }\n\n /\n Sends a generic ASCII command to this axis.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns A response to the command.\n /\n public async genericCommand(\n command: string,\n options: Axis.GenericCommandOptions = {}\n ): Promise<Response> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request: requests.GenericCommandRequest & gateway.Message = {\n ...requests.GenericCommandRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n command: command,\n checkErrors: checkErrors,\n timeout: timeout,\n toBinary() {\n return requests.GenericCommandRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<Response>(\n 'interface/generic_command',\n request,\n Response.fromBinary);\n return response;\n }\n\n /\n Sends a generic ASCII command to this axis and expect multiple responses.\n * Responses are returned in order of arrival.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n * Overrides the connection default request timeout.\n * @returns All responses to the command.\n /\n public async genericCommandMultiResponse(\n command: string,\n options: Axis.GenericCommandMultiResponseOptions = {}\n ): Promise<Response[]> {\n const {\n checkErrors = true,\n timeout = 0,\n } = options;\n const request: requests.GenericCommandRequest & gateway.Message = {\n ...requests.GenericCommandRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n command: command,\n checkErrors: checkErrors,\n timeout: timeout,\n toBinary() {\n return requests.GenericCommandRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.GenericCommandResponseCollection>(\n 'interface/generic_command_multi_response',\n request,\n requests.GenericCommandResponseCollection.fromBinary);\n return response.responses;\n }\n\n /\n Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param command Command and its parameters.\n /\n public async genericCommandNoResponse(\n command: string\n ): Promise<void> {\n const request: requests.GenericCommandRequest & gateway.Message = {\n ...requests.GenericCommandRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n command: command,\n toBinary() {\n return requests.GenericCommandRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('interface/generic_command_no_response', request);\n }\n\n /\n Formats parameters into a command and performs unit conversions.\n * Parameters in the command template are denoted by a question mark.\n * Command returned is only valid for this axis and this device.\n * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n * @param parameters Variable number of command parameters.\n * @returns Command with converted parameters.\n /\n public prepareCommand(\n commandTemplate: string,\n ...parameters: Measurement[]\n ): string {\n const request: requests.PrepareCommandRequest & gateway.Message = {\n ...requests.PrepareCommandRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n commandTemplate: commandTemplate,\n parameters: parameters,\n toBinary() {\n return requests.PrepareCommandRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StringResponse>(\n 'device/prepare_command',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n\n /\n Sets the user-assigned peripheral label.\n * The label is stored on the controller and recognized by other software.\n * @param label Label to set.\n /\n public async setLabel(\n label: string\n ): Promise<void> {\n const request: requests.DeviceSetStorageRequest & gateway.Message = {\n ...requests.DeviceSetStorageRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n value: label,\n toBinary() {\n return requests.DeviceSetStorageRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/set_label', request);\n }\n\n /\n Gets the peripheral name.\n * @returns The label.\n /\n private _retrieveLabel(): string {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StringResponse>(\n 'device/get_label',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns a string that represents the axis.\n * @returns A string that represents the axis.\n /\n public toString(): string {\n const request: requests.AxisToStringRequest & gateway.Message = {\n ...requests.AxisToStringRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisToStringRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StringResponse>(\n 'device/axis_to_string',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns a serialization of the current axis state that can be saved and reapplied.\n * @returns A serialization of the current state of the axis.\n /\n public async getState(): Promise<string> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.StringResponse>(\n 'device/get_state',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n\n /\n Applies a saved state to this axis.\n * @param state The state object to apply to this axis.\n /\n public async setState(\n state: string\n ): Promise<void> {\n const request: requests.SetStateRequest & gateway.Message = {\n ...requests.SetStateRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n state: state,\n toBinary() {\n return requests.SetStateRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/set_state', request);\n }\n\n /\n Checks if a state can be applied to this axis.\n * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n * the process of applying the state can still fail when running.\n * @param state The state object to check against.\n * @returns An explanation of why this state cannot be set to this axis.\n /\n public async canSetState(\n state: string\n ): Promise<string \| null> {\n const request: requests.CanSetStateRequest & gateway.Message = {\n ...requests.CanSetStateRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n state: state,\n toBinary() {\n return requests.CanSetStateRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.CanSetStateAxisResponse>(\n 'device/can_set_axis_state',\n request,\n requests.CanSetStateAxisResponse.fromBinary);\n return response.error ?? null;\n }\n\n /\n Returns identity.\n * @returns Axis identity.\n /\n private _retrieveIdentity(): AxisIdentity {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<AxisIdentity>(\n 'device/get_axis_identity',\n request,\n AxisIdentity.fromBinary);\n return response;\n }\n\n /\n Disables the driver, which prevents current from being sent to the motor or load.\n * If the driver is already disabled, the driver remains disabled.\n /\n public async driverDisable(): Promise<void> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/driver_disable', request);\n }\n\n /\n Attempts to enable the driver.\n * If the driver is already enabled, the driver remains enabled.\n /\n public async driverEnable(): Promise<void> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/driver_enable', request);\n }\n\n /\n Activates a peripheral on this axis.\n * Removes all identity information for the device.\n * Run the identify method on the device after activating to refresh the information.\n */\n public async activate(): Promise<void> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n axis: this.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/activate', request);\n }\n}\n\nnamespace Axis {\n export interface HomeOptions {\n waitUntilIdle?: boolean;\n }\n export interface StopOptions {\n waitUntilIdle?: boolean;\n }\n export interface WaitUntilIdleOptions {\n throwErrorOnFault?: boolean;\n }\n export interface MoveAbsoluteOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveMaxOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveMinOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveRelativeOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveVelocityOptions {\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveIndexOptions {\n waitUntilIdle?: boolean;\n velocity?: number;\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n acceleration?: number;\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface GenericCommandOptions {\n checkErrors?: boolean;\n timeout?: number;\n }\n export interface GenericCommandMultiResponseOptions {\n checkErrors?: boolean;\n timeout?: number;\n }\n}\n"]}

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

@@ -72,3 +72,4 @@ export declare class AxisGroup {
      */
     toString(): string;
 }
+//# sourceMappingURL=axis_group.d.ts.map

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

@@ -0,0 +1 @@

+ {"version":3,"file":"axis_group.d.ts","sourceRoot":"","sources":["../../../src/ascii/axis_group.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,IAAI,EAAE,MAAM,QAAQ,CAAC;AAC9B,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAC7C,OAAO,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,UAAU,CAAC;AAIjD;;;;;;GAMG;AACH,qBAAa,SAAS;IACpB;;OAEG;IACH,IAAW,IAAI,IAAI,IAAI,EAAE,CAExB;IACD,OAAO,CAAC,KAAK,CAAS;IAEtB;;OAEG;gBACS,IAAI,EAAE,IAAI,EAAE;IAIxB;;OAEG;IACU,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAclC;;OAEG;IACU,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAclC;;;OAGG;IACU,YAAY,CACvB,GAAG,QAAQ,EAAE,WAAW,EAAE,GACzB,OAAO,CAAC,IAAI,CAAC;IAehB;;;OAGG;IACU,YAAY,CACvB,GAAG,QAAQ,EAAE,WAAW,EAAE,GACzB,OAAO,CAAC,IAAI,CAAC;IAehB;;OAEG;IACU,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC;IAcrC;;OAEG;IACU,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC;IAcrC;;OAEG;IACU,aAAa,IAAI,OAAO,CAAC,IAAI,CAAC;IAc3C;;;OAGG;IACU,MAAM,IAAI,OAAO,CAAC,OAAO,CAAC;IAkBvC;;;OAGG;IACU,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IAkBxC;;;;;;OAMG;IACU,WAAW,CACtB,GAAG,IAAI,EAAE,CAAC,MAAM,GAAG,KAAK,GAAG,MAAM,CAAC,EAAE,GACnC,OAAO,CAAC,MAAM,EAAE,CAAC;IAoBpB;;;OAGG;IACI,QAAQ,IAAI,MAAM;CAiB1B"}

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

@@ -26,8 +26,8 @@ var __importStar = (this && this.__importStar) || function (mod) {
 };
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.AxisGroup = void 0;
-const measurement_1 = require("../measurement");
 const gateway = __importStar(require("../gateway"));
+const requests = __importStar(require("../requests"));
 /**
  * Groups multiple axes across devices into a single group to allow for simultaneous movement.
  * Note that the movement is not coordinated and trajectory is inconsistent and not repeatable between calls.
@@ -52,20 +52,30 @@ class AxisGroup {
      * Homes the axes.
      */
     async home() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('axes/home', request);
     }
     /**
      * Stops the axes.
      */
     async stop() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('axes/stop', request);
     }
     /**
@@ -73,11 +83,16 @@ class AxisGroup {
      * @param position Position.
      */
     async moveAbsolute(...position) {
-        const request = new gateway.AxesMoveRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
-        request.setPositionList(position.map(measurement_1.Measurement.toProtobuf));
+        const request = {
+            ...requests.AxesMoveRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            position: position,
+            toBinary() {
+                return requests.AxesMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('axes/move_absolute', request);
     }
     /**
@@ -85,41 +100,61 @@ class AxisGroup {
      * @param position Position.
      */
     async moveRelative(...position) {
-        const request = new gateway.AxesMoveRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
-        request.setPositionList(position.map(measurement_1.Measurement.toProtobuf));
+        const request = {
+            ...requests.AxesMoveRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            position: position,
+            toBinary() {
+                return requests.AxesMoveRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('axes/move_relative', request);
     }
     /**
      * Moves axes to the minimum position as specified by limit.min.
      */
     async moveMin() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('axes/move_min', request);
     }
     /**
      * Moves axes to the maximum position as specified by limit.max.
      */
     async moveMax() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('axes/move_max', request);
     }
     /**
      * Waits until all the axes stop moving.
      */
     async waitUntilIdle() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
         await gateway.callAsync('axes/wait_until_idle', request);
     }
     /**
@@ -127,24 +162,34 @@ class AxisGroup {
      * @returns True if any of the axes is currently executing a motion command. False otherwise.
      */
     async isBusy() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
-        const response = await gateway.callAsync('axes/is_busy', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('axes/is_busy', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns bool indicating whether all the axes are homed.
      * @returns True if all the axes are homed. False otherwise.
      */
     async isHomed() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
-        const response = await gateway.callAsync('axes/is_homed', request, gateway.BoolResponse);
-        return response.getValue();
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('axes/is_homed', request, requests.BoolResponse.fromBinary);
+        return response.value;
     }
     /**
      * Returns current axes position.
@@ -154,26 +199,36 @@ class AxisGroup {
      * @returns Axes position.
      */
     async getPosition(...unit) {
-        const request = new gateway.AxesGetSettingRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
-        request.setSetting('pos');
-        request.setUnitList(unit);
-        const response = await gateway.callAsync('axes/get_setting', request, gateway.DoubleArrayResponse);
-        return response.getValuesList();
+        const request = {
+            ...requests.AxesGetSettingRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            setting: 'pos',
+            unit: unit,
+            toBinary() {
+                return requests.AxesGetSettingRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('axes/get_setting', request, requests.DoubleArrayResponse.fromBinary);
+        return response.values;
     }
     /**
      * Returns a string that represents the axes.
      * @returns A string that represents the axes.
      */
     toString() {
-        const request = new gateway.AxesEmptyRequest();
-        request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));
-        request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));
-        request.setAxesList(this._axes.map(axis => axis.axisNumber));
-        const response = gateway.callSync('axes/to_string', request, gateway.StringResponse);
-        return response.getValue();
+        const request = {
+            ...requests.AxesEmptyRequest.DEFAULT,
+            interfaces: this._axes.map(axis => axis.device.connection.interfaceId),
+            devices: this._axes.map(axis => axis.device.deviceAddress),
+            axes: this._axes.map(axis => axis.axisNumber),
+            toBinary() {
+                return requests.AxesEmptyRequest.toBinary(this);
+            },
+        };
+        const response = gateway.callSync('axes/to_string', request, requests.StringResponse.fromBinary);
+        return response.value;
     }
 }
 exports.AxisGroup = AxisGroup;

package/dist/lib/ascii/axis_group.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 { Axis } from './axis';\nimport { Measurement } from '../measurement';\nimport { Angle, Length, Native } from '../units';\nimport * as gateway from '../gateway';\n\n/*\n Groups multiple axes across devices into a single group to allow for simultaneous movement.\n * Note that the movement is not coordinated and trajectory is inconsistent and not repeatable between calls.\n * Make sure that any possible trajectory is clear of potential obstacles.\n * The movement methods return after all the axes finish the movement successfully\n * or throw an error as soon as possible.\n /\nexport class AxisGroup {\n /\n Axes of the group.\n /\n public get axes(): Axis[] {\n return this._axes;\n }\n private _axes: Axis[];\n\n /\n Initializes the group with the axes to be controlled.\n /\n constructor(axes: Axis[]) {\n this._axes = axes.slice();\n }\n\n /\n Homes the axes.\n /\n public async home(): Promise<void> {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n await gateway.callAsync('axes/home', request);\n }\n\n /\n Stops the axes.\n /\n public async stop(): Promise<void> {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n await gateway.callAsync('axes/stop', request);\n }\n\n /\n Moves the axes to absolute position.\n * @param position Position.\n /\n public async moveAbsolute(\n ...position: Measurement[]\n ): Promise<void> {\n const request = new gateway.AxesMoveRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n request.setPositionList(position.map(Measurement.toProtobuf));\n\n await gateway.callAsync('axes/move_absolute', request);\n }\n\n /\n Move axes to position relative to the current position.\n * @param position Position.\n /\n public async moveRelative(\n ...position: Measurement[]\n ): Promise<void> {\n const request = new gateway.AxesMoveRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n request.setPositionList(position.map(Measurement.toProtobuf));\n\n await gateway.callAsync('axes/move_relative', request);\n }\n\n /\n Moves axes to the minimum position as specified by limit.min.\n /\n public async moveMin(): Promise<void> {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n await gateway.callAsync('axes/move_min', request);\n }\n\n /\n Moves axes to the maximum position as specified by limit.max.\n /\n public async moveMax(): Promise<void> {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n await gateway.callAsync('axes/move_max', request);\n }\n\n /\n Waits until all the axes stop moving.\n /\n public async waitUntilIdle(): Promise<void> {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n await gateway.callAsync('axes/wait_until_idle', request);\n }\n\n /\n Returns bool indicating whether any of the axes is executing a motion command.\n * @returns True if any of the axes is currently executing a motion command. False otherwise.\n /\n public async isBusy(): Promise<boolean> {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'axes/is_busy',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /\n Returns bool indicating whether all the axes are homed.\n * @returns True if all the axes are homed. False otherwise.\n /\n public async isHomed(): Promise<boolean> {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n const response = await gateway.callAsync<gateway.BoolResponse>(\n 'axes/is_homed',\n request,\n gateway.BoolResponse);\n return response.getValue();\n }\n\n /\n Returns current axes position.\n * The positions are requested sequentially.\n * The result position may not be accurate if the axes are moving.\n * @param unit Units of position. You can specify units once or for each axis separately.\n * @returns Axes position.\n /\n public async getPosition(\n ...unit: (Length \| Angle \| Native)[]\n ): Promise<number[]> {\n const request = new gateway.AxesGetSettingRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n request.setSetting('pos');\n request.setUnitList(unit);\n\n const response = await gateway.callAsync<gateway.DoubleArrayResponse>(\n 'axes/get_setting',\n request,\n gateway.DoubleArrayResponse);\n return response.getValuesList();\n }\n\n /\n Returns a string that represents the axes.\n * @returns A string that represents the axes.\n */\n public toString(): string {\n const request = new gateway.AxesEmptyRequest();\n request.setInterfacesList(this._axes.map(axis => axis.device.connection.interfaceId));\n request.setDevicesList(this._axes.map(axis => axis.device.deviceAddress));\n request.setAxesList(this._axes.map(axis => axis.axisNumber));\n\n const response = gateway.callSync<gateway.StringResponse>(\n 'axes/to_string',\n request,\n gateway.StringResponse);\n return response.getValue();\n }\n}\n\nnamespace AxisGroup {\n}\n"]}
1	+ 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport { Measurement } from '../measurement';\nimport { Angle, Length, Native } from '../units';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\n\n/*\n Groups multiple axes across devices into a single group to allow for simultaneous movement.\n * Note that the movement is not coordinated and trajectory is inconsistent and not repeatable between calls.\n * Make sure that any possible trajectory is clear of potential obstacles.\n * The movement methods return after all the axes finish the movement successfully\n * or throw an error as soon as possible.\n /\nexport class AxisGroup {\n /\n Axes of the group.\n /\n public get axes(): Axis[] {\n return this._axes;\n }\n private _axes: Axis[];\n\n /\n Initializes the group with the axes to be controlled.\n /\n constructor(axes: Axis[]) {\n this._axes = axes.slice();\n }\n\n /\n Homes the axes.\n /\n public async home(): Promise<void> {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('axes/home', request);\n }\n\n /\n Stops the axes.\n /\n public async stop(): Promise<void> {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('axes/stop', request);\n }\n\n /\n Moves the axes to absolute position.\n * @param position Position.\n /\n public async moveAbsolute(\n ...position: Measurement[]\n ): Promise<void> {\n const request: requests.AxesMoveRequest & gateway.Message = {\n ...requests.AxesMoveRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n position: position,\n toBinary() {\n return requests.AxesMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('axes/move_absolute', request);\n }\n\n /\n Move axes to position relative to the current position.\n * @param position Position.\n /\n public async moveRelative(\n ...position: Measurement[]\n ): Promise<void> {\n const request: requests.AxesMoveRequest & gateway.Message = {\n ...requests.AxesMoveRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n position: position,\n toBinary() {\n return requests.AxesMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('axes/move_relative', request);\n }\n\n /\n Moves axes to the minimum position as specified by limit.min.\n /\n public async moveMin(): Promise<void> {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('axes/move_min', request);\n }\n\n /\n Moves axes to the maximum position as specified by limit.max.\n /\n public async moveMax(): Promise<void> {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('axes/move_max', request);\n }\n\n /\n Waits until all the axes stop moving.\n /\n public async waitUntilIdle(): Promise<void> {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('axes/wait_until_idle', request);\n }\n\n /\n Returns bool indicating whether any of the axes is executing a motion command.\n * @returns True if any of the axes is currently executing a motion command. False otherwise.\n /\n public async isBusy(): Promise<boolean> {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'axes/is_busy',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns bool indicating whether all the axes are homed.\n * @returns True if all the axes are homed. False otherwise.\n /\n public async isHomed(): Promise<boolean> {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'axes/is_homed',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns current axes position.\n * The positions are requested sequentially.\n * The result position may not be accurate if the axes are moving.\n * @param unit Units of position. You can specify units once or for each axis separately.\n * @returns Axes position.\n /\n public async getPosition(\n ...unit: (Length \| Angle \| Native)[]\n ): Promise<number[]> {\n const request: requests.AxesGetSettingRequest & gateway.Message = {\n ...requests.AxesGetSettingRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n setting: 'pos',\n unit: unit,\n toBinary() {\n return requests.AxesGetSettingRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n 'axes/get_setting',\n request,\n requests.DoubleArrayResponse.fromBinary);\n return response.values;\n }\n\n /\n Returns a string that represents the axes.\n * @returns A string that represents the axes.\n */\n public toString(): string {\n const request: requests.AxesEmptyRequest & gateway.Message = {\n ...requests.AxesEmptyRequest.DEFAULT,\n interfaces: this._axes.map(axis => axis.device.connection.interfaceId),\n devices: this._axes.map(axis => axis.device.deviceAddress),\n axes: this._axes.map(axis => axis.axisNumber),\n toBinary() {\n return requests.AxesEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StringResponse>(\n 'axes/to_string',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n}\n\nnamespace AxisGroup {\n}\n"]}

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

@@ -1,4 +1,4 @@
-import { AxisType } from './axis_type';
+import { AxisType } from '../ascii/axis_type';
 /**
  * Representation of data gathered during axis identification.
  */
@@ -28,6 +28,10 @@ export interface AxisIdentity {
      */
     isModified: boolean;
 }
-export declare namespace AxisIdentity {
-    const __type = "AxisIdentity";
-}
+export declare const AxisIdentity: {
+    fromBinary: (buffer: Uint8Array) => AxisIdentity;
+    toBinary: (value: AxisIdentity) => Uint8Array;
+    DEFAULT: Readonly<AxisIdentity>;
+    sanitize: (value: AxisIdentity) => AxisIdentity;
+};
+//# sourceMappingURL=axis_identity.d.ts.map

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

@@ -0,0 +1 @@

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