npm - @zaber/motion - Versions diffs - 6.0.0 → 6.0.1 - Mend

@zaber/motion 6.0.0 → 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 (1207) hide show

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

@@ -71,6 +71,7 @@ class PvtSequence {
      */
     async setupLiveComposite(...pvtAxes) {
         const request = {
+            ...requests.StreamSetupLiveCompositeRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -88,6 +89,7 @@ class PvtSequence {
      */
     async setupLive(...axes) {
         const request = {
+            ...requests.StreamSetupLiveRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -107,6 +109,7 @@ class PvtSequence {
      */
     async setupStoreComposite(pvtBuffer, ...pvtAxes) {
         const request = {
+            ...requests.StreamSetupStoreCompositeRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -126,6 +129,7 @@ class PvtSequence {
      */
     async setupStore(pvtBuffer, ...axes) {
         const request = {
+            ...requests.StreamSetupStoreRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -144,6 +148,7 @@ class PvtSequence {
      */
     async call(pvtBuffer) {
         const request = {
+            ...requests.StreamCallRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -167,6 +172,7 @@ class PvtSequence {
      */
     async point(positions, velocities, time) {
         const request = {
+            ...requests.PvtPointRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -193,6 +199,7 @@ class PvtSequence {
      */
     async pointRelative(positions, velocities, time) {
         const request = {
+            ...requests.PvtPointRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -215,6 +222,7 @@ class PvtSequence {
      */
     async setDigitalOutput(channelNumber, value) {
         const request = {
+            ...requests.StreamSetDigitalOutputRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -235,6 +243,7 @@ class PvtSequence {
      */
     async setAnalogOutput(channelNumber, value) {
         const request = {
+            ...requests.StreamSetAnalogOutputRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -253,6 +262,7 @@ class PvtSequence {
      */
     async setAllDigitalOutputs(values) {
         const request = {
+            ...requests.StreamSetAllDigitalOutputsRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -270,6 +280,7 @@ class PvtSequence {
      */
     async setAllAnalogOutputs(values) {
         const request = {
+            ...requests.StreamSetAllAnalogOutputsRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -288,6 +299,7 @@ class PvtSequence {
     async waitUntilIdle(options = {}) {
         const { throwErrorOnFault = true, } = options;
         const request = {
+            ...requests.StreamWaitUntilIdleRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -307,6 +319,7 @@ class PvtSequence {
      */
     async cork() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -323,6 +336,7 @@ class PvtSequence {
      */
     async uncork() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -339,6 +353,7 @@ class PvtSequence {
      */
     async isBusy() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -356,6 +371,7 @@ class PvtSequence {
      */
     toString() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -375,6 +391,7 @@ class PvtSequence {
      */
     async disable() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -392,6 +409,7 @@ class PvtSequence {
      */
     async genericCommand(command) {
         const request = {
+            ...requests.StreamGenericCommandRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -411,6 +429,7 @@ class PvtSequence {
      */
     async genericCommandBatch(batch) {
         const request = {
+            ...requests.StreamGenericCommandBatchRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -430,6 +449,7 @@ class PvtSequence {
      */
     async checkDisabled() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -446,6 +466,7 @@ class PvtSequence {
      */
     treatDiscontinuitiesAsError() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -461,6 +482,7 @@ class PvtSequence {
      */
     ignoreCurrentDiscontinuity() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -477,6 +499,7 @@ class PvtSequence {
      */
     _retrieveAxes() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,
@@ -494,6 +517,7 @@ class PvtSequence {
      */
     _retrieveMode() {
         const request = {
+            ...requests.StreamEmptyRequest.DEFAULT,
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.pvtId,

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

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

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

@@ -34,7 +34,8 @@ export interface Response {
 }
 export declare const Response: {
     fromBinary: (buffer: Uint8Array) => Response;
-    toBinary: (value: Partial<Response>) => Uint8Array;
+    toBinary: (value: Response) => Uint8Array;
     DEFAULT: Readonly<Response>;
+    sanitize: (value: Response) => Response;
 };
 //# sourceMappingURL=response.d.ts.map

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

	@@ -1 +1 @@
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1	+ {"version":3,"file":"response.d.ts","sourceRoot":"","sources":["../../../src/ascii/response.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,WAAW,EAAE,MAAM,uBAAuB,CAAC;AAEpD;;GAEG;AACH,MAAM,WAAW,QAAQ;IACvB;;OAEG;IACH,aAAa,EAAE,MAAM,CAAC;IAEtB;;OAEG;IACH,UAAU,EAAE,MAAM,CAAC;IAEnB;;OAEG;IACH,SAAS,EAAE,MAAM,CAAC;IAElB;;OAEG;IACH,MAAM,EAAE,MAAM,CAAC;IAEf;;OAEG;IACH,WAAW,EAAE,MAAM,CAAC;IAEpB;;OAEG;IACH,IAAI,EAAE,MAAM,CAAC;IAEb;;OAEG;IACH,WAAW,EAAE,WAAW,CAAC;CAE1B;AAED,eAAO,MAAM,QAAQ;yBACE,UAAU,KAAG,QAAQ;sBACxB,QAAQ,KAAG,UAAU;;sBAUrB,QAAQ,KAAG,QAAQ;CAatC,CAAC"}

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

@@ -3,10 +3,12 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.Response = void 0;
 /* This file is generated. Do not modify by hand. */
 const bson_1 = require("bson");
+const sanitizer_1 = require("../gateway/sanitizer");
+const message_type_1 = require("../ascii/message_type");
 exports.Response = {
     fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
-    toBinary: (value) => bson_1.BSON.serialize(value),
-    DEFAULT: {
+    toBinary: (value) => bson_1.BSON.serialize(exports.Response.sanitize(value)),
+    DEFAULT: Object.freeze({
         deviceAddress: 0,
         axisNumber: 0,
         replyFlag: '',
@@ -14,6 +16,23 @@ exports.Response = {
         warningFlag: '',
         data: '',
         messageType: 0,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected Response object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected Response object but got ${typeof value}.`);
+        }
+        return {
+            deviceAddress: sanitizer_1.sanitizer.sanitizeInt(value.deviceAddress, 'deviceAddress'),
+            axisNumber: sanitizer_1.sanitizer.sanitizeInt(value.axisNumber, 'axisNumber'),
+            replyFlag: sanitizer_1.sanitizer.sanitizeString(value.replyFlag, 'replyFlag'),
+            status: sanitizer_1.sanitizer.sanitizeString(value.status, 'status'),
+            warningFlag: sanitizer_1.sanitizer.sanitizeString(value.warningFlag, 'warningFlag'),
+            data: sanitizer_1.sanitizer.sanitizeString(value.data, 'data'),
+            messageType: sanitizer_1.sanitizer.sanitizeEnum(value.messageType, 'MessageType', message_type_1.MessageType, 'messageType'),
+        };
     },
 };
 //# sourceMappingURL=response.js.map

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

	@@ -1 +1 @@
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package/dist/lib/ascii/servo_tuner.d.ts.map CHANGED Viewed

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

@@ -54,6 +54,7 @@ class ServoTuner {
      */
     async getStartupParamset() {
         const request = {
+            ...requests.AxisEmptyRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -70,6 +71,7 @@ class ServoTuner {
      */
     async setStartupParamset(paramset) {
         const request = {
+            ...requests.ServoTuningRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -87,6 +89,7 @@ class ServoTuner {
      */
     async loadParamset(toParamset, fromParamset) {
         const request = {
+            ...requests.LoadParamset.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -105,6 +108,7 @@ class ServoTuner {
      */
     async getTuning(paramset) {
         const request = {
+            ...requests.ServoTuningRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -124,6 +128,7 @@ class ServoTuner {
      */
     async setTuning(paramset, tuningParams) {
         const request = {
+            ...requests.SetServoTuningRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -146,6 +151,7 @@ class ServoTuner {
      */
     async setPidTuning(paramset, p, i, d, fc) {
         const request = {
+            ...requests.SetServoTuningPIDRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -168,6 +174,7 @@ class ServoTuner {
      */
     async getPidTuning(paramset) {
         const request = {
+            ...requests.ServoTuningRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -185,6 +192,7 @@ class ServoTuner {
      */
     async getSimpleTuningParamDefinitions() {
         const request = {
+            ...requests.AxisEmptyRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -207,6 +215,7 @@ class ServoTuner {
     async setSimpleTuning(paramset, tuningParams, loadMass, options = {}) {
         const { carriageMass = null, } = options;
         const request = {
+            ...requests.SetSimpleTuning.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -227,6 +236,7 @@ class ServoTuner {
      */
     async getSimpleTuning(paramset) {
         const request = {
+            ...requests.ServoTuningRequest.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,
@@ -253,6 +263,7 @@ class ServoTuner {
     async isUsingSimpleTuning(paramset, tuningParams, loadMass, options = {}) {
         const { carriageMass = null, } = options;
         const request = {
+            ...requests.SetSimpleTuning.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
             device: this.axis.device.deviceAddress,
             axis: this.axis.axisNumber,

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

	@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { ParamsetInfo } from './paramset_info';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { PidTuning } from './pid_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\nimport { SimpleTuning } from './simple_tuning';\n\n/*\n Exposes the capabilities to inspect and edit an axis' servo tuning.\n * Requires at least Firmware 6.25 or 7.00.\n /\nexport class ServoTuner {\n /\n The axis that will be tuned.\n /\n public get axis(): Axis {\n return this._axis;\n }\n private _axis: Axis;\n\n /\n Creates instance of ServoTuner for the given axis.\n /\n constructor(axis: Axis) {\n this._axis = axis;\n }\n\n /\n Get the paramset that this device uses by default when it starts up.\n * @returns The paramset used when the device restarts.\n /\n public async getStartupParamset(): Promise<ServoTuningParamset> {\n const request: Partial<requests.AxisEmptyRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.ServoTuningParamsetResponse>(\n 'servotuning/get_startup_set',\n request,\n requests.ServoTuningParamsetResponse.fromBinary);\n return response.paramset;\n }\n\n /\n Set the paramset that this device uses by default when it starts up.\n * @param paramset The paramset to use at startup.\n /\n public async setStartupParamset(\n paramset: ServoTuningParamset\n ): Promise<void> {\n const request: Partial<requests.ServoTuningRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/set_startup_set', request);\n }\n\n /\n Load the values from one paramset into another.\n * @param toParamset The paramset to load into.\n * @param fromParamset The paramset to load from.\n /\n public async loadParamset(\n toParamset: ServoTuningParamset,\n fromParamset: ServoTuningParamset\n ): Promise<void> {\n const request: Partial<requests.LoadParamset> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n toParamset: toParamset,\n fromParamset: fromParamset,\n toBinary() {\n return requests.LoadParamset.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/load_paramset', request);\n }\n\n /\n Get the full set of tuning parameters used by the firmware driving this axis.\n * @param paramset The paramset to get tuning for.\n * @returns The raw representation of the current tuning.\n /\n public async getTuning(\n paramset: ServoTuningParamset\n ): Promise<ParamsetInfo> {\n const request: Partial<requests.ServoTuningRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<ParamsetInfo>(\n 'servotuning/get_raw',\n request,\n ParamsetInfo.fromBinary);\n return response;\n }\n\n /\n Set individual tuning parameters.\n * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n * @param paramset The paramset to set tuning of.\n * @param tuningParams The params to set.\n /\n public async setTuning(\n paramset: ServoTuningParamset,\n tuningParams: ServoTuningParam[]\n ): Promise<void> {\n const request: Partial<requests.SetServoTuningRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n tuningParams: tuningParams,\n toBinary() {\n return requests.SetServoTuningRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/set_raw', request);\n }\n\n /\n Sets the tuning of a paramset using the PID method.\n * @param paramset The paramset to get tuning for.\n * @param p The proportional gain. Must be in units of N/m.\n * @param i The integral gain. Must be in units of N/m⋅s.\n * @param d The derivative gain. Must be in units of N⋅s/m.\n * @param fc The cutoff frequency. Must be in units of Hz.\n * @returns The PID representation of the current tuning after your changes have been applied.\n /\n public async setPidTuning(\n paramset: ServoTuningParamset,\n p: number,\n i: number,\n d: number,\n fc: number\n ): Promise<PidTuning> {\n const request: Partial<requests.SetServoTuningPIDRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n p: p,\n i: i,\n d: d,\n fc: fc,\n toBinary() {\n return requests.SetServoTuningPIDRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<PidTuning>(\n 'servotuning/set_pid',\n request,\n PidTuning.fromBinary);\n return response;\n }\n\n /\n Gets the PID representation of this paramset's servo tuning.\n * @param paramset The paramset to get tuning for.\n * @returns The PID representation of the current tuning.\n /\n public async getPidTuning(\n paramset: ServoTuningParamset\n ): Promise<PidTuning> {\n const request: Partial<requests.ServoTuningRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<PidTuning>(\n 'servotuning/get_pid',\n request,\n PidTuning.fromBinary);\n return response;\n }\n\n /\n Gets the parameters that are required to tune this device.\n * @returns The tuning parameters.\n /\n public async getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]> {\n const request: Partial<requests.AxisEmptyRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.GetSimpleTuningParamDefinitionResponse>(\n 'servotuning/get_simple_params_definition',\n request,\n requests.GetSimpleTuningParamDefinitionResponse.fromBinary);\n return response.params;\n }\n\n /\n Set the tuning of this device using the simple input method.\n * @param paramset The paramset to set tuning for.\n * @param tuningParams The params used to tune this device.\n * To get what parameters are expected, call GetSimpleTuningParamList.\n * All values must be between 0 and 1.\n * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n /\n public async setSimpleTuning(\n paramset: ServoTuningParamset,\n tuningParams: ServoTuningParam[],\n loadMass: number,\n options: ServoTuner.SetSimpleTuningOptions = {}\n ): Promise<void> {\n const {\n carriageMass = null,\n } = options;\n const request: Partial<requests.SetSimpleTuning> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n tuningParams: tuningParams,\n loadMass: loadMass,\n carriageMass: carriageMass,\n toBinary() {\n return requests.SetSimpleTuning.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/set_simple_tuning', request);\n }\n\n /\n Get the simple tuning parameters for this device.\n * @param paramset The paramset to get tuning for.\n * @returns The simple tuning parameters.\n /\n public async getSimpleTuning(\n paramset: ServoTuningParamset\n ): Promise<SimpleTuning> {\n const request: Partial<requests.ServoTuningRequest> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<SimpleTuning>(\n 'servotuning/get_simple_tuning',\n request,\n SimpleTuning.fromBinary);\n return response;\n }\n\n /\n @deprecated Use GetSimpleTuning instead.\n \n Checks if the provided simple tuning is being stored by this paramset.\n * @param paramset The paramset to set tuning for.\n * @param tuningParams The params used to tune this device.\n * To get what parameters are expected, call GetSimpleTuningParamList.\n * All values must be between 0 and 1.\n * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n * @returns True if the provided simple tuning is currently stored in this paramset.\n */\n public async isUsingSimpleTuning(\n paramset: ServoTuningParamset,\n tuningParams: ServoTuningParam[],\n loadMass: number,\n options: ServoTuner.IsUsingSimpleTuningOptions = {}\n ): Promise<boolean> {\n const {\n carriageMass = null,\n } = options;\n const request: Partial<requests.SetSimpleTuning> & gateway.Message = {\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n tuningParams: tuningParams,\n loadMass: loadMass,\n carriageMass: carriageMass,\n toBinary() {\n return requests.SetSimpleTuning.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'servotuning/is_using_simple_tuning',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n}\n\nnamespace ServoTuner {\n export interface SetSimpleTuningOptions {\n carriageMass?: number;\n }\n export interface IsUsingSimpleTuningOptions {\n carriageMass?: number;\n }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { ParamsetInfo } from './paramset_info';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { PidTuning } from './pid_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\nimport { SimpleTuning } from './simple_tuning';\n\n/*\n Exposes the capabilities to inspect and edit an axis' servo tuning.\n * Requires at least Firmware 6.25 or 7.00.\n /\nexport class ServoTuner {\n /\n The axis that will be tuned.\n /\n public get axis(): Axis {\n return this._axis;\n }\n private _axis: Axis;\n\n /\n Creates instance of ServoTuner for the given axis.\n /\n constructor(axis: Axis) {\n this._axis = axis;\n }\n\n /\n Get the paramset that this device uses by default when it starts up.\n * @returns The paramset used when the device restarts.\n /\n public async getStartupParamset(): Promise<ServoTuningParamset> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.ServoTuningParamsetResponse>(\n 'servotuning/get_startup_set',\n request,\n requests.ServoTuningParamsetResponse.fromBinary);\n return response.paramset;\n }\n\n /\n Set the paramset that this device uses by default when it starts up.\n * @param paramset The paramset to use at startup.\n /\n public async setStartupParamset(\n paramset: ServoTuningParamset\n ): Promise<void> {\n const request: requests.ServoTuningRequest & gateway.Message = {\n ...requests.ServoTuningRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/set_startup_set', request);\n }\n\n /\n Load the values from one paramset into another.\n * @param toParamset The paramset to load into.\n * @param fromParamset The paramset to load from.\n /\n public async loadParamset(\n toParamset: ServoTuningParamset,\n fromParamset: ServoTuningParamset\n ): Promise<void> {\n const request: requests.LoadParamset & gateway.Message = {\n ...requests.LoadParamset.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n toParamset: toParamset,\n fromParamset: fromParamset,\n toBinary() {\n return requests.LoadParamset.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/load_paramset', request);\n }\n\n /\n Get the full set of tuning parameters used by the firmware driving this axis.\n * @param paramset The paramset to get tuning for.\n * @returns The raw representation of the current tuning.\n /\n public async getTuning(\n paramset: ServoTuningParamset\n ): Promise<ParamsetInfo> {\n const request: requests.ServoTuningRequest & gateway.Message = {\n ...requests.ServoTuningRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<ParamsetInfo>(\n 'servotuning/get_raw',\n request,\n ParamsetInfo.fromBinary);\n return response;\n }\n\n /\n Set individual tuning parameters.\n * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n * @param paramset The paramset to set tuning of.\n * @param tuningParams The params to set.\n /\n public async setTuning(\n paramset: ServoTuningParamset,\n tuningParams: ServoTuningParam[]\n ): Promise<void> {\n const request: requests.SetServoTuningRequest & gateway.Message = {\n ...requests.SetServoTuningRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n tuningParams: tuningParams,\n toBinary() {\n return requests.SetServoTuningRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/set_raw', request);\n }\n\n /\n Sets the tuning of a paramset using the PID method.\n * @param paramset The paramset to get tuning for.\n * @param p The proportional gain. Must be in units of N/m.\n * @param i The integral gain. Must be in units of N/m⋅s.\n * @param d The derivative gain. Must be in units of N⋅s/m.\n * @param fc The cutoff frequency. Must be in units of Hz.\n * @returns The PID representation of the current tuning after your changes have been applied.\n /\n public async setPidTuning(\n paramset: ServoTuningParamset,\n p: number,\n i: number,\n d: number,\n fc: number\n ): Promise<PidTuning> {\n const request: requests.SetServoTuningPIDRequest & gateway.Message = {\n ...requests.SetServoTuningPIDRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n p: p,\n i: i,\n d: d,\n fc: fc,\n toBinary() {\n return requests.SetServoTuningPIDRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<PidTuning>(\n 'servotuning/set_pid',\n request,\n PidTuning.fromBinary);\n return response;\n }\n\n /\n Gets the PID representation of this paramset's servo tuning.\n * @param paramset The paramset to get tuning for.\n * @returns The PID representation of the current tuning.\n /\n public async getPidTuning(\n paramset: ServoTuningParamset\n ): Promise<PidTuning> {\n const request: requests.ServoTuningRequest & gateway.Message = {\n ...requests.ServoTuningRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<PidTuning>(\n 'servotuning/get_pid',\n request,\n PidTuning.fromBinary);\n return response;\n }\n\n /\n Gets the parameters that are required to tune this device.\n * @returns The tuning parameters.\n /\n public async getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]> {\n const request: requests.AxisEmptyRequest & gateway.Message = {\n ...requests.AxisEmptyRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n toBinary() {\n return requests.AxisEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.GetSimpleTuningParamDefinitionResponse>(\n 'servotuning/get_simple_params_definition',\n request,\n requests.GetSimpleTuningParamDefinitionResponse.fromBinary);\n return response.params;\n }\n\n /\n Set the tuning of this device using the simple input method.\n * @param paramset The paramset to set tuning for.\n * @param tuningParams The params used to tune this device.\n * To get what parameters are expected, call GetSimpleTuningParamList.\n * All values must be between 0 and 1.\n * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n /\n public async setSimpleTuning(\n paramset: ServoTuningParamset,\n tuningParams: ServoTuningParam[],\n loadMass: number,\n options: ServoTuner.SetSimpleTuningOptions = {}\n ): Promise<void> {\n const {\n carriageMass = null,\n } = options;\n const request: requests.SetSimpleTuning & gateway.Message = {\n ...requests.SetSimpleTuning.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n tuningParams: tuningParams,\n loadMass: loadMass,\n carriageMass: carriageMass,\n toBinary() {\n return requests.SetSimpleTuning.toBinary(this);\n },\n };\n\n await gateway.callAsync('servotuning/set_simple_tuning', request);\n }\n\n /\n Get the simple tuning parameters for this device.\n * @param paramset The paramset to get tuning for.\n * @returns The simple tuning parameters.\n /\n public async getSimpleTuning(\n paramset: ServoTuningParamset\n ): Promise<SimpleTuning> {\n const request: requests.ServoTuningRequest & gateway.Message = {\n ...requests.ServoTuningRequest.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n toBinary() {\n return requests.ServoTuningRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<SimpleTuning>(\n 'servotuning/get_simple_tuning',\n request,\n SimpleTuning.fromBinary);\n return response;\n }\n\n /\n @deprecated Use GetSimpleTuning instead.\n \n Checks if the provided simple tuning is being stored by this paramset.\n * @param paramset The paramset to set tuning for.\n * @param tuningParams The params used to tune this device.\n * To get what parameters are expected, call GetSimpleTuningParamList.\n * All values must be between 0 and 1.\n * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n * @returns True if the provided simple tuning is currently stored in this paramset.\n */\n public async isUsingSimpleTuning(\n paramset: ServoTuningParamset,\n tuningParams: ServoTuningParam[],\n loadMass: number,\n options: ServoTuner.IsUsingSimpleTuningOptions = {}\n ): Promise<boolean> {\n const {\n carriageMass = null,\n } = options;\n const request: requests.SetSimpleTuning & gateway.Message = {\n ...requests.SetSimpleTuning.DEFAULT,\n interfaceId: this.axis.device.connection.interfaceId,\n device: this.axis.device.deviceAddress,\n axis: this.axis.axisNumber,\n paramset: paramset,\n tuningParams: tuningParams,\n loadMass: loadMass,\n carriageMass: carriageMass,\n toBinary() {\n return requests.SetSimpleTuning.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'servotuning/is_using_simple_tuning',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n}\n\nnamespace ServoTuner {\n export interface SetSimpleTuningOptions {\n carriageMass?: number;\n }\n export interface IsUsingSimpleTuningOptions {\n carriageMass?: number;\n }\n}\n"]}

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

@@ -13,7 +13,8 @@ export interface ServoTuningParam {
 }
 export declare const ServoTuningParam: {
     fromBinary: (buffer: Uint8Array) => ServoTuningParam;
-    toBinary: (value: Partial<ServoTuningParam>) => Uint8Array;
+    toBinary: (value: ServoTuningParam) => Uint8Array;
     DEFAULT: Readonly<ServoTuningParam>;
+    sanitize: (value: ServoTuningParam) => ServoTuningParam;
 };
 //# sourceMappingURL=servo_tuning_param.d.ts.map

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