@zaber/motion 6.6.1 → 7.0.0

package/dist/lib/ascii/connection.js.map

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Observable, ReplaySubject } from 'rxjs';\nimport { map, filter, takeUntil, take } from 'rxjs/operators';\nimport * as gateway from '../gateway';\nimport { events, filterEvent } from '../gateway';\nimport * as requests from '../requests';\nimport { Transport } from './transport';\nimport { Device } from './device';\nimport { Response } from './response';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { AlertEvent } from './alert_event';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection).\n */\nexport class Connection {\n  /**\n   * Event invoked when a response from a device cannot be matched to any known request.\n   */\n  public unknownResponse!: Observable<UnknownResponseEvent>;\n\n  /**\n   * Event invoked when an alert is received from a device.\n   */\n  public alert!: Observable<AlertEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 115200;\n\n  /**\n   * Commands sent over this port are forwarded to the device chain.\n   * The bandwidth may be limited as the commands are forwarded over a serial connection.\n   */\n  public static readonly TCP_PORT_CHAIN: number = 55550;\n\n  /**\n   * Local area network share port.\n   */\n  public static readonly NETWORK_SHARE_PORT: number = 11421;\n\n  /**\n   * Commands send over this port are processed only by the device\n   * and not forwarded to the rest of the chain.\n   * Using this port typically makes the communication faster.\n   */\n  public static readonly TCP_PORT_DEVICE_ONLY: number = 55551;\n\n  /**\n   * The interface ID identifies this Connection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  /**\n   * The default timeout, in milliseconds, for a device to respond to a request.\n   * Setting the timeout to a too low value may cause request timeout exceptions.\n   * The initial value is 1000 (one second).\n   */\n  public get defaultRequestTimeout(): number {\n    return this._retrieveTimeout();\n  }\n\n  public set defaultRequestTimeout(value: number) {\n    this._changeTimeout(value);\n  }\n\n  /**\n   * Controls whether outgoing messages contain checksum.\n   */\n  public get checksumEnabled(): boolean {\n    return this._retrieveChecksumEnabled();\n  }\n\n  public set checksumEnabled(value: boolean) {\n    this._changeChecksumEnabled(value);\n  }\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher.\n   * Zaber Launcher allows sharing of the port between multiple applications,\n   * If port sharing is not desirable, use the `direct` parameter.\n   * @param portName Name of the port to open.\n   * @param [options.baudRate=Connection.DEFAULT_BAUD_RATE] Optional baud rate (defaults to 115200).\n   * @param [options.direct=false] If true will connect to the serial port directly,\n   * failing if the connection is already opened by a message router instance.\n   * @returns An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    options: Connection.OpenSerialPortOptions = {}\n  ): Promise<Connection> {\n    const {\n      baudRate = Connection.DEFAULT_BAUD_RATE,\n      direct = false,\n    } = options;\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.SERIAL_PORT,\n      portName: portName,\n      baudRate: baudRate,\n      rejectRoutedConnection: direct,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a TCP connection.\n   * @param hostName Hostname or IP address.\n   * @param [port=Connection.TCP_PORT_CHAIN] Optional port number (defaults to 55550).\n   * @returns An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number = Connection.TCP_PORT_CHAIN\n  ): Promise<Connection> {\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.TCP,\n      hostName: hostName,\n      port: port,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a connection using a custom transport.\n   * @param transport The custom connection transport.\n   * @returns An object representing the connection.\n   */\n  public static async openCustom(\n    transport: Transport\n  ): Promise<Connection> {\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.CUSTOM,\n      transport: transport.transportId,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a secured connection to a cloud connected device chain.\n   * Use this method to connect to devices on your account.\n   * @param cloudId The cloud ID to connect to.\n   * @param [options.token='unauthenticated'] The token to authenticate with. By default the connection will be unauthenticated.\n   * @param options.connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @param options.realm The realm to connect to.\n   * Can be left empty for the default account realm.\n   * @param [options.api='https://api.zaber.io'] The URL of the API to receive connection info from.\n   * @returns An object representing the connection.\n   */\n  public static async openIot(\n    cloudId: string,\n    options: Connection.OpenIotOptions = {}\n  ): Promise<Connection> {\n    const {\n      token = 'unauthenticated',\n      connectionName,\n      realm,\n      api = 'https://api.zaber.io',\n    } = options;\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.IOT,\n      cloudId: cloudId,\n      token: token,\n      connectionName: connectionName,\n      realm: realm,\n      api: api,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a connection to Zaber Launcher in your Local Area Network.\n   * The connection is not secured.\n   * @param hostName Hostname or IP address.\n   * @param [port=Connection.NETWORK_SHARE_PORT] Port number.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @returns An object representing the connection.\n   */\n  public static async openNetworkShare(\n    hostName: string,\n    port: number = Connection.NETWORK_SHARE_PORT,\n    connectionName?: string\n  ): Promise<Connection> {\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.NETWORK_SHARE,\n      hostName: hostName,\n      port: port,\n      connectionName: connectionName,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.device=0] Optional device address to send the command to.\n   * @param [options.axis=0] Optional axis number to send the command to.\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: Connection.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      device = 0,\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      device: device,\n      axis: axis,\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 connection without expecting a response and without adding a message ID.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.device=0] Optional device address to send the command to.\n   * Specifying -1 omits the number completely.\n   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Connection.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      device = 0,\n      axis = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      device: device,\n      axis: axis,\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   * Sends a generic ASCII command to this connection and expect multiple responses,\n   * either from one device or from many devices.\n   * Responses are returned in order of arrival.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.device=0] Optional device address to send the command to.\n   * @param [options.axis=0] Optional axis number to send the command to.\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: Connection.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      device = 0,\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      device: device,\n      axis: axis,\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   * Enables alerts for all devices on the connection.\n   * This will change the \"comm.alert\" setting to 1 on all supported devices.\n   */\n  public async enableAlerts(): Promise<void> {\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: 'set comm.alert 1',\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   * Disables alerts for all devices on the connection.\n   * This will change the \"comm.alert\" setting to 0 on all supported devices.\n   */\n  public async disableAlerts(): Promise<void> {\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: 'set comm.alert 0',\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   * Resets ASCII protocol message IDs. Only for testing purposes.\n   */\n  public resetIds(): void {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('interface/reset_ids', request);\n  }\n\n  /**\n   * Close the connection.\n   */\n  public async close(): Promise<void> {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('interface/close', request);\n  }\n\n  /**\n   * Gets a Device class instance which allows you to control a particular device on this connection.\n   * Devices are numbered from 1.\n   * @param deviceAddress Address of device intended to control. Address is configured for each device.\n   * @returns Device instance.\n   */\n  public getDevice(\n    deviceAddress: number\n  ): Device {\n    if (deviceAddress <= 0) {\n      throw new TypeError('Invalid value; physical devices are numbered from 1.');\n    }\n    return new Device(this, deviceAddress);\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, devices need to be identified again.\n   * @param [options.firstAddress=1] This is the address that the device closest to the computer is given.\n   * Remaining devices are numbered consecutively.\n   * @returns Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(\n    options: Connection.RenumberDevicesOptions = {}\n  ): Promise<number> {\n    const {\n      firstAddress = 1,\n    } = options;\n    if (firstAddress <= 0) {\n      throw new TypeError('Invalid value; device addresses are numbered from 1.');\n    }\n    const request: requests.DeviceRenumberRequest & gateway.Message = {\n      ...requests.DeviceRenumberRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      firstAddress: firstAddress,\n      toBinary() {\n        return requests.DeviceRenumberRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'device/renumber',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param [options.identifyDevices=true] Determines whether device identification should be performed as well.\n   * @returns Array of detected devices.\n   */\n  public async detectDevices(\n    options: Connection.DetectDevicesOptions = {}\n  ): Promise<Device[]> {\n    const {\n      identifyDevices = true,\n    } = options;\n    const request: requests.DeviceDetectRequest & gateway.Message = {\n      ...requests.DeviceDetectRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      identifyDevices: identifyDevices,\n      toBinary() {\n        return requests.DeviceDetectRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DeviceDetectResponse>(\n      'device/detect',\n      request,\n      requests.DeviceDetectResponse.fromBinary);\n    return response.devices.map(deviceAddress => this.getDevice(deviceAddress));\n  }\n\n  /**\n   * Forgets all the information associated with devices on the connection.\n   * Useful when devices are removed from the chain indefinitely.\n   * @param [exceptDevices=[]] Addresses of devices that should not be forgotten.\n   */\n  public forgetDevices(\n    exceptDevices: number[] = []\n  ): void {\n    const request: requests.ForgetDevicesRequest & gateway.Message = {\n      ...requests.ForgetDevicesRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      exceptDevices: exceptDevices,\n      toBinary() {\n        return requests.ForgetDevicesRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/forget', request);\n  }\n\n  /**\n   * Stops all of the devices on this connection.\n   * @param [options.waitUntilIdle=true] Determines whether the function should return immediately\n   * or wait until the devices are stopped.\n   * @returns The addresses of the devices that were stopped by this command.\n   */\n  public async stopAll(\n    options: Connection.StopAllOptions = {}\n  ): Promise<number[]> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceOnAllRequest & gateway.Message = {\n      ...requests.DeviceOnAllRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceOnAllRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DeviceOnAllResponse>(\n      'device/stop_all',\n      request,\n      requests.DeviceOnAllResponse.fromBinary);\n    return response.deviceAddresses;\n  }\n\n  /**\n   * Homes all of the devices on this connection.\n   * @param [options.waitUntilIdle=true] Determines whether the function should return immediately\n   * or wait until the devices are homed.\n   * @returns The addresses of the devices that were homed by this command.\n   */\n  public async homeAll(\n    options: Connection.HomeAllOptions = {}\n  ): Promise<number[]> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceOnAllRequest & gateway.Message = {\n      ...requests.DeviceOnAllRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceOnAllRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DeviceOnAllResponse>(\n      'device/home_all',\n      request,\n      requests.DeviceOnAllResponse.fromBinary);\n    return response.deviceAddresses;\n  }\n\n  /**\n   * Returns a string that represents the connection.\n   * @returns A string that represents the connection.\n   */\n  public toString(): string {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'interface/to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns default request timeout.\n   * @returns Default request timeout.\n   */\n  private _retrieveTimeout(): number {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.IntResponse>(\n      'interface/get_timeout',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets default request timeout.\n   * @param timeout Default request timeout.\n   */\n  private _changeTimeout(\n    timeout: number\n  ): void {\n    const request: requests.SetInterfaceTimeoutRequest & gateway.Message = {\n      ...requests.SetInterfaceTimeoutRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      timeout: timeout,\n      toBinary() {\n        return requests.SetInterfaceTimeoutRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('interface/set_timeout', request);\n  }\n\n  /**\n   * Returns checksum enabled.\n   * @returns Checksum enabled.\n   */\n  private _retrieveChecksumEnabled(): boolean {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.BoolResponse>(\n      'interface/get_checksum_enabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets checksum enabled.\n   * @param isEnabled Checksum enabled.\n   */\n  private _changeChecksumEnabled(\n    isEnabled: boolean\n  ): void {\n    const request: requests.SetInterfaceChecksumEnabledRequest & gateway.Message = {\n      ...requests.SetInterfaceChecksumEnabledRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      isEnabled: isEnabled,\n      toBinary() {\n        return requests.SetInterfaceChecksumEnabledRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('interface/set_checksum_enabled', request);\n  }\n\n  private _disconnected = new ReplaySubject<MotionLibException>();\n\n  /**\n   * Event invoked when connection is interrupted or closed.\n   */\n  public get disconnected(): Observable<MotionLibException> {\n    return this._disconnected;\n  }\n\n  private _subscribe(): void {\n    this.unknownResponse = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<requests.UnknownResponseEventWrapper>('interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.unknownResponse)\n    );\n\n    this.alert = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<requests.AlertEventWrapper>('interface/alert'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.alert)\n    );\n\n    events.pipe(\n      filterEvent<requests.DisconnectedEvent>('interface/disconnected'),\n      filter(event => event.interfaceId === this.interfaceId),\n      take(1),\n      map(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))\n    ).subscribe(this._disconnected);\n  }\n}\n\nnamespace Connection {\n  export interface OpenSerialPortOptions {\n      baudRate?: number;\n      direct?: boolean;\n  }\n  export interface OpenIotOptions {\n      token?: string;\n      connectionName?: string;\n      realm?: string;\n      api?: string;\n  }\n  export interface GenericCommandOptions {\n      device?: number;\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      device?: number;\n      axis?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      device?: number;\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface RenumberDevicesOptions {\n      firstAddress?: number;\n  }\n  export interface DetectDevicesOptions {\n      identifyDevices?: boolean;\n  }\n  export interface StopAllOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeAllOptions {\n      waitUntilIdle?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Observable, ReplaySubject } from 'rxjs';\nimport { map, filter, takeUntil, take } from 'rxjs/operators';\nimport * as gateway from '../gateway';\nimport { events, filterEvent } from '../gateway';\nimport * as requests from '../requests';\nimport { Transport } from './transport';\nimport { Device } from './device';\nimport { Response } from './response';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { AlertEvent } from './alert_event';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection).\n */\nexport class Connection {\n  /**\n   * Event invoked when a response from a device cannot be matched to any known request.\n   */\n  public unknownResponse!: Observable<UnknownResponseEvent>;\n\n  /**\n   * Event invoked when an alert is received from a device.\n   */\n  public alert!: Observable<AlertEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 115200;\n\n  /**\n   * Commands sent over this port are forwarded to the device chain.\n   * The bandwidth may be limited as the commands are forwarded over a serial connection.\n   */\n  public static readonly TCP_PORT_CHAIN: number = 55550;\n\n  /**\n   * Local area network share port.\n   */\n  public static readonly NETWORK_SHARE_PORT: number = 11421;\n\n  /**\n   * Commands send over this port are processed only by the device\n   * and not forwarded to the rest of the chain.\n   * Using this port typically makes the communication faster.\n   */\n  public static readonly TCP_PORT_DEVICE_ONLY: number = 55551;\n\n  /**\n   * The interface ID identifies this Connection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  /**\n   * The default timeout, in milliseconds, for a device to respond to a request.\n   * Setting the timeout to a too low value may cause request timeout exceptions.\n   * The initial value is 1000 (one second).\n   */\n  public get defaultRequestTimeout(): number {\n    return this._retrieveTimeout();\n  }\n\n  public set defaultRequestTimeout(value: number) {\n    this._changeTimeout(value);\n  }\n\n  /**\n   * Controls whether outgoing messages contain checksum.\n   */\n  public get checksumEnabled(): boolean {\n    return this._retrieveChecksumEnabled();\n  }\n\n  public set checksumEnabled(value: boolean) {\n    this._changeChecksumEnabled(value);\n  }\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher.\n   * Zaber Launcher allows sharing of the port between multiple applications,\n   * If port sharing is not desirable, use the `direct` parameter.\n   * @param portName Name of the port to open.\n   * @param [options.baudRate=Connection.DEFAULT_BAUD_RATE] Optional baud rate (defaults to 115200).\n   * @param [options.direct=false] If true will connect to the serial port directly,\n   * failing if the connection is already opened by a message router instance.\n   * @returns An object representing the port.\n   */\n  public static async openSerialPort(\n    portName: string,\n    options: Connection.OpenSerialPortOptions = {}\n  ): Promise<Connection> {\n    const {\n      baudRate = Connection.DEFAULT_BAUD_RATE,\n      direct = false,\n    } = options;\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.SERIAL_PORT,\n      portName: portName,\n      baudRate: baudRate,\n      rejectRoutedConnection: direct,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a TCP connection.\n   * @param hostName Hostname or IP address.\n   * @param [port=Connection.TCP_PORT_CHAIN] Optional port number (defaults to 55550).\n   * @returns An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number = Connection.TCP_PORT_CHAIN\n  ): Promise<Connection> {\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.TCP,\n      hostName: hostName,\n      port: port,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a connection using a custom transport.\n   * @param transport The custom connection transport.\n   * @returns An object representing the connection.\n   */\n  public static async openCustom(\n    transport: Transport\n  ): Promise<Connection> {\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.CUSTOM,\n      transport: transport.transportId,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a secured connection to a cloud connected device chain.\n   * Use this method to connect to devices on your account.\n   * @param cloudId The cloud ID to connect to.\n   * @param [options.token='unauthenticated'] The token to authenticate with. By default the connection will be unauthenticated.\n   * @param options.connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @param options.realm The realm to connect to.\n   * Can be left empty for the default account realm.\n   * @param [options.api='https://api.zaber.io'] The URL of the API to receive connection info from.\n   * @returns An object representing the connection.\n   */\n  public static async openIot(\n    cloudId: string,\n    options: Connection.OpenIotOptions = {}\n  ): Promise<Connection> {\n    const {\n      token = 'unauthenticated',\n      connectionName,\n      realm,\n      api = 'https://api.zaber.io',\n    } = options;\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.IOT,\n      cloudId: cloudId,\n      token: token,\n      connectionName: connectionName,\n      realm: realm,\n      api: api,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Opens a connection to Zaber Launcher in your Local Area Network.\n   * The connection is not secured.\n   * @param hostName Hostname or IP address.\n   * @param [port=Connection.NETWORK_SHARE_PORT] Port number.\n   * @param connectionName The name of the connection to open.\n   * Can be left empty to default to the only connection present.\n   * Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.\n   * @returns An object representing the connection.\n   */\n  public static async openNetworkShare(\n    hostName: string,\n    port: number = Connection.NETWORK_SHARE_PORT,\n    connectionName?: string\n  ): Promise<Connection> {\n    const request: requests.OpenInterfaceRequest & gateway.Message = {\n      ...requests.OpenInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.NETWORK_SHARE,\n      hostName: hostName,\n      port: port,\n      connectionName: connectionName,\n      toBinary() {\n        return requests.OpenInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\n  }\n\n  /**\n   * Sends a generic ASCII command to this connection.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.device=0] Optional device address to send the command to.\n   * @param [options.axis=0] Optional axis number to send the command to.\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: Connection.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      device = 0,\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      device: device,\n      axis: axis,\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 connection without expecting a response and without adding a message ID.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.device=0] Optional device address to send the command to.\n   * Specifying -1 omits the number completely.\n   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Connection.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      device = 0,\n      axis = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      device: device,\n      axis: axis,\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   * Sends a generic ASCII command to this connection and expect multiple responses,\n   * either from one device or from many devices.\n   * Responses are returned in order of arrival.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.device=0] Optional device address to send the command to.\n   * @param [options.axis=0] Optional axis number to send the command to.\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: Connection.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      device = 0,\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      device: device,\n      axis: axis,\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   * Enables alerts for all devices on the connection.\n   * This will change the \"comm.alert\" setting to 1 on all supported devices.\n   */\n  public async enableAlerts(): Promise<void> {\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: 'set comm.alert 1',\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   * Disables alerts for all devices on the connection.\n   * This will change the \"comm.alert\" setting to 0 on all supported devices.\n   */\n  public async disableAlerts(): Promise<void> {\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: 'set comm.alert 0',\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   * Resets ASCII protocol message IDs. Only for testing purposes.\n   */\n  public resetIds(): void {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('interface/reset_ids', request);\n  }\n\n  /**\n   * Close the connection.\n   */\n  public async close(): Promise<void> {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('interface/close', request);\n  }\n\n  /**\n   * Gets a Device class instance which allows you to control a particular device on this connection.\n   * Devices are numbered from 1.\n   * @param deviceAddress Address of device intended to control. Address is configured for each device.\n   * @returns Device instance.\n   */\n  public getDevice(\n    deviceAddress: number\n  ): Device {\n    if (deviceAddress <= 0) {\n      throw new TypeError('Invalid value; physical devices are numbered from 1.');\n    }\n    return new Device(this, deviceAddress);\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, devices need to be identified again.\n   * @param [options.firstAddress=1] This is the address that the device closest to the computer is given.\n   * Remaining devices are numbered consecutively.\n   * @returns Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(\n    options: Connection.RenumberDevicesOptions = {}\n  ): Promise<number> {\n    const {\n      firstAddress = 1,\n    } = options;\n    if (firstAddress <= 0) {\n      throw new TypeError('Invalid value; device addresses are numbered from 1.');\n    }\n    const request: requests.RenumberRequest & gateway.Message = {\n      ...requests.RenumberRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      address: firstAddress,\n      toBinary() {\n        return requests.RenumberRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'device/renumber_all',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param [options.identifyDevices=true] Determines whether device identification should be performed as well.\n   * @returns Array of detected devices.\n   */\n  public async detectDevices(\n    options: Connection.DetectDevicesOptions = {}\n  ): Promise<Device[]> {\n    const {\n      identifyDevices = true,\n    } = options;\n    const request: requests.DeviceDetectRequest & gateway.Message = {\n      ...requests.DeviceDetectRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      identifyDevices: identifyDevices,\n      toBinary() {\n        return requests.DeviceDetectRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DeviceDetectResponse>(\n      'device/detect',\n      request,\n      requests.DeviceDetectResponse.fromBinary);\n    return response.devices.map(deviceAddress => this.getDevice(deviceAddress));\n  }\n\n  /**\n   * Forgets all the information associated with devices on the connection.\n   * Useful when devices are removed from the chain indefinitely.\n   * @param [exceptDevices=[]] Addresses of devices that should not be forgotten.\n   */\n  public forgetDevices(\n    exceptDevices: number[] = []\n  ): void {\n    const request: requests.ForgetDevicesRequest & gateway.Message = {\n      ...requests.ForgetDevicesRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      exceptDevices: exceptDevices,\n      toBinary() {\n        return requests.ForgetDevicesRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/forget', request);\n  }\n\n  /**\n   * Stops all of the devices on this connection.\n   * @param [options.waitUntilIdle=true] Determines whether the function should return immediately\n   * or wait until the devices are stopped.\n   * @returns The addresses of the devices that were stopped by this command.\n   */\n  public async stopAll(\n    options: Connection.StopAllOptions = {}\n  ): Promise<number[]> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceOnAllRequest & gateway.Message = {\n      ...requests.DeviceOnAllRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceOnAllRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DeviceOnAllResponse>(\n      'device/stop_all',\n      request,\n      requests.DeviceOnAllResponse.fromBinary);\n    return response.deviceAddresses;\n  }\n\n  /**\n   * Homes all of the devices on this connection.\n   * @param [options.waitUntilIdle=true] Determines whether the function should return immediately\n   * or wait until the devices are homed.\n   * @returns The addresses of the devices that were homed by this command.\n   */\n  public async homeAll(\n    options: Connection.HomeAllOptions = {}\n  ): Promise<number[]> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceOnAllRequest & gateway.Message = {\n      ...requests.DeviceOnAllRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceOnAllRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DeviceOnAllResponse>(\n      'device/home_all',\n      request,\n      requests.DeviceOnAllResponse.fromBinary);\n    return response.deviceAddresses;\n  }\n\n  /**\n   * Returns a string that represents the connection.\n   * @returns A string that represents the connection.\n   */\n  public toString(): string {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'interface/to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns default request timeout.\n   * @returns Default request timeout.\n   */\n  private _retrieveTimeout(): number {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.IntResponse>(\n      'interface/get_timeout',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets default request timeout.\n   * @param timeout Default request timeout.\n   */\n  private _changeTimeout(\n    timeout: number\n  ): void {\n    const request: requests.SetInterfaceTimeoutRequest & gateway.Message = {\n      ...requests.SetInterfaceTimeoutRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      timeout: timeout,\n      toBinary() {\n        return requests.SetInterfaceTimeoutRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('interface/set_timeout', request);\n  }\n\n  /**\n   * Returns checksum enabled.\n   * @returns Checksum enabled.\n   */\n  private _retrieveChecksumEnabled(): boolean {\n    const request: requests.InterfaceEmptyRequest & gateway.Message = {\n      ...requests.InterfaceEmptyRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      toBinary() {\n        return requests.InterfaceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.BoolResponse>(\n      'interface/get_checksum_enabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets checksum enabled.\n   * @param isEnabled Checksum enabled.\n   */\n  private _changeChecksumEnabled(\n    isEnabled: boolean\n  ): void {\n    const request: requests.SetInterfaceChecksumEnabledRequest & gateway.Message = {\n      ...requests.SetInterfaceChecksumEnabledRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      isEnabled: isEnabled,\n      toBinary() {\n        return requests.SetInterfaceChecksumEnabledRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('interface/set_checksum_enabled', request);\n  }\n\n  private _disconnected = new ReplaySubject<MotionLibException>();\n\n  /**\n   * Event invoked when connection is interrupted or closed.\n   */\n  public get disconnected(): Observable<MotionLibException> {\n    return this._disconnected;\n  }\n\n  private _subscribe(): void {\n    this.unknownResponse = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<requests.UnknownResponseEventWrapper>('interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.unknownResponse)\n    );\n\n    this.alert = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<requests.AlertEventWrapper>('interface/alert'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.alert)\n    );\n\n    events.pipe(\n      filterEvent<requests.DisconnectedEvent>('interface/disconnected'),\n      filter(event => event.interfaceId === this.interfaceId),\n      take(1),\n      map(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))\n    ).subscribe(this._disconnected);\n  }\n}\n\nnamespace Connection {\n  export interface OpenSerialPortOptions {\n      baudRate?: number;\n      direct?: boolean;\n  }\n  export interface OpenIotOptions {\n      token?: string;\n      connectionName?: string;\n      realm?: string;\n      api?: string;\n  }\n  export interface GenericCommandOptions {\n      device?: number;\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      device?: number;\n      axis?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      device?: number;\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface RenumberDevicesOptions {\n      firstAddress?: number;\n  }\n  export interface DetectDevicesOptions {\n      identifyDevices?: boolean;\n  }\n  export interface StopAllOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeAllOptions {\n      waitUntilIdle?: boolean;\n  }\n}\n"]}

package/dist/lib/ascii/device.d.ts

@@ -226,6 +226,14 @@ export declare class Device {
      * @param timeout For how long to wait in milliseconds for the device to start responding.
      */
     waitToRespond(timeout: number): Promise<void>;
+    /**
+     * Changes the address of this device.
+     * After the address is successfully changed, the existing device class instance no longer represents the device.
+     * Instead, use the new device instance returned by this method.
+     * @param address The new address to assign to the device.
+     * @returns New device instance with the new address.
+     */
+    renumber(address: number): Promise<Device>;
     /**
      * Returns identity.
      * @returns Device identity.

package/dist/lib/ascii/device.d.ts.map

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package/dist/lib/ascii/device.js

@@ -455,6 +455,29 @@ class Device {
         };
         await gateway.callAsync('device/wait_to_respond', request);
     }
+    /**
+     * Changes the address of this device.
+     * After the address is successfully changed, the existing device class instance no longer represents the device.
+     * Instead, use the new device instance returned by this method.
+     * @param address The new address to assign to the device.
+     * @returns New device instance with the new address.
+     */
+    async renumber(address) {
+        if (address < 1 || address > 99) {
+            throw new TypeError('Invalid value; device addresses are numbered from 1 to 99.');
+        }
+        const request = {
+            ...requests.RenumberRequest.DEFAULT,
+            interfaceId: this.connection.interfaceId,
+            device: this.deviceAddress,
+            address: address,
+            toBinary() {
+                return requests.RenumberRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/renumber', request, requests.IntResponse.fromBinary);
+        return new Device(this.connection, response.value);
+    }
     /**
      * Returns identity.
      * @returns Device identity.

package/dist/lib/ascii/device.js.map

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { CanSetStateDeviceResponse } from './can_set_state_device_response';\nimport { Pvt } from './pvt';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { DeviceStorage } from './storage';\nimport { Triggers } from './triggers';\nimport { Streams } from './streams';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * Key-value storage of this device.\n   */\n  public get storage(): DeviceStorage {\n    return this._storage;\n  }\n  private _storage: DeviceStorage;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   * Requires at least Firmware 7.00.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  /**\n   * User-assigned label of the device.\n   */\n  public get label(): string {\n    return this._retrieveLabel();\n  }\n\n  /**\n   * Triggers for this device.\n   * Requires at least Firmware 7.06.\n   */\n  public get triggers(): Triggers {\n    return this._triggers;\n  }\n  private _triggers: Triggers;\n\n  /**\n   * Gets an object that provides access to Streams on this device.\n   * Requires at least Firmware 7.05.\n   */\n  public get streams(): Streams {\n    return this._streams;\n  }\n  private _streams: Streams;\n\n  /**\n   * Gets an object that provides access to PVT functions of this device.\n   * Note that as of ZML v5.0.0, this returns a Pvt object and NOT a PvtSequence object.\n   * The PvtSequence can now be obtained from the Pvt object.\n   * Requires at least Firmware 7.33.\n   */\n  public get pvt(): Pvt {\n    return this._pvt;\n  }\n  private _pvt: Pvt;\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._storage = new DeviceStorage(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n    this._triggers = new Triggers(this);\n    this._streams = new Streams(this);\n    this._pvt = new Pvt(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @param options.assumeVersion The identification assumes the specified firmware version\n   * instead of the version queried from the device.\n   * Providing this argument can lead to unexpected compatibility issues.\n   * @returns Device identification data.\n   */\n  public async identify(\n    options: Device.IdentifyOptions = {}\n  ): Promise<DeviceIdentity> {\n    const {\n      assumeVersion,\n    } = options;\n    const request: requests.DeviceIdentifyRequest & gateway.Message = {\n      ...requests.DeviceIdentifyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      assumeVersion: assumeVersion,\n      toBinary() {\n        return requests.DeviceIdentifyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<DeviceIdentity>(\n      'device/identify',\n      request,\n      DeviceIdentity.fromBinary);\n    return response;\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      command: command,\n      axis: axis,\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 device 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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      command: command,\n      axis: axis,\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 device 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   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Device.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      axis = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      command: command,\n      axis: axis,\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   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @returns Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * Requires at least Firmware 6.15 or 7.11.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @returns Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\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 device.\n   * Unit conversion is not supported for commands where axes can be remapped, such as stream and PVT commands.\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.connection.interfaceId,\n      device: this.deviceAddress,\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 device 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.connection.interfaceId,\n      device: this.deviceAddress,\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 device name.\n   * @returns The label.\n   */\n  private _retrieveLabel(): string {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\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 device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request: requests.AxisToStringRequest & gateway.Message = {\n      ...requests.AxisToStringRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      toBinary() {\n        return requests.AxisToStringRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/device_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @returns A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\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 device.\n   * @param state The state object to apply to this device.\n   * @param [options.deviceOnly=false] If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    options: Device.SetStateOptions = {}\n  ): Promise<void> {\n    const {\n      deviceOnly = false,\n    } = options;\n    const request: requests.SetStateRequest & gateway.Message = {\n      ...requests.SetStateRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      state: state,\n      deviceOnly: deviceOnly,\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 device.\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 object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request: requests.CanSetStateRequest & gateway.Message = {\n      ...requests.CanSetStateRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      state: state,\n      toBinary() {\n        return requests.CanSetStateRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      CanSetStateDeviceResponse.fromBinary);\n    return response;\n  }\n\n  /**\n   * Waits for the device to start responding to messages.\n   * Useful to call after resetting the device.\n   * Throws RequestTimeoutException upon timeout.\n   * @param timeout For how long to wait in milliseconds for the device to start responding.\n   */\n  public async waitToRespond(\n    timeout: number\n  ): Promise<void> {\n    const request: requests.WaitToRespondRequest & gateway.Message = {\n      ...requests.WaitToRespondRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      timeout: timeout,\n      toBinary() {\n        return requests.WaitToRespondRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/wait_to_respond', request);\n  }\n\n  /**\n   * Returns identity.\n   * @returns Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request: requests.DeviceEmptyRequest & gateway.Message = {\n      ...requests.DeviceEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      toBinary() {\n        return requests.DeviceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<DeviceIdentity>(\n      'device/get_identity',\n      request,\n      DeviceIdentity.fromBinary);\n    return response;\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @returns True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request: requests.DeviceEmptyRequest & gateway.Message = {\n      ...requests.DeviceEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      toBinary() {\n        return requests.DeviceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.BoolResponse>(\n      'device/get_is_identified',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Device {\n  export interface IdentifyOptions {\n      assumeVersion?: FirmwareVersion;\n  }\n  export interface GenericCommandOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      axis?: number;\n  }\n  export interface SetStateOptions {\n      deviceOnly?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { CanSetStateDeviceResponse } from './can_set_state_device_response';\nimport { Pvt } from './pvt';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { DeviceStorage } from './storage';\nimport { Triggers } from './triggers';\nimport { Streams } from './streams';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * Key-value storage of this device.\n   */\n  public get storage(): DeviceStorage {\n    return this._storage;\n  }\n  private _storage: DeviceStorage;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   * Requires at least Firmware 7.00.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  /**\n   * User-assigned label of the device.\n   */\n  public get label(): string {\n    return this._retrieveLabel();\n  }\n\n  /**\n   * Triggers for this device.\n   * Requires at least Firmware 7.06.\n   */\n  public get triggers(): Triggers {\n    return this._triggers;\n  }\n  private _triggers: Triggers;\n\n  /**\n   * Gets an object that provides access to Streams on this device.\n   * Requires at least Firmware 7.05.\n   */\n  public get streams(): Streams {\n    return this._streams;\n  }\n  private _streams: Streams;\n\n  /**\n   * Gets an object that provides access to PVT functions of this device.\n   * Note that as of ZML v5.0.0, this returns a Pvt object and NOT a PvtSequence object.\n   * The PvtSequence can now be obtained from the Pvt object.\n   * Requires at least Firmware 7.33.\n   */\n  public get pvt(): Pvt {\n    return this._pvt;\n  }\n  private _pvt: Pvt;\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._storage = new DeviceStorage(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n    this._triggers = new Triggers(this);\n    this._streams = new Streams(this);\n    this._pvt = new Pvt(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @param options.assumeVersion The identification assumes the specified firmware version\n   * instead of the version queried from the device.\n   * Providing this argument can lead to unexpected compatibility issues.\n   * @returns Device identification data.\n   */\n  public async identify(\n    options: Device.IdentifyOptions = {}\n  ): Promise<DeviceIdentity> {\n    const {\n      assumeVersion,\n    } = options;\n    const request: requests.DeviceIdentifyRequest & gateway.Message = {\n      ...requests.DeviceIdentifyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      assumeVersion: assumeVersion,\n      toBinary() {\n        return requests.DeviceIdentifyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<DeviceIdentity>(\n      'device/identify',\n      request,\n      DeviceIdentity.fromBinary);\n    return response;\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      command: command,\n      axis: axis,\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 device 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.axis=0] Optional axis number to send the command to.\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: Device.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      axis = 0,\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      command: command,\n      axis: axis,\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 device 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   * @param [options.axis=0] Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    options: Device.GenericCommandNoResponseOptions = {}\n  ): Promise<void> {\n    const {\n      axis = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      command: command,\n      axis: axis,\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   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @returns Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * Requires at least Firmware 6.15 or 7.11.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @returns Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\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 device.\n   * Unit conversion is not supported for commands where axes can be remapped, such as stream and PVT commands.\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.connection.interfaceId,\n      device: this.deviceAddress,\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 device 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.connection.interfaceId,\n      device: this.deviceAddress,\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 device name.\n   * @returns The label.\n   */\n  private _retrieveLabel(): string {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\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 device.\n   * @returns A string that represents the device.\n   */\n  public toString(): string {\n    const request: requests.AxisToStringRequest & gateway.Message = {\n      ...requests.AxisToStringRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      toBinary() {\n        return requests.AxisToStringRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/device_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @returns A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\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 device.\n   * @param state The state object to apply to this device.\n   * @param [options.deviceOnly=false] If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    options: Device.SetStateOptions = {}\n  ): Promise<void> {\n    const {\n      deviceOnly = false,\n    } = options;\n    const request: requests.SetStateRequest & gateway.Message = {\n      ...requests.SetStateRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      state: state,\n      deviceOnly: deviceOnly,\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 device.\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 object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request: requests.CanSetStateRequest & gateway.Message = {\n      ...requests.CanSetStateRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      state: state,\n      toBinary() {\n        return requests.CanSetStateRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      CanSetStateDeviceResponse.fromBinary);\n    return response;\n  }\n\n  /**\n   * Waits for the device to start responding to messages.\n   * Useful to call after resetting the device.\n   * Throws RequestTimeoutException upon timeout.\n   * @param timeout For how long to wait in milliseconds for the device to start responding.\n   */\n  public async waitToRespond(\n    timeout: number\n  ): Promise<void> {\n    const request: requests.WaitToRespondRequest & gateway.Message = {\n      ...requests.WaitToRespondRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      timeout: timeout,\n      toBinary() {\n        return requests.WaitToRespondRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/wait_to_respond', request);\n  }\n\n  /**\n   * Changes the address of this device.\n   * After the address is successfully changed, the existing device class instance no longer represents the device.\n   * Instead, use the new device instance returned by this method.\n   * @param address The new address to assign to the device.\n   * @returns New device instance with the new address.\n   */\n  public async renumber(\n    address: number\n  ): Promise<Device> {\n    if (address < 1 || address > 99) {\n      throw new TypeError('Invalid value; device addresses are numbered from 1 to 99.');\n    }\n    const request: requests.RenumberRequest & gateway.Message = {\n      ...requests.RenumberRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      address: address,\n      toBinary() {\n        return requests.RenumberRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'device/renumber',\n      request,\n      requests.IntResponse.fromBinary);\n    return new Device(this.connection, response.value);\n  }\n\n  /**\n   * Returns identity.\n   * @returns Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request: requests.DeviceEmptyRequest & gateway.Message = {\n      ...requests.DeviceEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      toBinary() {\n        return requests.DeviceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<DeviceIdentity>(\n      'device/get_identity',\n      request,\n      DeviceIdentity.fromBinary);\n    return response;\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @returns True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request: requests.DeviceEmptyRequest & gateway.Message = {\n      ...requests.DeviceEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      device: this.deviceAddress,\n      toBinary() {\n        return requests.DeviceEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.BoolResponse>(\n      'device/get_is_identified',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Device {\n  export interface IdentifyOptions {\n      assumeVersion?: FirmwareVersion;\n  }\n  export interface GenericCommandOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      axis?: number;\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandNoResponseOptions {\n      axis?: number;\n  }\n  export interface SetStateOptions {\n      deviceOnly?: boolean;\n  }\n}\n"]}

package/dist/lib/ascii/lockstep.d.ts

@@ -1,5 +1,5 @@
 import { Device } from './device';
-import { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration } from '../units';
+import { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Time } from '../units';
 import { LockstepAxes } from './lockstep_axes';
 /**
  * Represents a lockstep group with this ID on a device.
@@ -80,6 +80,26 @@ export declare class Lockstep {
      * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.
      */
     moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native, options?: Lockstep.MoveVelocityOptions): Promise<void>;
+    /**
+     * Moves the first axis of the lockstep group in a sinusoidal trajectory.
+     * The other axes in the lockstep group maintain their offsets throughout movement.
+     * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).
+     * @param amplitudeUnits Units of position.
+     * @param period Period of the sinusoidal motion in milliseconds.
+     * @param periodUnits Units of time.
+     * @param [options.count=0] Number of sinusoidal cycles to complete.
+     * Must be a multiple of 0.5
+     * If count is not specified or set to 0, the axis will move indefinitely.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
+     */
+    moveSin(amplitude: number, amplitudeUnits: Length | Angle | Native, period: number, periodUnits: Time | Native, options?: Lockstep.MoveSinOptions): Promise<void>;
+    /**
+     * Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.
+     * If the sinusoidal motion was started with an integer-plus-half cycle count,
+     * the motion ends at the half-way point of the sinusoidal trajectory.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.
+     */
+    moveSinStop(options?: Lockstep.MoveSinStopOptions): Promise<void>;
     /**
      * Moves the axes to the maximum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.
@@ -199,6 +219,13 @@ declare namespace Lockstep {
         acceleration?: number;
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
+    interface MoveSinOptions {
+        count?: number;
+        waitUntilIdle?: boolean;
+    }
+    interface MoveSinStopOptions {
+        waitUntilIdle?: boolean;
+    }
     interface MoveMaxOptions {
         waitUntilIdle?: boolean;
         velocity?: number;

package/dist/lib/ascii/lockstep.d.ts.map

@@ -1 +1 @@
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package/dist/lib/ascii/lockstep.js

@@ -220,6 +220,57 @@ class Lockstep {
         };
         await gateway.callAsync('device/lockstep_move', request);
     }
+    /**
+     * Moves the first axis of the lockstep group in a sinusoidal trajectory.
+     * The other axes in the lockstep group maintain their offsets throughout movement.
+     * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).
+     * @param amplitudeUnits Units of position.
+     * @param period Period of the sinusoidal motion in milliseconds.
+     * @param periodUnits Units of time.
+     * @param [options.count=0] Number of sinusoidal cycles to complete.
+     * Must be a multiple of 0.5
+     * If count is not specified or set to 0, the axis will move indefinitely.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
+     */
+    async moveSin(amplitude, amplitudeUnits, period, periodUnits, options = {}) {
+        const { count = 0, waitUntilIdle = true, } = options;
+        const request = {
+            ...requests.LockstepMoveSinRequest.DEFAULT,
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            amplitude: amplitude,
+            amplitudeUnits: amplitudeUnits,
+            period: period,
+            periodUnits: periodUnits,
+            count: count,
+            waitUntilIdle: waitUntilIdle,
+            toBinary() {
+                return requests.LockstepMoveSinRequest.toBinary(this);
+            },
+        };
+        await gateway.callAsync('device/lockstep_move_sin', request);
+    }
+    /**
+     * Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.
+     * If the sinusoidal motion was started with an integer-plus-half cycle count,
+     * the motion ends at the half-way point of the sinusoidal trajectory.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.
+     */
+    async moveSinStop(options = {}) {
+        const { waitUntilIdle = true, } = options;
+        const request = {
+            ...requests.LockstepStopRequest.DEFAULT,
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            lockstepGroupId: this.lockstepGroupId,
+            waitUntilIdle: waitUntilIdle,
+            toBinary() {
+                return requests.LockstepStopRequest.toBinary(this);
+            },
+        };
+        await gateway.callAsync('device/lockstep_move_sin_stop', request);
+    }
     /**
      * Moves the axes to the maximum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.