@zaber/motion 7.11.0 → 7.13.0

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { MeasurementSequence } from './measurement_sequence';\nimport { OptionalMeasurementSequence } from './optional_measurement_sequence';\nimport { PvtSequenceData } from './pvt_sequence_data';\nimport { PvtCsvData } from './pvt_csv_data';\nimport { PvtIo } from './pvt_io';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/**\n * A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n */\nexport class PvtSequence {\n  /**\n   * Device that controls this PVT sequence.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the PVT sequence on the device.\n   */\n  public get pvtId(): number {\n    return this._pvtId;\n  }\n  private _pvtId: number;\n\n  /**\n   * Current mode of the PVT sequence.\n   */\n  public get mode(): PvtMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the PVT sequence is set up to control.\n   */\n  public get axes(): PvtAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  /**\n   * Gets an object that provides access to I/O for this sequence.\n   */\n  public get io(): PvtIo {\n    return this._io;\n  }\n  private _io: PvtIo;\n\n  constructor(device: Device, pvtId: number) {\n    this._device = device;\n    this._pvtId = pvtId;\n    this._io = new PvtIo(device, pvtId);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupLiveComposite(\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupLiveCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupLiveCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupLive(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveRequest & gateway.Message = {\n      ...requests.StreamSetupLiveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupLiveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupStoreComposite(\n    pvtBuffer: PvtBuffer,\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupStoreCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupStoreCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupStore(\n    pvtBuffer: PvtBuffer,\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreRequest & gateway.Message = {\n      ...requests.StreamSetupStoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupStoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Append the actions in a PVT buffer to the sequence's queue.\n   * @param pvtBuffer The PVT buffer to call.\n   */\n  public async call(\n    pvtBuffer: PvtBuffer\n  ): Promise<void> {\n    const request: requests.StreamCallRequest & gateway.Message = {\n      ...requests.StreamCallRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      toBinary() {\n        return requests.StreamCallRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queues a point with absolute coordinates in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async point(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues points with absolute coordinates in the PVT sequence.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async points(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Queues a point with coordinates relative to the previous point in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to the previous point.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async pointRelative(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues points with coordinates relative to the previous point in the PVT sequence.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async pointsRelative(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence\n   * of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.\n   * If all velocities are defined, the solver will simply return the same velocities.\n   * This function calculates velocities by enforcing that acceleration be continuous at each segment transition.\n   *\n   * Also note that if generating a path for multiple axes, the user must provide a position measurement sequence\n   * per axis, And the values arrays for each sequence must be equal in length to each other and also to the\n   * times sequence.\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * Each MeasurementSequence represents a sequence of positions along a particular dimension.\n   * For example, a 2D path sequence would contain two MeasurementSequence objects,\n   * one representing positions along X and one for those along Y.\n   * @param times The relative or absolute time of each position in the PVT sequence.\n   * @param velocities Optional velocities corresponding to each point in the position sequences.\n   * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,\n   * they are interpreted as absolute. Note that the values of the returned time\n   * sequence are ALWAYS relative. This is because the PVT sequence API expects\n   * points to have relative times.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generateVelocities(\n    positions: MeasurementSequence[],\n    times: MeasurementSequence,\n    velocities?: OptionalMeasurementSequence[],\n    timesRelative: boolean = true\n  ): Promise<PvtSequenceData> {\n    const request: requests.PvtGenerateVelocitiesRequest & gateway.Message = {\n      ...requests.PvtGenerateVelocitiesRequest.DEFAULT,\n      positions: positions,\n      times: times,\n      velocities: velocities,\n      timesRelative: timesRelative,\n      toBinary() {\n        return requests.PvtGenerateVelocitiesRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_velocities',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Generates positions for a sequence of velocities and times. This function calculates\n   * positions by enforcing that acceleration be continuous at each segment transition.\n   *\n   * Note that if generating a path for multiple axes, the user must provide a\n   * velocity measurement sequence per axis, and the values arrays for each sequence\n   * must be equal in length to each other and also to the times sequence.\n   * @param velocities The sequence of velocities for each axis.\n   * Each MeasurementSequence represents a sequence of velocities along particular dimension.\n   * @param times The relative or absolute time of each position in the PVT sequence.\n   * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,\n   * they are interpreted as absolute. Note that the values of the returned time\n   * sequence are ALWAYS relative. This is because the PVT sequence API expects\n   * points to have relative times.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generatePositions(\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence,\n    timesRelative: boolean = true\n  ): Promise<PvtSequenceData> {\n    const request: requests.PvtGeneratePositionsRequest & gateway.Message = {\n      ...requests.PvtGeneratePositionsRequest.DEFAULT,\n      velocities: velocities,\n      times: times,\n      timesRelative: timesRelative,\n      toBinary() {\n        return requests.PvtGeneratePositionsRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_positions',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Waits until the live PVT sequence executes all queued actions.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: PvtSequence.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.StreamWaitUntilIdleRequest & gateway.Message = {\n      ...requests.StreamWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.StreamWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the PVT sequences's action queue, blocking execution.\n   * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n   * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n   * You can only cork an idle live PVT sequence.\n   */\n  public async cork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_cork', request);\n  }\n\n  /**\n   * Uncork the front of the queue, unblocking command execution.\n   * You can only uncork an idle live PVT sequence that is corked.\n   */\n  public async uncork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n   * @returns True if the PVT sequence is executing a queued action.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the PVT sequence.\n   * @returns String which represents the PVT sequence.\n   */\n  public toString(): string {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/stream_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Disables the PVT sequence.\n   * If the PVT sequence is not setup, this command does nothing.\n   * Once disabled, the PVT sequence will no longer accept PVT commands.\n   * The PVT sequence will process the rest of the commands in the queue until it is empty.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the PVT sequence.\n   * Keeps resending the command while the device rejects with AGAIN reason.\n   * @param command Command and its parameters.\n   */\n  public async genericCommand(\n    command: string\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandRequest & gateway.Message = {\n      ...requests.StreamGenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      command: command,\n      toBinary() {\n        return requests.StreamGenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command', request);\n  }\n\n  /**\n   * Sends a batch of generic ASCII commands to the PVT sequence.\n   * Keeps resending command while the device rejects with AGAIN reason.\n   * The batch is atomic in terms of thread safety.\n   * @param batch Array of commands.\n   */\n  public async genericCommandBatch(\n    batch: string[]\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandBatchRequest & gateway.Message = {\n      ...requests.StreamGenericCommandBatchRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      batch: batch,\n      toBinary() {\n        return requests.StreamGenericCommandBatchRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the PVT sequence status from the device\n   * and returns boolean indicating whether the PVT sequence is disabled.\n   * Useful to determine if execution was interrupted by other movements.\n   * @returns True if the PVT sequence is disabled.\n   */\n  public async checkDisabled(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_check_disabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n   */\n  public treatDiscontinuitiesAsError(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n   */\n  public ignoreCurrentDiscontinuity(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the PVT sequence.\n   * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n   */\n  private _retrieveAxes(): PvtAxisDefinition[] {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      requests.StreamGetAxesResponse.fromBinary);\n    return response.pvtAxes;\n  }\n\n  /**\n   * Get the mode of the PVT sequence.\n   * @returns Mode of the PVT sequence.\n   */\n  private _retrieveMode(): PvtMode {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamModeResponse>(\n      'device/stream_get_mode',\n      request,\n      requests.StreamModeResponse.fromBinary);\n    return response.pvtMode;\n  }\n\n  /**\n   * Saves PvtSequenceData object as csv file.\n   * Save format is compatible with Zaber Launcher PVT Editor App.\n   *\n   * Throws InvalidArgumentException if fields are undefined or inconsistent.\n   * For example, position and velocity arrays must have the same dimensions.\n   * Sequence lengths must be consistent for positions, velocities and times.\n   * @param sequenceData The PVT sequence data to save.\n   * @param path The path to save the file to.\n   * @param dimensionNames Optional csv column names for each series.\n   * If not provided, the default names will be used: Series 1, Series 2, etc..\n   * Length of this array must be equal to number of dimensions in sequence data.\n   */\n  public static async saveSequenceData(\n    sequenceData: PvtSequenceData,\n    path: string,\n    dimensionNames?: string[]\n  ): Promise<void> {\n    const request: requests.PvtSaveCsvRequest & gateway.Message = {\n      ...requests.PvtSaveCsvRequest.DEFAULT,\n      sequenceData: sequenceData,\n      path: path,\n      dimensionNames: dimensionNames,\n      toBinary() {\n        return requests.PvtSaveCsvRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_pvt_save_csv', request);\n  }\n\n  /**\n   * Load PVT Sequence data from CSV file.\n   * The CSV data can include a header (recommended).\n   * There are two possible header formats:\n   *\n   * 1. A time column with named position and velocity columns.\n   * For example, \"Time (ms),X Position (cm),X Velocity (cm/s),...\".\n   * In this case, position, velocity and time columns are all optional.\n   * Also, order does not matter, but position and velocity names must be consistent.\n   * This is our recommended CSV format.\n   *\n   * 2. A time column with alternating position and velocity columns.\n   * For example, \"Time (ms),Position (cm),Velocity (cm/s),...\".\n   * In this case, only the time column is optional and order does matter.\n   *\n   * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].\n   * Additionally, native units are the default if no units are specified.\n   * Time values default to milliseconds if no units are provided.\n   * If no header is included, then column order is assumed to be \"T,P1,V1,P2,V2,...\".\n   * In this case the number of columns must be odd.\n   * @param path The path to the csv file to load.\n   * @returns The PVT csv data loaded from the file.\n   */\n  public static async loadSequenceData(\n    path: string\n  ): Promise<PvtCsvData> {\n    const request: requests.PvtLoadCsvRequest & gateway.Message = {\n      ...requests.PvtLoadCsvRequest.DEFAULT,\n      path: path,\n      toBinary() {\n        return requests.PvtLoadCsvRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtCsvData>(\n      'device/stream_pvt_load_csv',\n      request,\n      PvtCsvData.fromBinary);\n    return response;\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetDigitalOutput instead.\n   *\n   * Sets value for the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value The type of action to perform on the channel.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: DigitalOutputAction\n  ): Promise<void> {\n    const request: requests.StreamSetDigitalOutputRequest & gateway.Message = {\n      ...requests.StreamSetDigitalOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetDigitalOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_digital_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllDigitalOutputs instead.\n   *\n   * Sets values for all digital output channels.\n   * @param values The type of action to perform on the channel.\n   */\n  public async setAllDigitalOutputs(\n    values: DigitalOutputAction[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllDigitalOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllDigitalOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllDigitalOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_digital_outputs', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAnalogOutput instead.\n   *\n   * Sets value for the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value Value to set the output channel voltage to.\n   */\n  public async setAnalogOutput(\n    channelNumber: number,\n    value: number\n  ): Promise<void> {\n    const request: requests.StreamSetAnalogOutputRequest & gateway.Message = {\n      ...requests.StreamSetAnalogOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetAnalogOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_analog_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllAnalogOutputs instead.\n   *\n   * Sets values for all analog output channels.\n   * @param values Voltage values to set the output channels to.\n   */\n  public async setAllAnalogOutputs(\n    values: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllAnalogOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllAnalogOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllAnalogOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n  }\n}\n\nnamespace PvtSequence {\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { MeasurementSequence } from './measurement_sequence';\nimport { OptionalMeasurementSequence } from './optional_measurement_sequence';\nimport { PvtSequenceData } from './pvt_sequence_data';\nimport { PvtCsvData } from './pvt_csv_data';\nimport { PvtIo } from './pvt_io';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/**\n * A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n */\nexport class PvtSequence {\n  /**\n   * Device that controls this PVT sequence.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the PVT sequence on the device.\n   */\n  public get pvtId(): number {\n    return this._pvtId;\n  }\n  private _pvtId: number;\n\n  /**\n   * Current mode of the PVT sequence.\n   */\n  public get mode(): PvtMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the PVT sequence is set up to control.\n   */\n  public get axes(): PvtAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  /**\n   * Gets an object that provides access to I/O for this sequence.\n   */\n  public get io(): PvtIo {\n    return this._io;\n  }\n  private _io: PvtIo;\n\n  constructor(device: Device, pvtId: number) {\n    this._device = device;\n    this._pvtId = pvtId;\n    this._io = new PvtIo(device, pvtId);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupLiveComposite(\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupLiveCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupLiveCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupLive(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveRequest & gateway.Message = {\n      ...requests.StreamSetupLiveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupLiveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupStoreComposite(\n    pvtBuffer: PvtBuffer,\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupStoreCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupStoreCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupStore(\n    pvtBuffer: PvtBuffer,\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreRequest & gateway.Message = {\n      ...requests.StreamSetupStoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupStoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Append the actions in a PVT buffer to the sequence's queue.\n   * @param pvtBuffer The PVT buffer to call.\n   */\n  public async call(\n    pvtBuffer: PvtBuffer\n  ): Promise<void> {\n    const request: requests.StreamCallRequest & gateway.Message = {\n      ...requests.StreamCallRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      toBinary() {\n        return requests.StreamCallRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queues a point with absolute coordinates in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async point(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues points with absolute coordinates in the PVT sequence.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async points(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Queues a point with coordinates relative to the previous point in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to the previous point.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async pointRelative(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues points with coordinates relative to the previous point in the PVT sequence.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async pointsRelative(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence\n   * of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.\n   * If all velocities are defined, the solver will simply return the same velocities.\n   * This function calculates velocities by enforcing that acceleration be continuous at each segment transition.\n   *\n   * Also note that if generating a path for multiple axes, the user must provide a position measurement sequence\n   * per axis, And the values arrays for each sequence must be equal in length to each other and also to the\n   * times sequence.\n   *\n   * Does not support native units.\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * Each MeasurementSequence represents a sequence of positions along a particular dimension.\n   * For example, a 2D path sequence would contain two MeasurementSequence objects,\n   * one representing positions along X and one for those along Y.\n   * @param times The relative or absolute time of each position in the PVT sequence.\n   * @param velocities Optional velocities corresponding to each point in the position sequences.\n   * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,\n   * they are interpreted as absolute. Note that the values of the returned time\n   * sequence are ALWAYS relative. This is because the PVT sequence API expects\n   * points to have relative times.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generateVelocities(\n    positions: MeasurementSequence[],\n    times: MeasurementSequence,\n    velocities?: OptionalMeasurementSequence[],\n    timesRelative: boolean = true\n  ): Promise<PvtSequenceData> {\n    const request: requests.PvtGenerateVelocitiesRequest & gateway.Message = {\n      ...requests.PvtGenerateVelocitiesRequest.DEFAULT,\n      positions: positions,\n      times: times,\n      velocities: velocities,\n      timesRelative: timesRelative,\n      toBinary() {\n        return requests.PvtGenerateVelocitiesRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_velocities',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Generates positions for a sequence of velocities and times. This function calculates\n   * positions by enforcing that acceleration be continuous at each segment transition.\n   *\n   * Note that if generating a path for multiple axes, the user must provide a\n   * velocity measurement sequence per axis, and the values arrays for each sequence\n   * must be equal in length to each other and also to the times sequence.\n   *\n   * Does not support native units.\n   * @param velocities The sequence of velocities for each axis.\n   * Each MeasurementSequence represents a sequence of velocities along particular dimension.\n   * @param times The relative or absolute time of each position in the PVT sequence.\n   * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,\n   * they are interpreted as absolute. Note that the values of the returned time\n   * sequence are ALWAYS relative. This is because the PVT sequence API expects\n   * points to have relative times.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generatePositions(\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence,\n    timesRelative: boolean = true\n  ): Promise<PvtSequenceData> {\n    const request: requests.PvtGeneratePositionsRequest & gateway.Message = {\n      ...requests.PvtGeneratePositionsRequest.DEFAULT,\n      velocities: velocities,\n      times: times,\n      timesRelative: timesRelative,\n      toBinary() {\n        return requests.PvtGeneratePositionsRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_positions',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Generates sequences of velocities and times for a sequence of positions.\n   * This function fits a geometric spline (not-a-knot cubic for sequences of >3 points,\n   * natural cubic for 3, and a straight line for 2) over the position sequence\n   * and then calculates the velocity and time information by traversing it using a\n   * trapezoidal motion profile.\n   *\n   * This generation scheme attempts to keep speed and acceleration less than the\n   * specified target values, but does not guarantee it. Generally speaking, a higher\n   * resample number will bring the generated trajectory closer to respecting these\n   * limits.\n   *\n   * Note that consecutive duplicate points will be automatically removed as they\n   * have no geometric significance without additional time information. Also note that\n   * for multi-dimensional paths this function expects axes to be linear and orthogonal,\n   * however for paths of a single dimension rotary units are accepted.\n   *\n   * Does not support native units.\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param targetSpeed The target speed used to generate positions and times.\n   * @param targetAcceleration The target acceleration used to generate positions and times.\n   * @param resampleNumber The number of points to resample the sequence by.\n   * Leave undefined to use the specified points.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generateVelocitiesAndTimes(\n    positions: MeasurementSequence[],\n    targetSpeed: Measurement,\n    targetAcceleration: Measurement,\n    resampleNumber?: number\n  ): Promise<PvtSequenceData> {\n    if (targetSpeed.value <= 0 || targetAcceleration.value <= 0) {\n      throw new TypeError('Target speed and acceleration values must be greater than zero.');\n    }\n    const request: requests.PvtGenerateVelocitiesAndTimesRequest & gateway.Message = {\n      ...requests.PvtGenerateVelocitiesAndTimesRequest.DEFAULT,\n      positions: positions,\n      targetSpeed: targetSpeed,\n      targetAcceleration: targetAcceleration,\n      resampleNumber: resampleNumber,\n      toBinary() {\n        return requests.PvtGenerateVelocitiesAndTimesRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_velocities_and_times',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Waits until the live PVT sequence executes all queued actions.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: PvtSequence.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.StreamWaitUntilIdleRequest & gateway.Message = {\n      ...requests.StreamWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.StreamWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the PVT sequences's action queue, blocking execution.\n   * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n   * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n   * You can only cork an idle live PVT sequence.\n   */\n  public async cork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_cork', request);\n  }\n\n  /**\n   * Uncork the front of the queue, unblocking command execution.\n   * You can only uncork an idle live PVT sequence that is corked.\n   */\n  public async uncork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n   * @returns True if the PVT sequence is executing a queued action.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the PVT sequence.\n   * @returns String which represents the PVT sequence.\n   */\n  public toString(): string {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/stream_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Disables the PVT sequence.\n   * If the PVT sequence is not setup, this command does nothing.\n   * Once disabled, the PVT sequence will no longer accept PVT commands.\n   * The PVT sequence will process the rest of the commands in the queue until it is empty.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the PVT sequence.\n   * Keeps resending the command while the device rejects with AGAIN reason.\n   * @param command Command and its parameters.\n   */\n  public async genericCommand(\n    command: string\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandRequest & gateway.Message = {\n      ...requests.StreamGenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      command: command,\n      toBinary() {\n        return requests.StreamGenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command', request);\n  }\n\n  /**\n   * Sends a batch of generic ASCII commands to the PVT sequence.\n   * Keeps resending command while the device rejects with AGAIN reason.\n   * The batch is atomic in terms of thread safety.\n   * @param batch Array of commands.\n   */\n  public async genericCommandBatch(\n    batch: string[]\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandBatchRequest & gateway.Message = {\n      ...requests.StreamGenericCommandBatchRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      batch: batch,\n      toBinary() {\n        return requests.StreamGenericCommandBatchRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the PVT sequence status from the device\n   * and returns boolean indicating whether the PVT sequence is disabled.\n   * Useful to determine if execution was interrupted by other movements.\n   * @returns True if the PVT sequence is disabled.\n   */\n  public async checkDisabled(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_check_disabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n   */\n  public treatDiscontinuitiesAsError(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n   */\n  public ignoreCurrentDiscontinuity(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the PVT sequence.\n   * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n   */\n  private _retrieveAxes(): PvtAxisDefinition[] {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      requests.StreamGetAxesResponse.fromBinary);\n    return response.pvtAxes;\n  }\n\n  /**\n   * Get the mode of the PVT sequence.\n   * @returns Mode of the PVT sequence.\n   */\n  private _retrieveMode(): PvtMode {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamModeResponse>(\n      'device/stream_get_mode',\n      request,\n      requests.StreamModeResponse.fromBinary);\n    return response.pvtMode;\n  }\n\n  /**\n   * Saves PvtSequenceData object as csv file.\n   * Save format is compatible with Zaber Launcher PVT Editor App.\n   *\n   * Throws InvalidArgumentException if fields are undefined or inconsistent.\n   * For example, position and velocity arrays must have the same dimensions.\n   * Sequence lengths must be consistent for positions, velocities and times.\n   * @param sequenceData The PVT sequence data to save.\n   * @param path The path to save the file to.\n   * @param dimensionNames Optional csv column names for each series.\n   * If not provided, the default names will be used: Series 1, Series 2, etc..\n   * Length of this array must be equal to number of dimensions in sequence data.\n   */\n  public static async saveSequenceData(\n    sequenceData: PvtSequenceData,\n    path: string,\n    dimensionNames?: string[]\n  ): Promise<void> {\n    const request: requests.PvtSaveCsvRequest & gateway.Message = {\n      ...requests.PvtSaveCsvRequest.DEFAULT,\n      sequenceData: sequenceData,\n      path: path,\n      dimensionNames: dimensionNames,\n      toBinary() {\n        return requests.PvtSaveCsvRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_pvt_save_csv', request);\n  }\n\n  /**\n   * Load PVT Sequence data from CSV file.\n   * The CSV data can include a header (recommended).\n   * There are two possible header formats:\n   *\n   * 1. A time column with named position and velocity columns.\n   * For example, \"Time (ms),X Position (cm),X Velocity (cm/s),...\".\n   * In this case, position, velocity and time columns are all optional.\n   * Also, order does not matter, but position and velocity names must be consistent.\n   * This is our recommended CSV format.\n   *\n   * 2. A time column with alternating position and velocity columns.\n   * For example, \"Time (ms),Position (cm),Velocity (cm/s),...\".\n   * In this case, only the time column is optional and order does matter.\n   *\n   * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].\n   * Additionally, native units are the default if no units are specified.\n   * Time values default to milliseconds if no units are provided.\n   * If no header is included, then column order is assumed to be \"T,P1,V1,P2,V2,...\".\n   * In this case the number of columns must be odd.\n   * @param path The path to the csv file to load.\n   * @returns The PVT csv data loaded from the file.\n   */\n  public static async loadSequenceData(\n    path: string\n  ): Promise<PvtCsvData> {\n    const request: requests.PvtLoadCsvRequest & gateway.Message = {\n      ...requests.PvtLoadCsvRequest.DEFAULT,\n      path: path,\n      toBinary() {\n        return requests.PvtLoadCsvRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtCsvData>(\n      'device/stream_pvt_load_csv',\n      request,\n      PvtCsvData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Writes the contents of a PvtSequenceData object to the sequence.\n   * @param sequenceData The PVT sequence data to submit.\n   */\n  public async submitSequenceData(\n    sequenceData: PvtSequenceData\n  ): Promise<void> {\n    const request: requests.PvtSubmitSequenceDataRequest & gateway.Message = {\n      ...requests.PvtSubmitSequenceDataRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      sequenceData: sequenceData,\n      toBinary() {\n        return requests.PvtSubmitSequenceDataRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_pvt_submit_data', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetDigitalOutput instead.\n   *\n   * Sets value for the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value The type of action to perform on the channel.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: DigitalOutputAction\n  ): Promise<void> {\n    const request: requests.StreamSetDigitalOutputRequest & gateway.Message = {\n      ...requests.StreamSetDigitalOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetDigitalOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_digital_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllDigitalOutputs instead.\n   *\n   * Sets values for all digital output channels.\n   * @param values The type of action to perform on the channel.\n   */\n  public async setAllDigitalOutputs(\n    values: DigitalOutputAction[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllDigitalOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllDigitalOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllDigitalOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_digital_outputs', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAnalogOutput instead.\n   *\n   * Sets value for the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value Value to set the output channel voltage to.\n   */\n  public async setAnalogOutput(\n    channelNumber: number,\n    value: number\n  ): Promise<void> {\n    const request: requests.StreamSetAnalogOutputRequest & gateway.Message = {\n      ...requests.StreamSetAnalogOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetAnalogOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_analog_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllAnalogOutputs instead.\n   *\n   * Sets values for all analog output channels.\n   * @param values Voltage values to set the output channels to.\n   */\n  public async setAllAnalogOutputs(\n    values: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllAnalogOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllAnalogOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllAnalogOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n  }\n}\n\nnamespace PvtSequence {\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}

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

@@ -18,7 +18,7 @@ export interface SimpleTuning {
      */
     carriageMass?: (number | null);
     /**
-     * The mass of the carriage in kg.
+     * The inertia of the motor in kg⋅m².
      */
     motorInertia?: (number | null);
     /**

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

@@ -1 +1 @@
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+{"version":3,"file":"simple_tuning.js","sourceRoot":"","sources":["../../../src/ascii/simple_tuning.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,oEAA+D;AAuClD,QAAA,YAAY,GAAG;IAC1B,UAAU,EAAE,CAAC,MAAkB,EAAgB,EAAE,CAAC,oBAAY,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IACvH,QAAQ,EAAE,CAAC,KAAmB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,oBAAY,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IAC3F,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,MAAM,EAAE,KAAK;QACb,KAAK,EAAE,KAAK;QACZ,YAAY,EAAE,IAAI;QAClB,YAAY,EAAE,IAAI;QAClB,QAAQ,EAAE,CAAC;QACX,YAAY,EAAE,EAAE;KACjB,CAA2B;IAC5B,QAAQ,EAAE,CAAC,KAAmB,EAAgB,EAAE;QAC9C,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,yDAAyD,CAAC,CAAA;QAAC,CAAC;QACrG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,wCAAwC,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAC/G,OAAO;YACL,MAAM,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,MAAM,EAAE,QAAQ,CAAC;YACtD,KAAK,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC;YACnD,YAAY,EAAE,KAAK,CAAC,YAAY,IAAI,IAAI,CAAC,CAAC,CAAC,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,YAAY,EAAE,cAAc,CAAC,CAAC,CAAC,CAAC,IAAI;YAC9G,YAAY,EAAE,KAAK,CAAC,YAAY,IAAI,IAAI,CAAC,CAAC,CAAC,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,YAAY,EAAE,cAAc,CAAC,CAAC,CAAC,CAAC,IAAI;YAC9G,QAAQ,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC;YAC9D,YAAY,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,YAAY,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qCAAgB,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;SAC5F,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAgB,EAAE,CAAC,CAAC;QAChD,MAAM,EAAE,KAAK,CAAC,MAAM;QACpB,KAAK,EAAE,KAAK,CAAC,KAAK;QAClB,YAAY,EAAE,KAAK,CAAC,YAAY;QAChC,YAAY,EAAE,KAAK,CAAC,YAAY;QAChC,QAAQ,EAAE,KAAK,CAAC,QAAQ;QACxB,YAAY,EAAE,KAAK,CAAC,YAAY;KACjC,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { ServoTuningParam } from '../ascii/servo_tuning_param';\n\n/**\n * The masses and parameters last used by simple tuning.\n */\nexport interface SimpleTuning {\n  /**\n   * Whether the tuning returned is currently in use by this paramset,\n   * or if it has been overwritten by a later change.\n   */\n  isUsed: boolean;\n\n  /**\n   * If this paramset has been tuned using the simple tuning method, whether or not it's currently in use.\n   */\n  isSet: boolean;\n\n  /**\n   * The mass of the carriage in kg.\n   */\n  carriageMass?: (number | null);\n\n  /**\n   * The inertia of the motor in kg⋅m².\n   */\n  motorInertia?: (number | null);\n\n  /**\n   * The mass of the load in kg, excluding the mass of the carriage.\n   */\n  loadMass: number;\n\n  /**\n   * The parameters used by simple tuning.\n   */\n  tuningParams: ServoTuningParam[];\n\n}\n\nexport const SimpleTuning = {\n  fromBinary: (buffer: Uint8Array): SimpleTuning => SimpleTuning.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: SimpleTuning): Uint8Array => BSON.serialize(SimpleTuning.sanitize(value)),\n  DEFAULT: Object.freeze({\n    isUsed: false,\n    isSet: false,\n    carriageMass: null,\n    motorInertia: null,\n    loadMass: 0,\n    tuningParams: [],\n  }) as Readonly<SimpleTuning>,\n  sanitize: (value: SimpleTuning): SimpleTuning => {\n    if (value == null) { throw new TypeError('Expected SimpleTuning object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected SimpleTuning object but got ${typeof value}.`) }\n    return {\n      isUsed: sanitizer.sanitizeBool(value.isUsed, 'isUsed'),\n      isSet: sanitizer.sanitizeBool(value.isSet, 'isSet'),\n      carriageMass: value.carriageMass != null ? sanitizer.sanitizeNumber(value.carriageMass, 'carriageMass') : null,\n      motorInertia: value.motorInertia != null ? sanitizer.sanitizeNumber(value.motorInertia, 'motorInertia') : null,\n      loadMass: sanitizer.sanitizeNumber(value.loadMass, 'loadMass'),\n      tuningParams: Array.from(value.tuningParams ?? [], item => ServoTuningParam.sanitize(item)),\n    };\n  },\n  convert: (value: BSON.Document): SimpleTuning => ({\n    isUsed: value.isUsed,\n    isSet: value.isSet,\n    carriageMass: value.carriageMass,\n    motorInertia: value.motorInertia,\n    loadMass: value.loadMass,\n    tuningParams: value.tuningParams,\n  })\n};\n"]}

package/dist/lib/library.js

@@ -172,7 +172,7 @@ class Library {
         const request = {
             ...requests.CheckVersionRequest.DEFAULT,
             host: 'js',
-            version: '7.11.0',
+            version: '7.13.0',
             toBinary() {
                 return requests.CheckVersionRequest.toBinary(this);
             },

package/dist/lib/library.js.map

@@ -1 +1 @@
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Allows selection of a web service or a local file.\n   * @param sourceType Source type.\n   * @param urlOrFilePath URL of the web service or path to the local file.\n   * Leave empty for the default URL of Zaber web service.\n   */\n  public static setDeviceDbSource(\n    sourceType: DeviceDbSourceType,\n    urlOrFilePath?: string\n  ): void {\n    const request: requests.SetDeviceDbSourceRequest & gateway.Message = {\n      ...requests.SetDeviceDbSourceRequest.DEFAULT,\n      sourceType: sourceType,\n      urlOrFilePath: urlOrFilePath,\n      toBinary() {\n        return requests.SetDeviceDbSourceRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_source', request);\n  }\n\n  /**\n   * Sets a sequence of sources. When the library needs device information,\n   * it will try each source in the order they are provided.\n   * @param sources The list of sources the library will access data from.\n   */\n  public static setDeviceDbSources(\n    ...sources: DeviceDbSource[]\n  ): void {\n    const request: requests.SetDeviceDbLayeredSourcesRequest & gateway.Message = {\n      ...requests.SetDeviceDbLayeredSourcesRequest.DEFAULT,\n      sources: sources,\n      toBinary() {\n        return requests.SetDeviceDbLayeredSourcesRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_sources', request);\n  }\n\n  /**\n   * Enables Device DB store.\n   * The store uses filesystem to save information obtained from the Device DB.\n   * The stored data are later used instead of the Device DB.\n   * @param storeLocation Specifies relative or absolute path of the folder used by the store.\n   * If left empty defaults to a folder in user home directory.\n   * Must be accessible by the process.\n   */\n  public static enableDeviceDbStore(\n    storeLocation?: string\n  ): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toggleOn: true,\n      storeLocation: storeLocation,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Disables Device DB store.\n   */\n  public static disableDeviceDbStore(): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Checks if the Device DB store is currently enabled.\n   * @returns True if the Device DB store is enabled.\n   */\n  public static isDeviceDbStoreEnabled(): boolean {\n    const request: requests.EmptyRequest & gateway.Message = {\n      ...requests.EmptyRequest.DEFAULT,\n      toBinary() {\n        return requests.EmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.BoolResponse>(\n      'device_db/check_store',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Clears the Device DB store on the local filesystem.\n   * Note: If the device DB was enabled with a custom store location, store files will be removed in that location.\n   */\n  public static async clearDeviceDbStore(): Promise<void> {\n    const request: requests.EmptyRequest & gateway.Message = {\n      ...requests.EmptyRequest.DEFAULT,\n      toBinary() {\n        return requests.EmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device_db/clear_store', request);\n  }\n\n  /**\n   * Disables certain customer checks (like FF flag).\n   * @param mode Whether to turn internal mode on or off.\n   */\n  public static setInternalMode(\n    mode: boolean\n  ): void {\n    const request: requests.SetInternalModeRequest & gateway.Message = {\n      ...requests.SetInternalModeRequest.DEFAULT,\n      mode: mode,\n      toBinary() {\n        return requests.SetInternalModeRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_internal_mode', request);\n  }\n\n  /**\n   * Sets the period between polling for IDLE during movements.\n   * Caution: Setting the period too low may cause performance issues.\n   * @param period Period in milliseconds.\n   * Negative value restores the default period.\n   */\n  public static setIdlePollingPeriod(\n    period: number\n  ): void {\n    const request: requests.IntRequest & gateway.Message = {\n      ...requests.IntRequest.DEFAULT,\n      value: period,\n      toBinary() {\n        return requests.IntRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_idle_polling_period', request);\n  }\n\n  /**\n   * Throws an error if the version of the loaded shared library does not match the caller's version.\n   */\n  public static checkVersion(): void {\n    const request: requests.CheckVersionRequest & gateway.Message = {\n      ...requests.CheckVersionRequest.DEFAULT,\n      host: 'js',\n      version: '7.11.0',\n      toBinary() {\n        return requests.CheckVersionRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/check_version', request);\n  }\n}\n\ngateway.addInitCallback(Library.checkVersion);\n"]}
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Allows selection of a web service or a local file.\n   * @param sourceType Source type.\n   * @param urlOrFilePath URL of the web service or path to the local file.\n   * Leave empty for the default URL of Zaber web service.\n   */\n  public static setDeviceDbSource(\n    sourceType: DeviceDbSourceType,\n    urlOrFilePath?: string\n  ): void {\n    const request: requests.SetDeviceDbSourceRequest & gateway.Message = {\n      ...requests.SetDeviceDbSourceRequest.DEFAULT,\n      sourceType: sourceType,\n      urlOrFilePath: urlOrFilePath,\n      toBinary() {\n        return requests.SetDeviceDbSourceRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_source', request);\n  }\n\n  /**\n   * Sets a sequence of sources. When the library needs device information,\n   * it will try each source in the order they are provided.\n   * @param sources The list of sources the library will access data from.\n   */\n  public static setDeviceDbSources(\n    ...sources: DeviceDbSource[]\n  ): void {\n    const request: requests.SetDeviceDbLayeredSourcesRequest & gateway.Message = {\n      ...requests.SetDeviceDbLayeredSourcesRequest.DEFAULT,\n      sources: sources,\n      toBinary() {\n        return requests.SetDeviceDbLayeredSourcesRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_sources', request);\n  }\n\n  /**\n   * Enables Device DB store.\n   * The store uses filesystem to save information obtained from the Device DB.\n   * The stored data are later used instead of the Device DB.\n   * @param storeLocation Specifies relative or absolute path of the folder used by the store.\n   * If left empty defaults to a folder in user home directory.\n   * Must be accessible by the process.\n   */\n  public static enableDeviceDbStore(\n    storeLocation?: string\n  ): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toggleOn: true,\n      storeLocation: storeLocation,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Disables Device DB store.\n   */\n  public static disableDeviceDbStore(): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Checks if the Device DB store is currently enabled.\n   * @returns True if the Device DB store is enabled.\n   */\n  public static isDeviceDbStoreEnabled(): boolean {\n    const request: requests.EmptyRequest & gateway.Message = {\n      ...requests.EmptyRequest.DEFAULT,\n      toBinary() {\n        return requests.EmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.BoolResponse>(\n      'device_db/check_store',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Clears the Device DB store on the local filesystem.\n   * Note: If the device DB was enabled with a custom store location, store files will be removed in that location.\n   */\n  public static async clearDeviceDbStore(): Promise<void> {\n    const request: requests.EmptyRequest & gateway.Message = {\n      ...requests.EmptyRequest.DEFAULT,\n      toBinary() {\n        return requests.EmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device_db/clear_store', request);\n  }\n\n  /**\n   * Disables certain customer checks (like FF flag).\n   * @param mode Whether to turn internal mode on or off.\n   */\n  public static setInternalMode(\n    mode: boolean\n  ): void {\n    const request: requests.SetInternalModeRequest & gateway.Message = {\n      ...requests.SetInternalModeRequest.DEFAULT,\n      mode: mode,\n      toBinary() {\n        return requests.SetInternalModeRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_internal_mode', request);\n  }\n\n  /**\n   * Sets the period between polling for IDLE during movements.\n   * Caution: Setting the period too low may cause performance issues.\n   * @param period Period in milliseconds.\n   * Negative value restores the default period.\n   */\n  public static setIdlePollingPeriod(\n    period: number\n  ): void {\n    const request: requests.IntRequest & gateway.Message = {\n      ...requests.IntRequest.DEFAULT,\n      value: period,\n      toBinary() {\n        return requests.IntRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_idle_polling_period', request);\n  }\n\n  /**\n   * Throws an error if the version of the loaded shared library does not match the caller's version.\n   */\n  public static checkVersion(): void {\n    const request: requests.CheckVersionRequest & gateway.Message = {\n      ...requests.CheckVersionRequest.DEFAULT,\n      host: 'js',\n      version: '7.13.0',\n      toBinary() {\n        return requests.CheckVersionRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/check_version', request);\n  }\n}\n\ngateway.addInitCallback(Library.checkVersion);\n"]}

package/dist/lib/microscopy/microscope.d.ts

@@ -93,6 +93,10 @@ export declare class Microscope {
      * @returns A string that represents the microscope.
      */
     toString(): string;
+    /**
+     * Initializes the components of the microscope based on the configuration.
+     */
+    private _initializeComponents;
 }
 declare namespace Microscope {
     interface InitializeOptions {

package/dist/lib/microscopy/microscope.d.ts.map

@@ -1 +1 @@
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package/dist/lib/microscopy/microscope.js

@@ -110,15 +110,7 @@ class Microscope {
     constructor(connection, config) {
         this._connection = connection;
         this._config = microscope_config_1.MicroscopeConfig.fromBinary(microscope_config_1.MicroscopeConfig.toBinary(config));
-        this._illuminator = config.illuminator ? new illuminator_1.Illuminator(new device_1.Device(connection, config.illuminator)) : undefined;
-        this._focusAxis = config.focusAxis?.device ? new axis_1.Axis(new device_1.Device(connection, config.focusAxis.device), config.focusAxis.axis) : undefined;
-        this._xAxis = config.xAxis?.device ? new axis_1.Axis(new device_1.Device(connection, config.xAxis.device), config.xAxis.axis) : undefined;
-        this._yAxis = config.yAxis?.device ? new axis_1.Axis(new device_1.Device(connection, config.yAxis.device), config.yAxis.axis) : undefined;
-        this._plate = this._xAxis && this._yAxis ? new axis_group_1.AxisGroup([this._xAxis, this._yAxis]) : undefined;
-        this._objectiveChanger = config.objectiveChanger && this._focusAxis ? new objective_changer_1.ObjectiveChanger(new device_1.Device(connection, config.objectiveChanger), this._focusAxis) : undefined;
-        this._filterChanger = config.filterChanger ? new filter_changer_1.FilterChanger(new device_1.Device(connection, config.filterChanger)) : undefined;
-        this._autofocus = config.autofocus && this._focusAxis ? new autofocus_1.Autofocus(config.autofocus, this._focusAxis, this._objectiveChanger?.turret) : undefined;
-        this._cameraTrigger = config.cameraTrigger?.device ? new camera_trigger_1.CameraTrigger(new device_1.Device(connection, config.cameraTrigger.device), config.cameraTrigger.channel) : undefined;
+        this._initializeComponents();
     }
     /**
      * Finds a microscope on a connection.
@@ -188,6 +180,38 @@ class Microscope {
         const response = gateway.callSync('microscope/to_string', request, requests.StringResponse.fromBinary);
         return response.value;
     }
+    /**
+     * Initializes the components of the microscope based on the configuration.
+     */
+    _initializeComponents() {
+        if (this._config.illuminator) {
+            this._illuminator = new illuminator_1.Illuminator(new device_1.Device(this._connection, this._config.illuminator));
+        }
+        if (this._config.focusAxis?.device) {
+            this._focusAxis = new axis_1.Axis(new device_1.Device(this._connection, this._config.focusAxis.device), this._config.focusAxis.axis);
+        }
+        if (this._config.xAxis?.device) {
+            this._xAxis = new axis_1.Axis(new device_1.Device(this._connection, this._config.xAxis.device), this._config.xAxis.axis);
+        }
+        if (this._config.yAxis?.device) {
+            this._yAxis = new axis_1.Axis(new device_1.Device(this._connection, this._config.yAxis.device), this._config.yAxis.axis);
+        }
+        if (this._xAxis && this._yAxis) {
+            this._plate = new axis_group_1.AxisGroup([this._xAxis, this._yAxis]);
+        }
+        if (this._config.objectiveChanger && this._focusAxis) {
+            this._objectiveChanger = new objective_changer_1.ObjectiveChanger(new device_1.Device(this._connection, this._config.objectiveChanger), this._focusAxis);
+        }
+        if (this._config.filterChanger) {
+            this._filterChanger = new filter_changer_1.FilterChanger(new device_1.Device(this._connection, this._config.filterChanger));
+        }
+        if (this._config.autofocus && this._focusAxis) {
+            this._autofocus = new autofocus_1.Autofocus(this._config.autofocus, this._focusAxis, this._objectiveChanger?.turret);
+        }
+        if (this._config.cameraTrigger?.device) {
+            this._cameraTrigger = new camera_trigger_1.CameraTrigger(new device_1.Device(this._connection, this._config.cameraTrigger.device), this._config.cameraTrigger.channel);
+        }
+    }
 }
 exports.Microscope = Microscope;
 //# sourceMappingURL=microscope.js.map

package/dist/lib/microscopy/microscope.js.map

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Axis } from '../ascii/axis';\nimport { AxisGroup } from '../ascii/axis_group';\nimport { Device } from '../ascii/device';\nimport { Connection } from '../ascii/connection';\nimport { Illuminator } from './illuminator';\nimport { ObjectiveChanger } from './objective_changer';\nimport { MicroscopeConfig } from './microscope_config';\nimport { FilterChanger } from './filter_changer';\nimport { Autofocus } from './autofocus';\nimport { CameraTrigger } from './camera_trigger';\nimport { ThirdPartyComponents } from './third_party_components';\n\n/**\n * Represent a microscope.\n * Parts of the microscope may or may not be instantiated depending on the configuration.\n * Requires at least Firmware 7.34.\n */\nexport class Microscope {\n  /**\n   * Connection of the microscope.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  private _config: MicroscopeConfig;\n\n  /**\n   * The illuminator.\n   */\n  public get illuminator(): Illuminator | undefined {\n    return this._illuminator;\n  }\n  private _illuminator: Illuminator | undefined;\n\n  /**\n   * The focus axis.\n   */\n  public get focusAxis(): Axis | undefined {\n    return this._focusAxis;\n  }\n  private _focusAxis: Axis | undefined;\n\n  /**\n   * The X axis.\n   */\n  public get xAxis(): Axis | undefined {\n    return this._xAxis;\n  }\n  private _xAxis: Axis | undefined;\n\n  /**\n   * The Y axis.\n   */\n  public get yAxis(): Axis | undefined {\n    return this._yAxis;\n  }\n  private _yAxis: Axis | undefined;\n\n  /**\n   * Axis group consisting of X and Y axes representing the plate of the microscope.\n   */\n  public get plate(): AxisGroup | undefined {\n    return this._plate;\n  }\n  private _plate: AxisGroup | undefined;\n\n  /**\n   * The objective changer.\n   */\n  public get objectiveChanger(): ObjectiveChanger | undefined {\n    return this._objectiveChanger;\n  }\n  private _objectiveChanger: ObjectiveChanger | undefined;\n\n  /**\n   * The filter changer.\n   */\n  public get filterChanger(): FilterChanger | undefined {\n    return this._filterChanger;\n  }\n  private _filterChanger: FilterChanger | undefined;\n\n  /**\n   * The autofocus feature.\n   */\n  public get autofocus(): Autofocus | undefined {\n    return this._autofocus;\n  }\n  private _autofocus: Autofocus | undefined;\n\n  /**\n   * The camera trigger.\n   */\n  public get cameraTrigger(): CameraTrigger | undefined {\n    return this._cameraTrigger;\n  }\n  private _cameraTrigger: CameraTrigger | undefined;\n\n  /**\n   * Creates instance of `Microscope` from the given config.\n   * Parts are instantiated depending on device addresses in the config.\n   */\n  constructor(connection: Connection, config: MicroscopeConfig) {\n    this._connection = connection;\n    this._config = MicroscopeConfig.fromBinary(MicroscopeConfig.toBinary(config));\n    this._illuminator = config.illuminator ? new Illuminator(new Device(connection, config.illuminator)) : undefined;\n    this._focusAxis = config.focusAxis?.device ? new Axis(new Device(connection, config.focusAxis.device), config.focusAxis.axis) : undefined;\n    this._xAxis = config.xAxis?.device ? new Axis(new Device(connection, config.xAxis.device), config.xAxis.axis) : undefined;\n    this._yAxis = config.yAxis?.device ? new Axis(new Device(connection, config.yAxis.device), config.yAxis.axis) : undefined;\n    this._plate = this._xAxis && this._yAxis ? new AxisGroup([this._xAxis, this._yAxis]) : undefined;\n    this._objectiveChanger = config.objectiveChanger && this._focusAxis ? new ObjectiveChanger(new Device(connection, config.objectiveChanger), this._focusAxis) : undefined;\n    this._filterChanger = config.filterChanger ? new FilterChanger(new Device(connection, config.filterChanger)) : undefined;\n    this._autofocus = config.autofocus && this._focusAxis ? new Autofocus(config.autofocus, this._focusAxis, this._objectiveChanger?.turret) : undefined;\n    this._cameraTrigger = config.cameraTrigger?.device ? new CameraTrigger(new Device(connection, config.cameraTrigger.device), config.cameraTrigger.channel) : undefined;\n  }\n\n  /**\n   * Finds a microscope on a connection.\n   * @param connection Connection on which to detect the microscope.\n   * @param thirdPartyComponents Third party components of the microscope that cannot be found on the connection.\n   * @returns New instance of microscope.\n   */\n  public static async find(\n    connection: Connection,\n    thirdPartyComponents?: ThirdPartyComponents\n  ): Promise<Microscope> {\n    const request: requests.MicroscopeFindRequest & gateway.Message = {\n      ...requests.MicroscopeFindRequest.DEFAULT,\n      interfaceId: connection.interfaceId,\n      thirdParty: thirdPartyComponents,\n      toBinary() {\n        return requests.MicroscopeFindRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.MicroscopeConfigResponse>(\n      'microscope/detect',\n      request,\n      requests.MicroscopeConfigResponse.fromBinary);\n    return new Microscope(connection, response.config);\n  }\n\n  /**\n   * Initializes the microscope.\n   * Homes all axes, filter changer, and objective changer if they require it.\n   * @param [options.force=false] Forces all devices to home even when not required.\n   */\n  public async initialize(\n    options: Microscope.InitializeOptions = {}\n  ): Promise<void> {\n    const {\n      force = false,\n    } = options;\n    const request: requests.MicroscopeInitRequest & gateway.Message = {\n      ...requests.MicroscopeInitRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      config: this._config,\n      force: force,\n      toBinary() {\n        return requests.MicroscopeInitRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('microscope/initialize', request);\n  }\n\n  /**\n   * Checks whether the microscope is initialized.\n   * @returns True, when the microscope is initialized. False, otherwise.\n   */\n  public async isInitialized(): Promise<boolean> {\n    const request: requests.MicroscopeEmptyRequest & gateway.Message = {\n      ...requests.MicroscopeEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      config: this._config,\n      toBinary() {\n        return requests.MicroscopeEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'microscope/is_initialized',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string that represents the microscope.\n   * @returns A string that represents the microscope.\n   */\n  public toString(): string {\n    const request: requests.MicroscopeEmptyRequest & gateway.Message = {\n      ...requests.MicroscopeEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      config: this._config,\n      toBinary() {\n        return requests.MicroscopeEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'microscope/to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Microscope {\n  export interface InitializeOptions {\n      /**\n       * Forces all devices to home even when not required.\n       */\n      force?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Axis } from '../ascii/axis';\nimport { AxisGroup } from '../ascii/axis_group';\nimport { Device } from '../ascii/device';\nimport { Connection } from '../ascii/connection';\nimport { Illuminator } from './illuminator';\nimport { ObjectiveChanger } from './objective_changer';\nimport { MicroscopeConfig } from './microscope_config';\nimport { FilterChanger } from './filter_changer';\nimport { Autofocus } from './autofocus';\nimport { CameraTrigger } from './camera_trigger';\nimport { ThirdPartyComponents } from './third_party_components';\n\n/**\n * Represent a microscope.\n * Parts of the microscope may or may not be instantiated depending on the configuration.\n * Requires at least Firmware 7.34.\n */\nexport class Microscope {\n  /**\n   * Connection of the microscope.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  private _config: MicroscopeConfig;\n\n  /**\n   * The illuminator.\n   */\n  public get illuminator(): Illuminator | undefined {\n    return this._illuminator;\n  }\n  private _illuminator: Illuminator | undefined;\n\n  /**\n   * The focus axis.\n   */\n  public get focusAxis(): Axis | undefined {\n    return this._focusAxis;\n  }\n  private _focusAxis: Axis | undefined;\n\n  /**\n   * The X axis.\n   */\n  public get xAxis(): Axis | undefined {\n    return this._xAxis;\n  }\n  private _xAxis: Axis | undefined;\n\n  /**\n   * The Y axis.\n   */\n  public get yAxis(): Axis | undefined {\n    return this._yAxis;\n  }\n  private _yAxis: Axis | undefined;\n\n  /**\n   * Axis group consisting of X and Y axes representing the plate of the microscope.\n   */\n  public get plate(): AxisGroup | undefined {\n    return this._plate;\n  }\n  private _plate: AxisGroup | undefined;\n\n  /**\n   * The objective changer.\n   */\n  public get objectiveChanger(): ObjectiveChanger | undefined {\n    return this._objectiveChanger;\n  }\n  private _objectiveChanger: ObjectiveChanger | undefined;\n\n  /**\n   * The filter changer.\n   */\n  public get filterChanger(): FilterChanger | undefined {\n    return this._filterChanger;\n  }\n  private _filterChanger: FilterChanger | undefined;\n\n  /**\n   * The autofocus feature.\n   */\n  public get autofocus(): Autofocus | undefined {\n    return this._autofocus;\n  }\n  private _autofocus: Autofocus | undefined;\n\n  /**\n   * The camera trigger.\n   */\n  public get cameraTrigger(): CameraTrigger | undefined {\n    return this._cameraTrigger;\n  }\n  private _cameraTrigger: CameraTrigger | undefined;\n\n  /**\n   * Creates instance of `Microscope` from the given config.\n   * Parts are instantiated depending on device addresses in the config.\n   */\n  constructor(connection: Connection, config: MicroscopeConfig) {\n    this._connection = connection;\n    this._config = MicroscopeConfig.fromBinary(MicroscopeConfig.toBinary(config));\n    this._initializeComponents();\n  }\n\n  /**\n   * Finds a microscope on a connection.\n   * @param connection Connection on which to detect the microscope.\n   * @param thirdPartyComponents Third party components of the microscope that cannot be found on the connection.\n   * @returns New instance of microscope.\n   */\n  public static async find(\n    connection: Connection,\n    thirdPartyComponents?: ThirdPartyComponents\n  ): Promise<Microscope> {\n    const request: requests.MicroscopeFindRequest & gateway.Message = {\n      ...requests.MicroscopeFindRequest.DEFAULT,\n      interfaceId: connection.interfaceId,\n      thirdParty: thirdPartyComponents,\n      toBinary() {\n        return requests.MicroscopeFindRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.MicroscopeConfigResponse>(\n      'microscope/detect',\n      request,\n      requests.MicroscopeConfigResponse.fromBinary);\n    return new Microscope(connection, response.config);\n  }\n\n  /**\n   * Initializes the microscope.\n   * Homes all axes, filter changer, and objective changer if they require it.\n   * @param [options.force=false] Forces all devices to home even when not required.\n   */\n  public async initialize(\n    options: Microscope.InitializeOptions = {}\n  ): Promise<void> {\n    const {\n      force = false,\n    } = options;\n    const request: requests.MicroscopeInitRequest & gateway.Message = {\n      ...requests.MicroscopeInitRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      config: this._config,\n      force: force,\n      toBinary() {\n        return requests.MicroscopeInitRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('microscope/initialize', request);\n  }\n\n  /**\n   * Checks whether the microscope is initialized.\n   * @returns True, when the microscope is initialized. False, otherwise.\n   */\n  public async isInitialized(): Promise<boolean> {\n    const request: requests.MicroscopeEmptyRequest & gateway.Message = {\n      ...requests.MicroscopeEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      config: this._config,\n      toBinary() {\n        return requests.MicroscopeEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'microscope/is_initialized',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string that represents the microscope.\n   * @returns A string that represents the microscope.\n   */\n  public toString(): string {\n    const request: requests.MicroscopeEmptyRequest & gateway.Message = {\n      ...requests.MicroscopeEmptyRequest.DEFAULT,\n      interfaceId: this.connection.interfaceId,\n      config: this._config,\n      toBinary() {\n        return requests.MicroscopeEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'microscope/to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Initializes the components of the microscope based on the configuration.\n   */\n  private _initializeComponents(): void {\n    if (this._config.illuminator) {\n      this._illuminator = new Illuminator(new Device(this._connection, this._config.illuminator));\n    }\n\n    if (this._config.focusAxis?.device) {\n      this._focusAxis = new Axis(new Device(this._connection, this._config.focusAxis.device), this._config.focusAxis.axis);\n    }\n\n    if (this._config.xAxis?.device) {\n      this._xAxis = new Axis(new Device(this._connection, this._config.xAxis.device), this._config.xAxis.axis);\n    }\n\n    if (this._config.yAxis?.device) {\n      this._yAxis = new Axis(new Device(this._connection, this._config.yAxis.device), this._config.yAxis.axis);\n    }\n\n    if (this._xAxis && this._yAxis) {\n      this._plate = new AxisGroup([this._xAxis, this._yAxis]);\n    }\n\n    if (this._config.objectiveChanger && this._focusAxis) {\n      this._objectiveChanger = new ObjectiveChanger(new Device(this._connection, this._config.objectiveChanger), this._focusAxis);\n    }\n\n    if (this._config.filterChanger) {\n      this._filterChanger = new FilterChanger(new Device(this._connection, this._config.filterChanger));\n    }\n\n    if (this._config.autofocus && this._focusAxis) {\n      this._autofocus = new Autofocus(this._config.autofocus, this._focusAxis, this._objectiveChanger?.turret);\n    }\n\n    if (this._config.cameraTrigger?.device) {\n      this._cameraTrigger = new CameraTrigger(new Device(this._connection, this._config.cameraTrigger.device), this._config.cameraTrigger.channel);\n    }\n  }\n}\n\nnamespace Microscope {\n  export interface InitializeOptions {\n      /**\n       * Forces all devices to home even when not required.\n       */\n      force?: boolean;\n  }\n}\n"]}

package/dist/lib/requests/index.d.ts

@@ -139,13 +139,16 @@ export * from './oscilloscope_request';
 export * from './oscilloscope_start_request';
 export * from './prepare_command_request';
 export * from './process_on';
+export * from './pvt_buffer_get_sequence_data_request';
 export * from './pvt_csv_request';
 export * from './pvt_generate_positions_request';
+export * from './pvt_generate_velocities_and_times_request';
 export * from './pvt_generate_velocities_request';
 export * from './pvt_load_csv_request';
 export * from './pvt_point_request';
 export * from './pvt_points_request';
 export * from './pvt_save_csv_request';
+export * from './pvt_submit_sequence_data_request';
 export * from './renumber_request';
 export * from './response_type';
 export * from './servo_tuning_paramset_response';

package/dist/lib/requests/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../src/requests/index.ts"],"names":[],"mappings":"AACA,cAAc,uBAAuB,CAAC;AACtC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,0CAA0C,CAAC;AACzD,cAAc,2CAA2C,CAAC;AAC1D,cAAc,iCAAiC,CAAC;AAChD,cAAc,0CAA0C,CAAC;AACzD,cAAc,sBAAsB,CAAC;AACrC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,qBAAqB,CAAC;AACpC,cAAc,sBAAsB,CAAC;AACrC,cAAc,kBAAkB,CAAC;AACjC,cAAc,0BAA0B,CAAC;AACzC,cAAc,gCAAgC,CAAC;AAC/C,cAAc,iCAAiC,CAAC;AAChD,cAAc,qCAAqC,CAAC;AACpD,cAAc,8BAA8B,CAAC;AAC7C,cAAc,8BAA8B,CAAC;AAC7C,cAAc,qCAAqC,CAAC;AACpD,cAAc,8BAA8B,CAAC;AAC7C,cAAc,qCAAqC,CAAC;AACpD,cAAc,6BAA6B,CAAC;AAC5C,cAAc,mCAAmC,CAAC;AAClD,cAAc,iBAAiB,CAAC;AAChC,cAAc,+BAA+B,CAAC;AAC9C,cAAc,yBAAyB,CAAC;AACxC,cAAc,cAAc,CAAC;AAC7B,cAAc,yBAAyB,CAAC;AACxC,cAAc,yBAAyB,CAAC;AACxC,cAAc,kCAAkC,CAAC;AACjD,cAAc,kCAAkC,CAAC;AACjD,cAAc,iCAAiC,CAAC;AAChD,cAAc,kCAAkC,CAAC;AACjD,cAAc,8CAA8C,CAAC;AAC7D,cAAc,yCAAyC,CAAC;AACxD,cAAc,kCAAkC,CAAC;AACjD,cAAc,yBAAyB,CAAC;AACxC,cAAc,0BAA0B,CAAC;AACzC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oCAAoC,CAAC;AACnD,cAAc,qCAAqC,CAAC;AACpD,cAAc,qCAAqC,CAAC;AACpD,cAAc,sCAAsC,CAAC;AACrD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,iCAAiC,CAAC;AAChD,cAAc,8BAA8B,CAAC;AAC7C,cAAc,8BAA8B,CAAC;AAC7C,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gCAAgC,CAAC;AAC/C,cAAc,uBAAuB,CAAC;AACtC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,uBAAuB,CAAC;AACtC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,oCAAoC,CAAC;AACnD,cAAc,yBAAyB,CAAC;AACxC,cAAc,0BAA0B,CAAC;AACzC,cAAc,0BAA0B,CAAC;AACzC,cAAc,yCAAyC,CAAC;AACxD,cAAc,kDAAkD,CAAC;AACjE,cAAc,0CAA0C,CAAC;AACzD,cAAc,mDAAmD,CAAC;AAClE,cAAc,oCAAoC,CAAC;AACnD,cAAc,6CAA6C,CAAC;AAC5D,cAAc,qCAAqC,CAAC;AACpD,cAAc,8CAA8C,CAAC;AAC7D,cAAc,qCAAqC,CAAC;AACpD,cAAc,mCAAmC,CAAC;AAClD,cAAc,kCAAkC,CAAC;AACjD,cAAc,8BAA8B,CAAC;AAC7C,cAAc,kCAAkC,CAAC;AACjD,cAAc,mCAAmC,CAAC;AAClD,cAAc,qCAAqC,CAAC;AACpD,cAAc,8BAA8B,CAAC;AAC7C,cAAc,uCAAuC,CAAC;AACtD,cAAc,uBAAuB,CAAC;AACtC,cAAc,oCAAoC,CAAC;AACnD,cAAc,0BAA0B,CAAC;AACzC,cAAc,eAAe,CAAC;AAC9B,cAAc,kCAAkC,CAAC;AACjD,cAAc,sBAAsB,CAAC;AACrC,cAAc,yBAAyB,CAAC;AACxC,cAAc,mBAAmB,CAAC;AAClC,cAAc,yBAAyB,CAAC;AACxC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,uBAAuB,CAAC;AACtC,cAAc,wBAAwB,CAAC;AACvC,cAAc,0BAA0B,CAAC;AACzC,cAAc,iBAAiB,CAAC;AAChC,cAAc,mBAAmB,CAAC;AAClC,cAAc,oBAAoB,CAAC;AACnC,cAAc,0BAA0B,CAAC;AACzC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,uCAAuC,CAAC;AACtD,cAAc,mCAAmC,CAAC;AAClD,cAAc,4BAA4B,CAAC;AAC3C,cAAc,6BAA6B,CAAC;AAC5C,cAAc,uBAAuB,CAAC;AACtC,cAAc,+CAA+C,CAAC;AAC9D,cAAc,mBAAmB,CAAC;AAClC,cAAc,sBAAsB,CAAC;AACrC,cAAc,eAAe,CAAC;AAC9B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,2BAA2B,CAAC;AAC1C,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,0BAA0B,CAAC;AACzC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,sCAAsC,CAAC;AACrD,cAAc,wBAAwB,CAAC;AACvC,cAAc,yBAAyB,CAAC;AACxC,cAAc,yBAAyB,CAAC;AACxC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,wBAAwB,CAAC;AACvC,cAAc,yBAAyB,CAAC;AACxC,cAAc,oCAAoC,CAAC;AACnD,cAAc,8BAA8B,CAAC;AAC7C,cAAc,4BAA4B,CAAC;AAC3C,cAAc,2BAA2B,CAAC;AAC1C,cAAc,2BAA2B,CAAC;AAC1C,cAAc,qCAAqC,CAAC;AACpD,cAAc,oCAAoC,CAAC;AACnD,cAAc,qCAAqC,CAAC;AACpD,cAAc,0CAA0C,CAAC;AACzD,cAAc,6BAA6B,CAAC;AAC5C,cAAc,iCAAiC,CAAC;AAChD,cAAc,iCAAiC,CAAC;AAChD,cAAc,0BAA0B,CAAC;AACzC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,uCAAuC,CAAC;AACtD,cAAc,4CAA4C,CAAC;AAC3D,cAAc,iCAAiC,CAAC;AAChD,cAAc,6CAA6C,CAAC;AAC5D,cAAc,0CAA0C,CAAC;AACzD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,8BAA8B,CAAC;AAC7C,cAAc,wBAAwB,CAAC;AACvC,cAAc,8BAA8B,CAAC;AAC7C,cAAc,2BAA2B,CAAC;AAC1C,cAAc,cAAc,CAAC;AAC7B,cAAc,wCAAwC,CAAC;AACvD,cAAc,mBAAmB,CAAC;AAClC,cAAc,kCAAkC,CAAC;AACjD,cAAc,6CAA6C,CAAC;AAC5D,cAAc,mCAAmC,CAAC;AAClD,cAAc,wBAAwB,CAAC;AACvC,cAAc,qBAAqB,CAAC;AACpC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oCAAoC,CAAC;AACnD,cAAc,oBAAoB,CAAC;AACnC,cAAc,iBAAiB,CAAC;AAChC,cAAc,kCAAkC,CAAC;AACjD,cAAc,wBAAwB,CAAC;AACvC,cAAc,yCAAyC,CAAC;AACxD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,0CAA0C,CAAC;AACzD,cAAc,iCAAiC,CAAC;AAChD,cAAc,6BAA6B,CAAC;AAC5C,cAAc,6BAA6B,CAAC;AAC5C,cAAc,0BAA0B,CAAC;AACzC,cAAc,iCAAiC,CAAC;AAChD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,4BAA4B,CAAC;AAC3C,cAAc,qBAAqB,CAAC;AACpC,cAAc,qBAAqB,CAAC;AACpC,cAAc,sBAAsB,CAAC;AACrC,cAAc,+BAA+B,CAAC;AAC9C,cAAc,qCAAqC,CAAC;AACpD,cAAc,sCAAsC,CAAC;AACrD,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AACtC,cAAc,8CAA8C,CAAC;AAC7D,cAAc,yCAAyC,CAAC;AACxD,cAAc,yBAAyB,CAAC;AACxC,cAAc,wBAAwB,CAAC;AACvC,cAAc,wCAAwC,CAAC;AACvD,cAAc,kCAAkC,CAAC;AACjD,cAAc,4BAA4B,CAAC;AAC3C,cAAc,mDAAmD,CAAC;AAClE,cAAc,gCAAgC,CAAC;AAC/C,cAAc,kDAAkD,CAAC;AACjE,cAAc,uBAAuB,CAAC;AACtC,cAAc,wBAAwB,CAAC;AACvC,cAAc,uBAAuB,CAAC;AACtC,cAAc,yCAAyC,CAAC;AACxD,cAAc,kDAAkD,CAAC;AACjE,cAAc,0CAA0C,CAAC;AACzD,cAAc,mDAAmD,CAAC;AAClE,cAAc,oCAAoC,CAAC;AACnD,cAAc,6CAA6C,CAAC;AAC5D,cAAc,qCAAqC,CAAC;AACpD,cAAc,8CAA8C,CAAC;AAC7D,cAAc,2BAA2B,CAAC;AAC1C,cAAc,mDAAmD,CAAC;AAClE,cAAc,gCAAgC,CAAC;AAC/C,cAAc,kDAAkD,CAAC;AACjE,cAAc,uCAAuC,CAAC;AACtD,cAAc,6BAA6B,CAAC;AAC5C,cAAc,6CAA6C,CAAC;AAC5D,cAAc,wCAAwC,CAAC;AACvD,cAAc,8BAA8B,CAAC;AAC7C,cAAc,oCAAoC,CAAC;AACnD,cAAc,qCAAqC,CAAC;AACpD,cAAc,uBAAuB,CAAC;AACtC,cAAc,kCAAkC,CAAC;AACjD,cAAc,yBAAyB,CAAC;AACxC,cAAc,mBAAmB,CAAC;AAClC,cAAc,cAAc,CAAC;AAC7B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,iBAAiB,CAAC;AAChC,cAAc,sBAAsB,C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package/dist/lib/requests/index.js

@@ -156,13 +156,16 @@ __exportStar(require("./oscilloscope_request"), exports);
 __exportStar(require("./oscilloscope_start_request"), exports);
 __exportStar(require("./prepare_command_request"), exports);
 __exportStar(require("./process_on"), exports);
+__exportStar(require("./pvt_buffer_get_sequence_data_request"), exports);
 __exportStar(require("./pvt_csv_request"), exports);
 __exportStar(require("./pvt_generate_positions_request"), exports);
+__exportStar(require("./pvt_generate_velocities_and_times_request"), exports);
 __exportStar(require("./pvt_generate_velocities_request"), exports);
 __exportStar(require("./pvt_load_csv_request"), exports);
 __exportStar(require("./pvt_point_request"), exports);
 __exportStar(require("./pvt_points_request"), exports);
 __exportStar(require("./pvt_save_csv_request"), exports);
+__exportStar(require("./pvt_submit_sequence_data_request"), exports);
 __exportStar(require("./renumber_request"), exports);
 __exportStar(require("./response_type"), exports);
 __exportStar(require("./servo_tuning_paramset_response"), exports);