@zaber/motion 7.2.2 → 7.3.0

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

@@ -51,12 +51,21 @@ export declare class AllAxes {
 }
 declare namespace AllAxes {
     interface HomeOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface StopOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface WaitUntilIdleOptions {
+        /**
+         * Determines whether to throw error when fault is observed.
+         */
         throwErrorOnFault?: boolean;
     }
 }

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

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Axes return to their homing positions.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: AllAxes.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceHomeRequest & gateway.Message = {\n      ...requests.DeviceHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axes movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: AllAxes.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceStopRequest & gateway.Message = {\n      ...requests.DeviceStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Waits until all axes of device stop moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: AllAxes.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.DeviceWaitUntilIdleRequest & gateway.Message = {\n      ...requests.DeviceWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.DeviceWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Parks the device in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks the device. The device will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether any axis is executing a motion command.\n   * @returns True if any axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns bool indicating whether all axes have position reference and were homed.\n   * @returns True if all axes have position reference and were homed.\n   */\n  public async isHomed(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_homed',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string that represents the axes.\n   * @returns A string that represents the axes.\n   */\n  public toString(): string {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/all_axes_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace AllAxes {\n  export interface HomeOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}
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Axes return to their homing positions.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: AllAxes.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceHomeRequest & gateway.Message = {\n      ...requests.DeviceHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axes movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: AllAxes.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceStopRequest & gateway.Message = {\n      ...requests.DeviceStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Waits until all axes of device stop moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: AllAxes.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.DeviceWaitUntilIdleRequest & gateway.Message = {\n      ...requests.DeviceWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.DeviceWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Parks the device in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks the device. The device will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether any axis is executing a motion command.\n   * @returns True if any axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns bool indicating whether all axes have position reference and were homed.\n   * @returns True if all axes have position reference and were homed.\n   */\n  public async isHomed(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_homed',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string that represents the axes.\n   * @returns A string that represents the axes.\n   */\n  public toString(): string {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: 0,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/all_axes_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace AllAxes {\n  export interface HomeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface StopOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\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/axis.d.ts

@@ -7,6 +7,7 @@ import { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, Angular
 import { Response } from './response';
 import { Measurement } from '../measurement';
 import { AxisStorage } from './storage';
+import { SetStateAxisResponse } from './set_state_axis_response';
 /**
  * Represents an axis of motion associated with a device.
  */
@@ -263,8 +264,9 @@ export declare class Axis {
     /**
      * Applies a saved state to this axis.
      * @param state The state object to apply to this axis.
+     * @returns Reports of any issues that were handled, but caused the state to not be exactly restored.
      */
-    setState(state: string): Promise<void>;
+    setState(state: string): Promise<SetStateAxisResponse>;
     /**
      * Checks if a state can be applied to this axis.
      * This only covers exceptions that can be determined statically such as mismatches of ID or version,
@@ -316,66 +318,203 @@ export declare class Axis {
 }
 declare namespace Axis {
     interface HomeOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface StopOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface WaitUntilIdleOptions {
+        /**
+         * Determines whether to throw error when fault is observed.
+         */
         throwErrorOnFault?: boolean;
     }
     interface MoveAbsoluteOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveMaxOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveMinOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveRelativeOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveVelocityOptions {
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveIndexOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface GenericCommandOptions {
+        /**
+         * Controls whether to throw an exception when the device rejects the command.
+         */
         checkErrors?: boolean;
+        /**
+         * The timeout, in milliseconds, for a device to respond to the command.
+         * Overrides the connection default request timeout.
+         */
         timeout?: number;
     }
     interface GenericCommandMultiResponseOptions {
+        /**
+         * Controls whether to throw an exception when a device rejects the command.
+         */
         checkErrors?: boolean;
+        /**
+         * The timeout, in milliseconds, for a device to respond to the command.
+         * Overrides the connection default request timeout.
+         */
         timeout?: number;
     }
     interface MoveSinOptions {
+        /**
+         * Number of sinusoidal cycles to complete.
+         * Must be a multiple of 0.5
+         * If count is not specified or set to 0, the axis will move indefinitely.
+         */
         count?: number;
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface MoveSinStopOptions {
+        /**
+         * Determines whether function should return after the movement is finished.
+         */
         waitUntilIdle?: boolean;
     }
 }

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

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

@@ -34,6 +34,7 @@ const response_1 = require("./response");
 const gateway = __importStar(require("../gateway"));
 const requests = __importStar(require("../requests"));
 const storage_1 = require("./storage");
+const set_state_axis_response_1 = require("./set_state_axis_response");
 /**
  * Represents an axis of motion associated with a device.
  */
@@ -668,6 +669,7 @@ class Axis {
     /**
      * Applies a saved state to this axis.
      * @param state The state object to apply to this axis.
+     * @returns Reports of any issues that were handled, but caused the state to not be exactly restored.
      */
     async setState(state) {
         const request = {
@@ -680,7 +682,8 @@ class Axis {
                 return requests.SetStateRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('device/set_state', request);
+        const response = await gateway.callAsync('device/set_axis_state', request, set_state_axis_response_1.SetStateAxisResponse.fromBinary);
+        return response;
     }
     /**
      * Checks if a state can be applied to this axis.