@zaber/motion 7.5.0 → 7.6.0

package/binding.gyp

@@ -112,7 +112,8 @@
                         ]
                     }]
                 ],
-            }],
+            }
+],
         ]
     },
     {

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

@@ -222,12 +222,23 @@ export declare class Connection {
      * @param isEnabled Checksum enabled.
      */
     private _changeChecksumEnabled;
+    /**
+     * Releases native resources of the connection.
+     * @param interfaceId The ID of the connection.
+     */
+    private static _free;
     private _disconnected;
     /**
      * Event invoked when connection is interrupted or closed.
      */
     get disconnected(): Observable<MotionLibException>;
     private _subscribe;
+    /**
+     * Releases the native resources of the connection.
+     * Should only be called if your environment does not support FinalizationRegistry.
+     * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry
+     */
+    free(): void;
 }
 declare namespace Connection {
     interface OpenSerialPortOptions {

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

@@ -1 +1 @@
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+{"version":3,"file":"connection.d.ts","sourceRoot":"","sources":["../../../src/ascii/connection.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,UAAU,EAAiB,MAAM,MAAM,CAAC;AAKjD,OAAO,EAAE,SAAS,EAAE,MAAM,aAAa,CAAC;AACxC,OAAO,EAAE,MAAM,EAAE,MAAM,UAAU,CAAC;AAClC,OAAO,EAAE,QAAQ,EAAE,MAAM,YAAY,CAAC;AACtC,OAAO,EAAE,oBAAoB,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAAE,UAAU,EAAE,MAAM,eAAe,CAAC;AAC3C,OAAO,EAAE,kBAAkB,EAAE,MAAM,eAAe,CAAC;AAGnD;;GAEG;AACH,qBAAa,UAAU;IACrB;;OAEG;IACI,eAAe,EAAG,UAAU,CAAC,oBAAoB,CAAC,CAAC;IAE1D;;OAEG;IACI,KAAK,EAAG,UAAU,CAAC,UAAU,CAAC,CAAC;IAEtC;;OAEG;IACH,gBAAuB,iBAAiB,EAAE,MAAM,CAAU;IAE1D;;;OAGG;IACH,gBAAuB,cAAc,EAAE,MAAM,CAAS;IAEtD;;OAEG;IACH,gBAAuB,kBAAkB,EAAE,MAAM,CAAS;IAE1D;;;;OAIG;IACH,gBAAuB,oBAAoB,EAAE,MAAM,CAAS;IAE5D;;OAEG;IACH,IAAW,WAAW,IAAI,MAAM,CAE/B;IACD,OAAO,CAAC,YAAY,CAAS;IAE7B;;;;OAIG;IACH,IAAW,qBAAqB,IAAI,MAAM,CAEzC;IAED,IAAW,qBAAqB,CAAC,KAAK,EAAE,MAAM,EAE7C;IAED;;OAEG;IACH,IAAW,eAAe,IAAI,OAAO,CAEpC;IAED,IAAW,eAAe,CAAC,KAAK,EAAE,OAAO,EAExC;gBAEW,WAAW,EAAE,MAAM;IAM/B;;;;;;;;;OASG;WACiB,cAAc,CAChC,QAAQ,EAAE,MAAM,EAChB,OAAO,GAAE,UAAU,CAAC,qBAA0B,GAC7C,OAAO,CAAC,UAAU,CAAC;IAuBtB;;;;;OAKG;WACiB,OAAO,CACzB,QAAQ,EAAE,MAAM,EAChB,IAAI,GAAE,MAAkC,GACvC,OAAO,CAAC,UAAU,CAAC;IAkBtB;;;;OAIG;WACiB,UAAU,CAC5B,SAAS,EAAE,SAAS,GACnB,OAAO,CAAC,UAAU,CAAC;IAiBtB;;;;;;;;;;;;OAYG;WACiB,OAAO,CACzB,OAAO,EAAE,MAAM,EACf,OAAO,GAAE,UAAU,CAAC,cAAmB,GACtC,OAAO,CAAC,UAAU,CAAC;IA2BtB;;;;;;;;;OASG;WACiB,gBAAgB,CAClC,QAAQ,EAAE,MAAM,EAChB,IAAI,GAAE,MAAsC,EAC5C,cAAc,CAAC,EAAE,MAAM,GACtB,OAAO,CAAC,UAAU,CAAC;IAmBtB;;;;;;;;;;OAUG;IACU,cAAc,CACzB,OAAO,EAAE,MAAM,EACf,OAAO,GAAE,UAAU,CAAC,qBAA0B,GAC7C,OAAO,CAAC,QAAQ,CAAC;IA2BpB;;;;;;;;OAQG;IACU,wBAAwB,CACnC,OAAO,EAAE,MAAM,EACf,OAAO,GAAE,UAAU,CAAC,+BAAoC,GACvD,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;;;;;;;;OAYG;IACU,2BAA2B,CACtC,OAAO,EAAE,MAAM,EACf,OAAO,GAAE,UAAU,CAAC,kCAAuC,GAC1D,OAAO,CAAC,QAAQ,EAAE,CAAC;IA2BtB;;;OAGG;IACU,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAa1C;;;OAGG;IACU,aAAa,IAAI,OAAO,CAAC,IAAI,CAAC;IAa3C;;OAEG;IACI,QAAQ,IAAI,IAAI;IAYvB;;OAEG;IACU,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAYnC;;;;;OAKG;IACI,SAAS,CACd,aAAa,EAAE,MAAM,GACpB,MAAM;IAOT;;;;;OAKG;IACU,eAAe,CAC1B,OAAO,GAAE,UAAU,CAAC,sBAA2B,GAC9C,OAAO,CAAC,MAAM,CAAC;IAuBlB;;;;OAIG;IACU,aAAa,CACxB,OAAO,GAAE,UAAU,CAAC,oBAAyB,GAC5C,OAAO,CAAC,MAAM,EAAE,CAAC;IAoBpB;;;;OAIG;IACI,aAAa,CAClB,aAAa,GAAE,MAAM,EAAO,GAC3B,IAAI;IAaP;;;;;OAKG;IACU,OAAO,CAClB,OAAO,GAAE,UAAU,CAAC,cAAmB,GACtC,OAAO,CAAC,MAAM,EAAE,CAAC;IAoBpB;;;;;OAKG;IACU,OAAO,CAClB,OAAO,GAAE,UAAU,CAAC,cAAmB,GACtC,OAAO,CAAC,MAAM,EAAE,CAAC;IAoBpB;;;OAGG;IACI,QAAQ,IAAI,MAAM;IAgBzB;;;OAGG;IACH,OAAO,CAAC,gBAAgB;IAgBxB;;;OAGG;IACH,OAAO,CAAC,cAAc;IAetB;;;OAGG;IACH,OAAO,CAAC,wBAAwB;IAgBhC;;;OAGG;IACH,OAAO,CAAC,sBAAsB;IAe9B;;;OAGG;IACH,OAAO,CAAC,MAAM,CAAC,KAAK;IAcpB,OAAO,CAAC,aAAa,CAA2C;IAEhE;;OAEG;IACH,IAAW,YAAY,IAAI,UAAU,CAAC,kBAAkB,CAAC,CAExD;IAED,OAAO,CAAC,UAAU;IAuBlB;;;;OAIG;IACI,IAAI,IAAI,IAAI;CAGpB;AAED,kBAAU,UAAU,CAAC;IACnB,UAAiB,qBAAqB;QAClC;;WAEG;QACH,QAAQ,CAAC,EAAE,MAAM,CAAC;QAClB;;;WAGG;QACH,MAAM,CAAC,EAAE,OAAO,CAAC;KACpB;IACD,UAAiB,cAAc;QAC3B;;WAEG;QACH,KAAK,CAAC,EAAE,MAAM,CAAC;QACf;;;;WAIG;QACH,cAAc,CAAC,EAAE,MAAM,CAAC;QACxB;;;WAGG;QACH,KAAK,CAAC,EAAE,MAAM,CAAC;QACf;;WAEG;QACH,GAAG,CAAC,EAAE,MAAM,CAAC;KAChB;IACD,UAAiB,qBAAqB;QAClC;;WAEG;QACH,MAAM,CAAC,EAAE,MAAM,CAAC;QAChB;;WAEG;QACH,IAAI,CAAC,EAAE,MAAM,CAAC;QACd;;WAEG;QACH,WAAW,CAAC,EAAE,OAAO,CAAC;QACtB;;;WAGG;QACH,OAAO,CAAC,EAAE,MAAM,CAAC;KACpB;IACD,UAAiB,+BAA+B;QAC5C;;;WAGG;QACH,MAAM,CAAC,EAAE,MAAM,CAAC;QAChB;;;WAGG;QACH,IAAI,CAAC,EAAE,MAAM,CAAC;KACjB;IACD,UAAiB,kCAAkC;QAC/C;;WAEG;QACH,MAAM,CAAC,EAAE,MAAM,CAAC;QAChB;;WAEG;QACH,IAAI,CAAC,EAAE,MAAM,CAAC;QACd;;WAEG;QACH,WAAW,CAAC,EAAE,OAAO,CAAC;QACtB;;;WAGG;QACH,OAAO,CAAC,EAAE,MAAM,CAAC;KACpB;IACD,UAAiB,sBAAsB;QACnC;;;WAGG;QACH,YAAY,CAAC,EAAE,MAAM,CAAC;KACzB;IACD,UAAiB,oBAAoB;QACjC;;WAEG;QACH,eAAe,CAAC,EAAE,OAAO,CAAC;KAC7B;IACD,UAAiB,cAAc;QAC3B;;;WAGG;QACH,aAAa,CAAC,EAAE,OAAO,CAAC;KAC3B;IACD,UAAiB,cAAc;QAC3B;;;WAGG;QACH,aAAa,CAAC,EAAE,OAAO,CAAC;KAC3B;CACF"}

package/dist/lib/ascii/connection.js

@@ -33,6 +33,7 @@ const gateway_1 = require("../gateway");
 const requests = __importStar(require("../requests"));
 const device_1 = require("./device");
 const response_1 = require("./response");
+const finalizer_1 = require("../finalizer");
 /**
  * Class representing access to particular connection (serial port, TCP connection).
  */
@@ -66,6 +67,7 @@ class Connection {
     constructor(interfaceId) {
         this._disconnected = new rxjs_1.ReplaySubject();
         this._interfaceId = interfaceId;
+        (0, finalizer_1.registerForFinalization)(this, Connection._free.bind(null, interfaceId));
         this._subscribe();
     }
     /**
@@ -501,6 +503,20 @@ class Connection {
         };
         gateway.callSync('interface/set_checksum_enabled', request);
     }
+    /**
+     * Releases native resources of the connection.
+     * @param interfaceId The ID of the connection.
+     */
+    static _free(interfaceId) {
+        const request = {
+            ...requests.InterfaceEmptyRequest.DEFAULT,
+            interfaceId: interfaceId,
+            toBinary() {
+                return requests.InterfaceEmptyRequest.toBinary(this);
+            },
+        };
+        gateway.callSync('interface/free', request);
+    }
     /**
      * Event invoked when connection is interrupted or closed.
      */
@@ -512,6 +528,14 @@ class Connection {
         this.alert = gateway_1.events.pipe((0, operators_1.takeUntil)(this._disconnected), (0, gateway_1.filterEvent)('interface/alert'), (0, operators_1.filter)(event => event.interfaceId === this.interfaceId), (0, operators_1.map)(event => event.alert));
         gateway_1.events.pipe((0, gateway_1.filterEvent)('interface/disconnected'), (0, operators_1.filter)(event => event.interfaceId === this.interfaceId), (0, operators_1.take)(1), (0, operators_1.map)(({ errorMessage, errorType }) => gateway.convertToException(errorType, errorMessage))).subscribe(this._disconnected);
     }
+    /**
+     * Releases the native resources of the connection.
+     * Should only be called if your environment does not support FinalizationRegistry.
+     * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry
+     */
+    free() {
+        Connection._free(this.interfaceId);
+    }
 }
 exports.Connection = Connection;
 /**

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

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

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

@@ -5,6 +5,7 @@ import { ServoTuningParam } from './servo_tuning_param';
 import { PidTuning } from './pid_tuning';
 import { SimpleTuningParamDefinition } from './simple_tuning_param_definition';
 import { SimpleTuning } from './simple_tuning';
+import { Units } from '../units';
 /**
  * Exposes the capabilities to inspect and edit an axis' servo tuning.
  * Requires at least Firmware 6.25 or 7.00.
@@ -53,9 +54,9 @@ export declare class ServoTuner {
     /**
      * Sets the tuning of a paramset using the PID method.
      * @param paramset The paramset to get tuning for.
-     * @param p The proportional gain. Must be in units of N/m.
-     * @param i The integral gain. Must be in units of N/m⋅s.
-     * @param d The derivative gain. Must be in units of N⋅s/m.
+     * @param p The proportional gain. Must be in units of N/m for linear devices, and N⋅m/° for rotary devices.
+     * @param i The integral gain. Must be in units of N/(m⋅s) for linear devices, and N⋅m/(°⋅s) for rotary devices.
+     * @param d The derivative gain. Must be in units of N⋅s/m for linear devices, and N⋅m⋅s/° for rotary devices.
      * @param fc The cutoff frequency. Must be in units of Hz.
      * @returns The PID representation of the current tuning after your changes have been applied.
      */
@@ -77,8 +78,17 @@ export declare class ServoTuner {
      * @param tuningParams The params used to tune this device.
      * To get what parameters are expected, call GetSimpleTuningParamList.
      * All values must be between 0 and 1.
-     * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-     * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @param loadMass The mass loaded on the stage, excluding the mass of the carriage itself.
+     * Unless specified by the LoadMassUnits parameter, this is in units of kg for linear devices,
+     * and kg⋅m² for rotary devices.
+     * @param [options.loadMassUnits=Units.NATIVE] The units the load mass was supplied in.
+     * @param [options.carriageMass=null] The mass of the carriage itself. If not supplied, the product's default mass will be used.
+     * Unless specified by the CarriageMassUnits parameter, this is in units of kg for linear devices,
+     * and kg⋅m² for rotary devices.
+     * @param [options.carriageMassUnits=Units.NATIVE] The units the carriage mass was supplied in.
+     * @param [options.motorInertia=null] The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,
+     * this is in units of kg⋅m².
+     * @param [options.motorInertiaUnits=Units.NATIVE] The units the motor inertia was supplied in.
      */
     setSimpleTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], loadMass: number, options?: ServoTuner.SetSimpleTuningOptions): Promise<void>;
     /**
@@ -104,9 +114,28 @@ export declare class ServoTuner {
 declare namespace ServoTuner {
     interface SetSimpleTuningOptions {
         /**
-         * The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+         * The units the load mass was supplied in.
+         */
+        loadMassUnits?: Units;
+        /**
+         * The mass of the carriage itself. If not supplied, the product's default mass will be used.
+         * Unless specified by the CarriageMassUnits parameter, this is in units of kg for linear devices,
+         * and kg⋅m² for rotary devices.
          */
         carriageMass?: number;
+        /**
+         * The units the carriage mass was supplied in.
+         */
+        carriageMassUnits?: Units;
+        /**
+         * The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,
+         * this is in units of kg⋅m².
+         */
+        motorInertia?: number;
+        /**
+         * The units the motor inertia was supplied in.
+         */
+        motorInertiaUnits?: Units;
     }
     interface IsUsingSimpleTuningOptions {
         /**

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

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package/dist/lib/ascii/servo_tuner.js

@@ -31,6 +31,7 @@ const requests = __importStar(require("../requests"));
 const paramset_info_1 = require("./paramset_info");
 const pid_tuning_1 = require("./pid_tuning");
 const simple_tuning_1 = require("./simple_tuning");
+const units_1 = require("../units");
 /**
  * Exposes the capabilities to inspect and edit an axis' servo tuning.
  * Requires at least Firmware 6.25 or 7.00.
@@ -146,9 +147,9 @@ class ServoTuner {
     /**
      * Sets the tuning of a paramset using the PID method.
      * @param paramset The paramset to get tuning for.
-     * @param p The proportional gain. Must be in units of N/m.
-     * @param i The integral gain. Must be in units of N/m⋅s.
-     * @param d The derivative gain. Must be in units of N⋅s/m.
+     * @param p The proportional gain. Must be in units of N/m for linear devices, and N⋅m/° for rotary devices.
+     * @param i The integral gain. Must be in units of N/(m⋅s) for linear devices, and N⋅m/(°⋅s) for rotary devices.
+     * @param d The derivative gain. Must be in units of N⋅s/m for linear devices, and N⋅m⋅s/° for rotary devices.
      * @param fc The cutoff frequency. Must be in units of Hz.
      * @returns The PID representation of the current tuning after your changes have been applied.
      */
@@ -212,11 +213,20 @@ class ServoTuner {
      * @param tuningParams The params used to tune this device.
      * To get what parameters are expected, call GetSimpleTuningParamList.
      * All values must be between 0 and 1.
-     * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-     * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @param loadMass The mass loaded on the stage, excluding the mass of the carriage itself.
+     * Unless specified by the LoadMassUnits parameter, this is in units of kg for linear devices,
+     * and kg⋅m² for rotary devices.
+     * @param [options.loadMassUnits=Units.NATIVE] The units the load mass was supplied in.
+     * @param [options.carriageMass=null] The mass of the carriage itself. If not supplied, the product's default mass will be used.
+     * Unless specified by the CarriageMassUnits parameter, this is in units of kg for linear devices,
+     * and kg⋅m² for rotary devices.
+     * @param [options.carriageMassUnits=Units.NATIVE] The units the carriage mass was supplied in.
+     * @param [options.motorInertia=null] The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,
+     * this is in units of kg⋅m².
+     * @param [options.motorInertiaUnits=Units.NATIVE] The units the motor inertia was supplied in.
      */
     async setSimpleTuning(paramset, tuningParams, loadMass, options = {}) {
-        const { carriageMass = null, } = options;
+        const { loadMassUnits = units_1.Units.NATIVE, carriageMass = null, carriageMassUnits = units_1.Units.NATIVE, motorInertia = null, motorInertiaUnits = units_1.Units.NATIVE, } = options;
         const request = {
             ...requests.SetSimpleTuning.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
@@ -225,7 +235,11 @@ class ServoTuner {
             paramset: paramset,
             tuningParams: tuningParams,
             loadMass: loadMass,
+            loadMassUnits: loadMassUnits,
             carriageMass: carriageMass,
+            carriageMassUnits: carriageMassUnits,
+            motorInertia: motorInertia,
+            motorInertiaUnits: motorInertiaUnits,
             toBinary() {
                 return requests.SetSimpleTuning.toBinary(this);
             },

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

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { ParamsetInfo } from './paramset_info';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { PidTuning } from './pid_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\nimport { SimpleTuning } from './simple_tuning';\n\n/**\n * Exposes the capabilities to inspect and edit an axis' servo tuning.\n * Requires at least Firmware 6.25 or 7.00.\n */\nexport class ServoTuner {\n  /**\n   * The axis that will be tuned.\n   */\n  public get axis(): Axis {\n    return this._axis;\n  }\n  private _axis: Axis;\n\n  /**\n   * Creates instance of ServoTuner for the given axis.\n   */\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Get the paramset that this device uses by default when it starts up.\n   * @returns The paramset used when the device restarts.\n   */\n  public async getStartupParamset(): Promise<ServoTuningParamset> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.ServoTuningParamsetResponse>(\n      'servotuning/get_startup_set',\n      request,\n      requests.ServoTuningParamsetResponse.fromBinary);\n    return response.paramset;\n  }\n\n  /**\n   * Set the paramset that this device uses by default when it starts up.\n   * @param paramset The paramset to use at startup.\n   */\n  public async setStartupParamset(\n    paramset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_startup_set', request);\n  }\n\n  /**\n   * Load the values from one paramset into another.\n   * @param toParamset The paramset to load into.\n   * @param fromParamset The paramset to load from.\n   */\n  public async loadParamset(\n    toParamset: ServoTuningParamset,\n    fromParamset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.LoadParamset & gateway.Message = {\n      ...requests.LoadParamset.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toParamset: toParamset,\n      fromParamset: fromParamset,\n      toBinary() {\n        return requests.LoadParamset.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/load_paramset', request);\n  }\n\n  /**\n   * Get the full set of tuning parameters used by the firmware driving this axis.\n   * @param paramset The paramset to get tuning for.\n   * @returns The raw representation of the current tuning.\n   */\n  public async getTuning(\n    paramset: ServoTuningParamset\n  ): Promise<ParamsetInfo> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<ParamsetInfo>(\n      'servotuning/get_raw',\n      request,\n      ParamsetInfo.fromBinary);\n    return response;\n  }\n\n  /**\n   * Set individual tuning parameters.\n   * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n   * @param paramset The paramset to set tuning of.\n   * @param tuningParams The params to set.\n   * @param [setUnspecifiedToDefault=false] If true, any tuning parameters not included in TuningParams\n   * are reset to their default values.\n   */\n  public async setTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    setUnspecifiedToDefault: boolean = false\n  ): Promise<void> {\n    const request: requests.SetServoTuningRequest & gateway.Message = {\n      ...requests.SetServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      setUnspecifiedToDefault: setUnspecifiedToDefault,\n      toBinary() {\n        return requests.SetServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_raw', request);\n  }\n\n  /**\n   * Sets the tuning of a paramset using the PID method.\n   * @param paramset The paramset to get tuning for.\n   * @param p The proportional gain. Must be in units of N/m.\n   * @param i The integral gain. Must be in units of N/m⋅s.\n   * @param d The derivative gain. Must be in units of N⋅s/m.\n   * @param fc The cutoff frequency. Must be in units of Hz.\n   * @returns The PID representation of the current tuning after your changes have been applied.\n   */\n  public async setPidTuning(\n    paramset: ServoTuningParamset,\n    p: number,\n    i: number,\n    d: number,\n    fc: number\n  ): Promise<PidTuning> {\n    const request: requests.SetServoTuningPIDRequest & gateway.Message = {\n      ...requests.SetServoTuningPIDRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      p: p,\n      i: i,\n      d: d,\n      fc: fc,\n      toBinary() {\n        return requests.SetServoTuningPIDRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/set_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the PID representation of this paramset's servo tuning.\n   * @param paramset The paramset to get tuning for.\n   * @returns The PID representation of the current tuning.\n   */\n  public async getPidTuning(\n    paramset: ServoTuningParamset\n  ): Promise<PidTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/get_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the parameters that are required to tune this device.\n   * @returns The tuning parameters.\n   */\n  public async getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.GetSimpleTuningParamDefinitionResponse>(\n      'servotuning/get_simple_params_definition',\n      request,\n      requests.GetSimpleTuningParamDefinitionResponse.fromBinary);\n    return response.params;\n  }\n\n  /**\n   * Set the tuning of this device using the simple input method.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n   * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n   */\n  public async setSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    options: ServoTuner.SetSimpleTuningOptions = {}\n  ): Promise<void> {\n    const {\n      carriageMass = null,\n    } = options;\n    const request: requests.SetSimpleTuning & gateway.Message = {\n      ...requests.SetSimpleTuning.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      loadMass: loadMass,\n      carriageMass: carriageMass,\n      toBinary() {\n        return requests.SetSimpleTuning.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_simple_tuning', request);\n  }\n\n  /**\n   * Get the simple tuning parameters for this device.\n   * @param paramset The paramset to get tuning for.\n   * @returns The simple tuning parameters.\n   */\n  public async getSimpleTuning(\n    paramset: ServoTuningParamset\n  ): Promise<SimpleTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<SimpleTuning>(\n      'servotuning/get_simple_tuning',\n      request,\n      SimpleTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * @deprecated Use GetSimpleTuning instead.\n   *\n   * Checks if the provided simple tuning is being stored by this paramset.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n   * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n   * @returns True if the provided simple tuning is currently stored in this paramset.\n   */\n  public async isUsingSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    options: ServoTuner.IsUsingSimpleTuningOptions = {}\n  ): Promise<boolean> {\n    const {\n      carriageMass = null,\n    } = options;\n    const request: requests.SetSimpleTuning & gateway.Message = {\n      ...requests.SetSimpleTuning.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      loadMass: loadMass,\n      carriageMass: carriageMass,\n      toBinary() {\n        return requests.SetSimpleTuning.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'servotuning/is_using_simple_tuning',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace ServoTuner {\n  export interface SetSimpleTuningOptions {\n      /**\n       * The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n       */\n      carriageMass?: number;\n  }\n  export interface IsUsingSimpleTuningOptions {\n      /**\n       * The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n       */\n      carriageMass?: number;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { ParamsetInfo } from './paramset_info';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { PidTuning } from './pid_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\nimport { SimpleTuning } from './simple_tuning';\nimport { Units } from '../units';\n\n/**\n * Exposes the capabilities to inspect and edit an axis' servo tuning.\n * Requires at least Firmware 6.25 or 7.00.\n */\nexport class ServoTuner {\n  /**\n   * The axis that will be tuned.\n   */\n  public get axis(): Axis {\n    return this._axis;\n  }\n  private _axis: Axis;\n\n  /**\n   * Creates instance of ServoTuner for the given axis.\n   */\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Get the paramset that this device uses by default when it starts up.\n   * @returns The paramset used when the device restarts.\n   */\n  public async getStartupParamset(): Promise<ServoTuningParamset> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.ServoTuningParamsetResponse>(\n      'servotuning/get_startup_set',\n      request,\n      requests.ServoTuningParamsetResponse.fromBinary);\n    return response.paramset;\n  }\n\n  /**\n   * Set the paramset that this device uses by default when it starts up.\n   * @param paramset The paramset to use at startup.\n   */\n  public async setStartupParamset(\n    paramset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_startup_set', request);\n  }\n\n  /**\n   * Load the values from one paramset into another.\n   * @param toParamset The paramset to load into.\n   * @param fromParamset The paramset to load from.\n   */\n  public async loadParamset(\n    toParamset: ServoTuningParamset,\n    fromParamset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.LoadParamset & gateway.Message = {\n      ...requests.LoadParamset.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toParamset: toParamset,\n      fromParamset: fromParamset,\n      toBinary() {\n        return requests.LoadParamset.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/load_paramset', request);\n  }\n\n  /**\n   * Get the full set of tuning parameters used by the firmware driving this axis.\n   * @param paramset The paramset to get tuning for.\n   * @returns The raw representation of the current tuning.\n   */\n  public async getTuning(\n    paramset: ServoTuningParamset\n  ): Promise<ParamsetInfo> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<ParamsetInfo>(\n      'servotuning/get_raw',\n      request,\n      ParamsetInfo.fromBinary);\n    return response;\n  }\n\n  /**\n   * Set individual tuning parameters.\n   * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n   * @param paramset The paramset to set tuning of.\n   * @param tuningParams The params to set.\n   * @param [setUnspecifiedToDefault=false] If true, any tuning parameters not included in TuningParams\n   * are reset to their default values.\n   */\n  public async setTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    setUnspecifiedToDefault: boolean = false\n  ): Promise<void> {\n    const request: requests.SetServoTuningRequest & gateway.Message = {\n      ...requests.SetServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      setUnspecifiedToDefault: setUnspecifiedToDefault,\n      toBinary() {\n        return requests.SetServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_raw', request);\n  }\n\n  /**\n   * Sets the tuning of a paramset using the PID method.\n   * @param paramset The paramset to get tuning for.\n   * @param p The proportional gain. Must be in units of N/m for linear devices, and N⋅m/° for rotary devices.\n   * @param i The integral gain. Must be in units of N/(m⋅s) for linear devices, and N⋅m/(°⋅s) for rotary devices.\n   * @param d The derivative gain. Must be in units of N⋅s/m for linear devices, and N⋅m⋅s/° for rotary devices.\n   * @param fc The cutoff frequency. Must be in units of Hz.\n   * @returns The PID representation of the current tuning after your changes have been applied.\n   */\n  public async setPidTuning(\n    paramset: ServoTuningParamset,\n    p: number,\n    i: number,\n    d: number,\n    fc: number\n  ): Promise<PidTuning> {\n    const request: requests.SetServoTuningPIDRequest & gateway.Message = {\n      ...requests.SetServoTuningPIDRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      p: p,\n      i: i,\n      d: d,\n      fc: fc,\n      toBinary() {\n        return requests.SetServoTuningPIDRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/set_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the PID representation of this paramset's servo tuning.\n   * @param paramset The paramset to get tuning for.\n   * @returns The PID representation of the current tuning.\n   */\n  public async getPidTuning(\n    paramset: ServoTuningParamset\n  ): Promise<PidTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/get_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the parameters that are required to tune this device.\n   * @returns The tuning parameters.\n   */\n  public async getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.GetSimpleTuningParamDefinitionResponse>(\n      'servotuning/get_simple_params_definition',\n      request,\n      requests.GetSimpleTuningParamDefinitionResponse.fromBinary);\n    return response.params;\n  }\n\n  /**\n   * Set the tuning of this device using the simple input method.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage, excluding the mass of the carriage itself.\n   * Unless specified by the LoadMassUnits parameter, this is in units of kg for linear devices,\n   * and kg⋅m² for rotary devices.\n   * @param [options.loadMassUnits=Units.NATIVE] The units the load mass was supplied in.\n   * @param [options.carriageMass=null] The mass of the carriage itself. If not supplied, the product's default mass will be used.\n   * Unless specified by the CarriageMassUnits parameter, this is in units of kg for linear devices,\n   * and kg⋅m² for rotary devices.\n   * @param [options.carriageMassUnits=Units.NATIVE] The units the carriage mass was supplied in.\n   * @param [options.motorInertia=null] The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,\n   * this is in units of kg⋅m².\n   * @param [options.motorInertiaUnits=Units.NATIVE] The units the motor inertia was supplied in.\n   */\n  public async setSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    options: ServoTuner.SetSimpleTuningOptions = {}\n  ): Promise<void> {\n    const {\n      loadMassUnits = Units.NATIVE,\n      carriageMass = null,\n      carriageMassUnits = Units.NATIVE,\n      motorInertia = null,\n      motorInertiaUnits = Units.NATIVE,\n    } = options;\n    const request: requests.SetSimpleTuning & gateway.Message = {\n      ...requests.SetSimpleTuning.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      loadMass: loadMass,\n      loadMassUnits: loadMassUnits,\n      carriageMass: carriageMass,\n      carriageMassUnits: carriageMassUnits,\n      motorInertia: motorInertia,\n      motorInertiaUnits: motorInertiaUnits,\n      toBinary() {\n        return requests.SetSimpleTuning.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_simple_tuning', request);\n  }\n\n  /**\n   * Get the simple tuning parameters for this device.\n   * @param paramset The paramset to get tuning for.\n   * @returns The simple tuning parameters.\n   */\n  public async getSimpleTuning(\n    paramset: ServoTuningParamset\n  ): Promise<SimpleTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<SimpleTuning>(\n      'servotuning/get_simple_tuning',\n      request,\n      SimpleTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * @deprecated Use GetSimpleTuning instead.\n   *\n   * Checks if the provided simple tuning is being stored by this paramset.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n   * @param [options.carriageMass=null] The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n   * @returns True if the provided simple tuning is currently stored in this paramset.\n   */\n  public async isUsingSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    options: ServoTuner.IsUsingSimpleTuningOptions = {}\n  ): Promise<boolean> {\n    const {\n      carriageMass = null,\n    } = options;\n    const request: requests.SetSimpleTuning & gateway.Message = {\n      ...requests.SetSimpleTuning.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      loadMass: loadMass,\n      carriageMass: carriageMass,\n      toBinary() {\n        return requests.SetSimpleTuning.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'servotuning/is_using_simple_tuning',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace ServoTuner {\n  export interface SetSimpleTuningOptions {\n      /**\n       * The units the load mass was supplied in.\n       */\n      loadMassUnits?: Units;\n      /**\n       * The mass of the carriage itself. If not supplied, the product's default mass will be used.\n       * Unless specified by the CarriageMassUnits parameter, this is in units of kg for linear devices,\n       * and kg⋅m² for rotary devices.\n       */\n      carriageMass?: number;\n      /**\n       * The units the carriage mass was supplied in.\n       */\n      carriageMassUnits?: Units;\n      /**\n       * The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,\n       * this is in units of kg⋅m².\n       */\n      motorInertia?: number;\n      /**\n       * The units the motor inertia was supplied in.\n       */\n      motorInertiaUnits?: Units;\n  }\n  export interface IsUsingSimpleTuningOptions {\n      /**\n       * The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n       */\n      carriageMass?: number;\n  }\n}\n"]}

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

@@ -8,10 +8,18 @@ export interface SimpleTuning {
      * or if it has been overwritten by a later change.
      */
     isUsed: boolean;
+    /**
+     * If this paramset has been tuned using the simple tuning method, whether or not it's currently in use.
+     */
+    isSet: boolean;
     /**
      * The mass of the carriage in kg.
      */
     carriageMass?: (number | null);
+    /**
+     * The mass of the carriage in kg.
+     */
+    motorInertia?: (number | null);
     /**
      * The mass of the load in kg, excluding the mass of the carriage.
      */

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

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

@@ -10,7 +10,9 @@ exports.SimpleTuning = {
     toBinary: (value) => bson_1.BSON.serialize(exports.SimpleTuning.sanitize(value)),
     DEFAULT: Object.freeze({
         isUsed: false,
+        isSet: false,
         carriageMass: null,
+        motorInertia: null,
         loadMass: 0,
         tuningParams: [],
     }),
@@ -24,7 +26,9 @@ exports.SimpleTuning = {
         }
         return {
             isUsed: sanitizer_1.sanitizer.sanitizeBool(value.isUsed, 'isUsed'),
+            isSet: sanitizer_1.sanitizer.sanitizeBool(value.isSet, 'isSet'),
             carriageMass: value.carriageMass != null ? sanitizer_1.sanitizer.sanitizeNumber(value.carriageMass, 'carriageMass') : null,
+            motorInertia: value.motorInertia != null ? sanitizer_1.sanitizer.sanitizeNumber(value.motorInertia, 'motorInertia') : null,
             loadMass: sanitizer_1.sanitizer.sanitizeNumber(value.loadMass, 'loadMass'),
             tuningParams: Array.from((_a = value.tuningParams) !== null && _a !== void 0 ? _a : [], item => servo_tuning_param_1.ServoTuningParam.sanitize(item)),
         };

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

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