@zaber/motion 7.5.1 → 7.6.0

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

@@ -1 +1 @@
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+{"version":3,"file":"servo_tuner.d.ts","sourceRoot":"","sources":["../../../src/ascii/servo_tuner.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,IAAI,EAAE,MAAM,QAAQ,CAAC;AAG9B,OAAO,EAAE,mBAAmB,EAAE,MAAM,yBAAyB,CAAC;AAC9D,OAAO,EAAE,YAAY,EAAE,MAAM,iBAAiB,CAAC;AAC/C,OAAO,EAAE,gBAAgB,EAAE,MAAM,sBAAsB,CAAC;AACxD,OAAO,EAAE,SAAS,EAAE,MAAM,cAAc,CAAC;AACzC,OAAO,EAAE,2BAA2B,EAAE,MAAM,kCAAkC,CAAC;AAC/E,OAAO,EAAE,YAAY,EAAE,MAAM,iBAAiB,CAAC;AAC/C,OAAO,EAAE,KAAK,EAAE,MAAM,UAAU,CAAC;AAEjC;;;GAGG;AACH,qBAAa,UAAU;IACrB;;OAEG;IACH,IAAW,IAAI,IAAI,IAAI,CAEtB;IACD,OAAO,CAAC,KAAK,CAAO;IAEpB;;OAEG;gBACS,IAAI,EAAE,IAAI;IAItB;;;OAGG;IACU,kBAAkB,IAAI,OAAO,CAAC,mBAAmB,CAAC;IAkB/D;;;OAGG;IACU,kBAAkB,CAC7B,QAAQ,EAAE,mBAAmB,GAC5B,OAAO,CAAC,IAAI,CAAC;IAehB;;;;OAIG;IACU,YAAY,CACvB,UAAU,EAAE,mBAAmB,EAC/B,YAAY,EAAE,mBAAmB,GAChC,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;OAIG;IACU,SAAS,CACpB,QAAQ,EAAE,mBAAmB,GAC5B,OAAO,CAAC,YAAY,CAAC;IAmBxB;;;;;;;OAOG;IACU,SAAS,CACpB,QAAQ,EAAE,mBAAmB,EAC7B,YAAY,EAAE,gBAAgB,EAAE,EAChC,uBAAuB,GAAE,OAAe,GACvC,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;;;;;OAQG;IACU,YAAY,CACvB,QAAQ,EAAE,mBAAmB,EAC7B,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,EAAE,EAAE,MAAM,GACT,OAAO,CAAC,SAAS,CAAC;IAuBrB;;;;OAIG;IACU,YAAY,CACvB,QAAQ,EAAE,mBAAmB,GAC5B,OAAO,CAAC,SAAS,CAAC;IAmBrB;;;OAGG;IACU,+BAA+B,IAAI,OAAO,CAAC,2BAA2B,EAAE,CAAC;IAkBtF;;;;;;;;;;;;;;;;;OAiBG;IACU,eAAe,CAC1B,QAAQ,EAAE,mBAAmB,EAC7B,YAAY,EAAE,gBAAgB,EAAE,EAChC,QAAQ,EAAE,MAAM,EAChB,OAAO,GAAE,UAAU,CAAC,sBAA2B,GAC9C,OAAO,CAAC,IAAI,CAAC;IA6BhB;;;;OAIG;IACU,eAAe,CAC1B,QAAQ,EAAE,mBAAmB,GAC5B,OAAO,CAAC,YAAY,CAAC;IAmBxB;;;;;;;;;;;OAWG;IACU,mBAAmB,CAC9B,QAAQ,EAAE,mBAAmB,EAC7B,YAAY,EAAE,gBAAgB,EAAE,EAChC,QAAQ,EAAE,MAAM,EAChB,OAAO,GAAE,UAAU,CAAC,0BAA+B,GAClD,OAAO,CAAC,OAAO,CAAC;CAwBpB;AAED,kBAAU,UAAU,CAAC;IACnB,UAAiB,sBAAsB;QACnC;;WAEG;QACH,aAAa,CAAC,EAAE,KAAK,CAAC;QACtB;;;;WAIG;QACH,YAAY,CAAC,EAAE,MAAM,CAAC;QACtB;;WAEG;QACH,iBAAiB,CAAC,EAAE,KAAK,CAAC;QAC1B;;;WAGG;QACH,YAAY,CAAC,EAAE,MAAM,CAAC;QACtB;;WAEG;QACH,iBAAiB,CAAC,EAAE,KAAK,CAAC;KAC7B;IACD,UAAiB,0BAA0B;QACvC;;WAEG;QACH,YAAY,CAAC,EAAE,MAAM,CAAC;KACzB;CACF"}

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { ParamsetInfo } from './paramset_info';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { PidTuning } from './pid_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\nimport { SimpleTuning } from './simple_tuning';\n\n/**\n * Exposes the capabilities to inspect and edit an axis' servo tuning.\n * Requires at least Firmware 6.25 or 7.00.\n */\nexport class ServoTuner {\n  /**\n   * The axis that will be tuned.\n   */\n  public get axis(): Axis {\n    return this._axis;\n  }\n  private _axis: Axis;\n\n  /**\n   * Creates instance of ServoTuner for the given axis.\n   */\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Get the paramset that this device uses by default when it starts up.\n   * @returns The paramset used when the device restarts.\n   */\n  public async getStartupParamset(): Promise<ServoTuningParamset> {\n    const request: 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   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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

@@ -1 +1 @@
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package/dist/lib/binary/connection.d.ts

@@ -105,12 +105,23 @@ export declare class Connection {
      * @returns A string that represents the connection.
      */
     toString(): string;
+    /**
+     * 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/binary/connection.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"connection.d.ts","sourceRoot":"","sources":["../../../src/binary/connection.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,UAAU,EAAiB,MAAM,MAAM,CAAC;AAKjD,OAAO,EAAE,MAAM,EAAE,MAAM,UAAU,CAAC;AAClC,OAAO,EAAE,oBAAoB,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAAE,cAAc,EAAE,MAAM,oBAAoB,CAAC;AACpD,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAC7C,OAAO,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AACpC,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,SAAS,EAAG,UAAU,CAAC,cAAc,CAAC,CAAC;IAE9C;;OAEG;IACH,gBAAuB,iBAAiB,EAAE,MAAM,CAAQ;IAExD;;OAEG;IACH,IAAW,WAAW,IAAI,MAAM,CAE/B;IACD,OAAO,CAAC,YAAY,CAAS;gBAEjB,WAAW,EAAE,MAAM;IAM/B;;;;;;;OAOG;WACiB,cAAc,CAChC,QAAQ,EAAE,MAAM,EAChB,OAAO,GAAE,UAAU,CAAC,qBAA0B,GAC7C,OAAO,CAAC,UAAU,CAAC;IAuBtB;;;;;;;OAOG;WACiB,OAAO,CACzB,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,EACZ,OAAO,GAAE,UAAU,CAAC,cAAmB,GACtC,OAAO,CAAC,UAAU,CAAC;IAsBtB;;OAEG;IACU,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAYnC;;;;;;;;;;OAUG;IACU,cAAc,CACzB,MAAM,EAAE,MAAM,EACd,OAAO,EAAE,WAAW,EACpB,IAAI,GAAE,MAAU,EAChB,OAAO,GAAE,UAAU,CAAC,qBAA0B,GAC7C,OAAO,CAAC,OAAO,CAAC;IAyBnB;;;;;;;OAOG;IACU,wBAAwB,CACnC,MAAM,EAAE,MAAM,EACd,OAAO,EAAE,WAAW,EACpB,IAAI,GAAE,MAAU,GACf,OAAO,CAAC,IAAI,CAAC;IAehB;;;;;;;;;;OAUG;IACU,2BAA2B,CACtC,OAAO,EAAE,WAAW,EACpB,IAAI,GAAE,MAAU,EAChB,OAAO,GAAE,UAAU,CAAC,kCAAuC,GAC1D,OAAO,CAAC,OAAO,EAAE,CAAC;IAwBrB;;;OAGG;IACU,eAAe,IAAI,OAAO,CAAC,MAAM,CAAC;IAgB/C;;;;OAIG;IACU,aAAa,CACxB,OAAO,GAAE,UAAU,CAAC,oBAAyB,GAC5C,OAAO,CAAC,MAAM,EAAE,CAAC;IAoBpB;;;;;OAKG;IACI,SAAS,CACd,aAAa,EAAE,MAAM,GACpB,MAAM;IAOT;;;OAGG;IACI,QAAQ,IAAI,MAAM;IAgBzB;;;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,aAAa,CAAC,EAAE,OAAO,CAAC;KAC3B;IACD,UAAiB,cAAc;QAC3B;;;WAGG;QACH,aAAa,CAAC,EAAE,OAAO,CAAC;KAC3B;IACD,UAAiB,qBAAqB;QAClC;;WAEG;QACH,OAAO,CAAC,EAAE,MAAM,CAAC;QACjB;;WAEG;QACH,WAAW,CAAC,EAAE,OAAO,CAAC;KACzB;IACD,UAAiB,kCAAkC;QAC/C;;WAEG;QACH,OAAO,CAAC,EAAE,MAAM,CAAC;QACjB;;WAEG;QACH,WAAW,CAAC,EAAE,OAAO,CAAC;KACzB;IACD,UAAiB,oBAAoB;QACjC;;WAEG;QACH,eAAe,CAAC,EAAE,OAAO,CAAC;KAC7B;CACF"}

package/dist/lib/binary/connection.js

@@ -33,6 +33,7 @@ const gateway_1 = require("../gateway");
 const requests = __importStar(require("../requests"));
 const device_1 = require("./device");
 const message_1 = require("./message");
+const finalizer_1 = require("../finalizer");
 /**
  * Class representing access to particular connection (serial port, TCP connection) using the legacy Binary protocol.
  */
@@ -46,6 +47,7 @@ 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();
     }
     /**
@@ -243,6 +245,20 @@ class Connection {
         const response = gateway.callSync('interface/to_string', request, requests.StringResponse.fromBinary);
         return response.value;
     }
+    /**
+     * 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.
      */
@@ -254,6 +270,14 @@ class Connection {
         this.replyOnly = gateway_1.events.pipe((0, operators_1.takeUntil)(this._disconnected), (0, gateway_1.filterEvent)('binary/interface/reply_only'), (0, operators_1.filter)(event => event.interfaceId === this.interfaceId), (0, operators_1.map)(event => event.reply));
         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/binary/connection.js.map

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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 { Device } from './device';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { ReplyOnlyEvent } from './reply_only_event';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { MotionLibException } from '../exceptions';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection) using the legacy Binary protocol.\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 a reply-only command such as a move tracking message is received from a device.\n   */\n  public replyOnly!: Observable<ReplyOnlyEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 9600;\n\n  /**\n   * The interface ID identifies thisConnection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\n\n  constructor(interfaceId: number) {\n    this._interfaceId = interfaceId;\n    this._subscribe();\n  }\n\n  /**\n   * Opens a serial port.\n   * @param portName Name of the port to open.\n   * @param [options.baudRate=Connection.DEFAULT_BAUD_RATE] Optional baud rate (defaults to 9600).\n   * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\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      useMessageIds = false,\n    } = options;\n    const request: requests.OpenBinaryInterfaceRequest & gateway.Message = {\n      ...requests.OpenBinaryInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.SERIAL_PORT,\n      portName: portName,\n      baudRate: baudRate,\n      useMessageIds: useMessageIds,\n      toBinary() {\n        return requests.OpenBinaryInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'binary/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 Port number.\n   * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @returns An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number,\n    options: Connection.OpenTcpOptions = {}\n  ): Promise<Connection> {\n    const {\n      useMessageIds = false,\n    } = options;\n    const request: requests.OpenBinaryInterfaceRequest & gateway.Message = {\n      ...requests.OpenBinaryInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.TCP,\n      hostName: hostName,\n      port: port,\n      useMessageIds: useMessageIds,\n      toBinary() {\n        return requests.OpenBinaryInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\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   * Sends a generic Binary command to this connection.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    device: number,\n    command: CommandCode,\n    data: number = 0,\n    options: Connection.GenericCommandOptions = {}\n  ): Promise<Message> {\n    const {\n      timeout = 0.0,\n      checkErrors = true,\n    } = options;\n    const request: requests.GenericBinaryRequest & gateway.Message = {\n      ...requests.GenericBinaryRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      device: device,\n      command: command,\n      data: data,\n      timeout: timeout,\n      checkErrors: checkErrors,\n      toBinary() {\n        return requests.GenericBinaryRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<Message>(\n      'binary/interface/generic_command',\n      request,\n      Message.fromBinary);\n    return response;\n  }\n\n  /**\n   * Sends a generic Binary command to this connection without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    device: number,\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request: requests.GenericBinaryRequest & gateway.Message = {\n      ...requests.GenericBinaryRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      device: device,\n      command: command,\n      data: data,\n      toBinary() {\n        return requests.GenericBinaryRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection and expects responses from one or more devices.\n   * Responses are returned in order of arrival.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   * @param [options.timeout=0.0] Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when any device rejects the command.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: CommandCode,\n    data: number = 0,\n    options: Connection.GenericCommandMultiResponseOptions = {}\n  ): Promise<Message[]> {\n    const {\n      timeout = 0.0,\n      checkErrors = true,\n    } = options;\n    const request: requests.GenericBinaryRequest & gateway.Message = {\n      ...requests.GenericBinaryRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      data: data,\n      timeout: timeout,\n      checkErrors: checkErrors,\n      toBinary() {\n        return requests.GenericBinaryRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BinaryMessageCollection>(\n      'binary/interface/generic_command_multi_response',\n      request,\n      requests.BinaryMessageCollection.fromBinary);\n    return response.messages;\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, you must identify devices again.\n   * @returns Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(): Promise<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 = await gateway.callAsync<requests.IntResponse>(\n      'binary/device/renumber',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param [options.identifyDevices=true] Determines whether device identification should be performed as well.\n   * @returns Array of detected devices.\n   */\n  public async detectDevices(\n    options: Connection.DetectDevicesOptions = {}\n  ): Promise<Device[]> {\n    const {\n      identifyDevices = true,\n    } = options;\n    const request: requests.BinaryDeviceDetectRequest & gateway.Message = {\n      ...requests.BinaryDeviceDetectRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      identifyDevices: identifyDevices,\n      toBinary() {\n        return requests.BinaryDeviceDetectRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BinaryDeviceDetectResponse>(\n      'binary/device/detect',\n      request,\n      requests.BinaryDeviceDetectResponse.fromBinary);\n    return response.devices.map(deviceAddress => this.getDevice(deviceAddress));\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   * 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  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.UnknownBinaryResponseEventWrapper>('binary/interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.unknownResponse)\n    );\n\n    this.replyOnly = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<requests.BinaryReplyOnlyEventWrapper>('binary/interface/reply_only'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.reply)\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 9600).\n       */\n      baudRate?: number;\n      /**\n       * Enable use of message IDs (defaults to disabled).\n       * All your devices must be pre-configured to match.\n       */\n      useMessageIds?: boolean;\n  }\n  export interface OpenTcpOptions {\n      /**\n       * Enable use of message IDs (defaults to disabled).\n       * All your devices must be pre-configured to match.\n       */\n      useMessageIds?: boolean;\n  }\n  export interface GenericCommandOptions {\n      /**\n       * Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n       */\n      timeout?: number;\n      /**\n       * Controls whether to throw an exception when the device rejects the command.\n       */\n      checkErrors?: boolean;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      /**\n       * Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n       */\n      timeout?: number;\n      /**\n       * Controls whether to throw an exception when any device rejects the command.\n       */\n      checkErrors?: boolean;\n  }\n  export interface DetectDevicesOptions {\n      /**\n       * Determines whether device identification should be performed as well.\n       */\n      identifyDevices?: 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 { Device } from './device';\nimport { UnknownResponseEvent } from './unknown_response_event';\nimport { ReplyOnlyEvent } from './reply_only_event';\nimport { CommandCode } from './command_code';\nimport { Message } from './message';\nimport { MotionLibException } from '../exceptions';\nimport { registerForFinalization } from '../finalizer';\n\n/**\n * Class representing access to particular connection (serial port, TCP connection) using the legacy Binary protocol.\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 a reply-only command such as a move tracking message is received from a device.\n   */\n  public replyOnly!: Observable<ReplyOnlyEvent>;\n\n  /**\n   * Default baud rate for serial connections.\n   */\n  public static readonly DEFAULT_BAUD_RATE: number = 9600;\n\n  /**\n   * The interface ID identifies thisConnection instance with the underlying library.\n   */\n  public get interfaceId(): number {\n    return this._interfaceId;\n  }\n  private _interfaceId: number;\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.\n   * @param portName Name of the port to open.\n   * @param [options.baudRate=Connection.DEFAULT_BAUD_RATE] Optional baud rate (defaults to 9600).\n   * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\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      useMessageIds = false,\n    } = options;\n    const request: requests.OpenBinaryInterfaceRequest & gateway.Message = {\n      ...requests.OpenBinaryInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.SERIAL_PORT,\n      portName: portName,\n      baudRate: baudRate,\n      useMessageIds: useMessageIds,\n      toBinary() {\n        return requests.OpenBinaryInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'binary/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 Port number.\n   * @param [options.useMessageIds=false] Enable use of message IDs (defaults to disabled).\n   * All your devices must be pre-configured to match.\n   * @returns An object representing the connection.\n   */\n  public static async openTcp(\n    hostName: string,\n    port: number,\n    options: Connection.OpenTcpOptions = {}\n  ): Promise<Connection> {\n    const {\n      useMessageIds = false,\n    } = options;\n    const request: requests.OpenBinaryInterfaceRequest & gateway.Message = {\n      ...requests.OpenBinaryInterfaceRequest.DEFAULT,\n      interfaceType: requests.InterfaceType.TCP,\n      hostName: hostName,\n      port: port,\n      useMessageIds: useMessageIds,\n      toBinary() {\n        return requests.OpenBinaryInterfaceRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.OpenInterfaceResponse>(\n      'binary/interface/open',\n      request,\n      requests.OpenInterfaceResponse.fromBinary);\n    return new Connection(response.interfaceId);\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   * Sends a generic Binary command to this connection.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   * @param [options.timeout=0.0] Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    device: number,\n    command: CommandCode,\n    data: number = 0,\n    options: Connection.GenericCommandOptions = {}\n  ): Promise<Message> {\n    const {\n      timeout = 0.0,\n      checkErrors = true,\n    } = options;\n    const request: requests.GenericBinaryRequest & gateway.Message = {\n      ...requests.GenericBinaryRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      device: device,\n      command: command,\n      data: data,\n      timeout: timeout,\n      checkErrors: checkErrors,\n      toBinary() {\n        return requests.GenericBinaryRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<Message>(\n      'binary/interface/generic_command',\n      request,\n      Message.fromBinary);\n    return response;\n  }\n\n  /**\n   * Sends a generic Binary command to this connection without expecting a response.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param device Device address to send the command to. Use zero for broadcast.\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   */\n  public async genericCommandNoResponse(\n    device: number,\n    command: CommandCode,\n    data: number = 0\n  ): Promise<void> {\n    const request: requests.GenericBinaryRequest & gateway.Message = {\n      ...requests.GenericBinaryRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      device: device,\n      command: command,\n      data: data,\n      toBinary() {\n        return requests.GenericBinaryRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('binary/interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Sends a generic Binary command to this connection and expects responses from one or more devices.\n   * Responses are returned in order of arrival.\n   * For more information please refer to the\n   * [Binary Protocol Manual](https://www.zaber.com/protocol-manual?protocol=Binary#topic_quick_command_reference).\n   * @param command Command to send.\n   * @param [data=0] Optional data argument to the command. Defaults to zero.\n   * @param [options.timeout=0.0] Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when any device rejects the command.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: CommandCode,\n    data: number = 0,\n    options: Connection.GenericCommandMultiResponseOptions = {}\n  ): Promise<Message[]> {\n    const {\n      timeout = 0.0,\n      checkErrors = true,\n    } = options;\n    const request: requests.GenericBinaryRequest & gateway.Message = {\n      ...requests.GenericBinaryRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      command: command,\n      data: data,\n      timeout: timeout,\n      checkErrors: checkErrors,\n      toBinary() {\n        return requests.GenericBinaryRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BinaryMessageCollection>(\n      'binary/interface/generic_command_multi_response',\n      request,\n      requests.BinaryMessageCollection.fromBinary);\n    return response.messages;\n  }\n\n  /**\n   * Renumbers devices present on this connection. After renumbering, you must identify devices again.\n   * @returns Total number of devices that responded to the renumber.\n   */\n  public async renumberDevices(): Promise<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 = await gateway.callAsync<requests.IntResponse>(\n      'binary/device/renumber',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Attempts to detect any devices present on this connection.\n   * @param [options.identifyDevices=true] Determines whether device identification should be performed as well.\n   * @returns Array of detected devices.\n   */\n  public async detectDevices(\n    options: Connection.DetectDevicesOptions = {}\n  ): Promise<Device[]> {\n    const {\n      identifyDevices = true,\n    } = options;\n    const request: requests.BinaryDeviceDetectRequest & gateway.Message = {\n      ...requests.BinaryDeviceDetectRequest.DEFAULT,\n      interfaceId: this.interfaceId,\n      identifyDevices: identifyDevices,\n      toBinary() {\n        return requests.BinaryDeviceDetectRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BinaryDeviceDetectResponse>(\n      'binary/device/detect',\n      request,\n      requests.BinaryDeviceDetectResponse.fromBinary);\n    return response.devices.map(deviceAddress => this.getDevice(deviceAddress));\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   * 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   * 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.UnknownBinaryResponseEventWrapper>('binary/interface/unknown_response'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.unknownResponse)\n    );\n\n    this.replyOnly = events.pipe(\n      takeUntil(this._disconnected),\n      filterEvent<requests.BinaryReplyOnlyEventWrapper>('binary/interface/reply_only'),\n      filter(event => event.interfaceId === this.interfaceId),\n      map(event => event.reply)\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 9600).\n       */\n      baudRate?: number;\n      /**\n       * Enable use of message IDs (defaults to disabled).\n       * All your devices must be pre-configured to match.\n       */\n      useMessageIds?: boolean;\n  }\n  export interface OpenTcpOptions {\n      /**\n       * Enable use of message IDs (defaults to disabled).\n       * All your devices must be pre-configured to match.\n       */\n      useMessageIds?: boolean;\n  }\n  export interface GenericCommandOptions {\n      /**\n       * Number of seconds to wait for a response from the device. 0 or negative defaults to 0.5s.\n       */\n      timeout?: number;\n      /**\n       * Controls whether to throw an exception when the device rejects the command.\n       */\n      checkErrors?: boolean;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      /**\n       * Number of seconds to wait for all responses from the device chain. 0 or negative defaults to 0.5s.\n       */\n      timeout?: number;\n      /**\n       * Controls whether to throw an exception when any device rejects the command.\n       */\n      checkErrors?: boolean;\n  }\n  export interface DetectDevicesOptions {\n      /**\n       * Determines whether device identification should be performed as well.\n       */\n      identifyDevices?: boolean;\n  }\n}\n"]}

package/dist/lib/library.js

@@ -130,7 +130,7 @@ class Library {
         const request = {
             ...requests.CheckVersionRequest.DEFAULT,
             host: 'js',
-            version: '7.5.1',
+            version: '7.6.0',
             toBinary() {
                 return requests.CheckVersionRequest.toBinary(this);
             },

package/dist/lib/library.js.map

@@ -1 +1 @@
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Allows selection of a web service or a local file.\n   * @param sourceType Source type.\n   * @param urlOrFilePath URL of the web service or path to the local file.\n   * Leave empty for the default URL of Zaber web service.\n   */\n  public static setDeviceDbSource(\n    sourceType: DeviceDbSourceType,\n    urlOrFilePath?: string\n  ): void {\n    const request: requests.SetDeviceDbSourceRequest & gateway.Message = {\n      ...requests.SetDeviceDbSourceRequest.DEFAULT,\n      sourceType: sourceType,\n      urlOrFilePath: urlOrFilePath,\n      toBinary() {\n        return requests.SetDeviceDbSourceRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_source', request);\n  }\n\n  /**\n   * Enables Device DB store.\n   * The store uses filesystem to save information obtained from the Device DB.\n   * The stored data are later used instead of the Device DB.\n   * @param storeLocation Specifies relative or absolute path of the folder used by the store.\n   * If left empty defaults to a folder in user home directory.\n   * Must be accessible by the process.\n   */\n  public static enableDeviceDbStore(\n    storeLocation?: string\n  ): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toggleOn: true,\n      storeLocation: storeLocation,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Disables Device DB store.\n   */\n  public static disableDeviceDbStore(): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Disables certain customer checks (like FF flag).\n   * @param mode Whether to turn internal mode on or off.\n   */\n  public static setInternalMode(\n    mode: boolean\n  ): void {\n    const request: requests.SetInternalModeRequest & gateway.Message = {\n      ...requests.SetInternalModeRequest.DEFAULT,\n      mode: mode,\n      toBinary() {\n        return requests.SetInternalModeRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_internal_mode', request);\n  }\n\n  /**\n   * Sets the period between polling for IDLE during movements.\n   * Caution: Setting the period too low may cause performance issues.\n   * @param period Period in milliseconds.\n   * Negative value restores the default period.\n   */\n  public static setIdlePollingPeriod(\n    period: number\n  ): void {\n    const request: requests.IntRequest & gateway.Message = {\n      ...requests.IntRequest.DEFAULT,\n      value: period,\n      toBinary() {\n        return requests.IntRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_idle_polling_period', request);\n  }\n\n  /**\n   * Throws an error if the version of the loaded shared library does not match the caller's version.\n   */\n  public static checkVersion(): void {\n    const request: requests.CheckVersionRequest & gateway.Message = {\n      ...requests.CheckVersionRequest.DEFAULT,\n      host: 'js',\n      version: '7.5.1',\n      toBinary() {\n        return requests.CheckVersionRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/check_version', request);\n  }\n}\n\ngateway.addInitCallback(Library.checkVersion);\n"]}
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Allows selection of a web service or a local file.\n   * @param sourceType Source type.\n   * @param urlOrFilePath URL of the web service or path to the local file.\n   * Leave empty for the default URL of Zaber web service.\n   */\n  public static setDeviceDbSource(\n    sourceType: DeviceDbSourceType,\n    urlOrFilePath?: string\n  ): void {\n    const request: requests.SetDeviceDbSourceRequest & gateway.Message = {\n      ...requests.SetDeviceDbSourceRequest.DEFAULT,\n      sourceType: sourceType,\n      urlOrFilePath: urlOrFilePath,\n      toBinary() {\n        return requests.SetDeviceDbSourceRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_source', request);\n  }\n\n  /**\n   * Enables Device DB store.\n   * The store uses filesystem to save information obtained from the Device DB.\n   * The stored data are later used instead of the Device DB.\n   * @param storeLocation Specifies relative or absolute path of the folder used by the store.\n   * If left empty defaults to a folder in user home directory.\n   * Must be accessible by the process.\n   */\n  public static enableDeviceDbStore(\n    storeLocation?: string\n  ): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toggleOn: true,\n      storeLocation: storeLocation,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Disables Device DB store.\n   */\n  public static disableDeviceDbStore(): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Disables certain customer checks (like FF flag).\n   * @param mode Whether to turn internal mode on or off.\n   */\n  public static setInternalMode(\n    mode: boolean\n  ): void {\n    const request: requests.SetInternalModeRequest & gateway.Message = {\n      ...requests.SetInternalModeRequest.DEFAULT,\n      mode: mode,\n      toBinary() {\n        return requests.SetInternalModeRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_internal_mode', request);\n  }\n\n  /**\n   * Sets the period between polling for IDLE during movements.\n   * Caution: Setting the period too low may cause performance issues.\n   * @param period Period in milliseconds.\n   * Negative value restores the default period.\n   */\n  public static setIdlePollingPeriod(\n    period: number\n  ): void {\n    const request: requests.IntRequest & gateway.Message = {\n      ...requests.IntRequest.DEFAULT,\n      value: period,\n      toBinary() {\n        return requests.IntRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_idle_polling_period', request);\n  }\n\n  /**\n   * Throws an error if the version of the loaded shared library does not match the caller's version.\n   */\n  public static checkVersion(): void {\n    const request: requests.CheckVersionRequest & gateway.Message = {\n      ...requests.CheckVersionRequest.DEFAULT,\n      host: 'js',\n      version: '7.6.0',\n      toBinary() {\n        return requests.CheckVersionRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/check_version', request);\n  }\n}\n\ngateway.addInitCallback(Library.checkVersion);\n"]}

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

@@ -1,12 +1,17 @@
 import { ServoTuningParamset } from '../ascii/servo_tuning_paramset';
 import { ServoTuningParam } from '../ascii/servo_tuning_param';
+import { Units } from '../units';
 export interface SetSimpleTuning {
     interfaceId: number;
     device: number;
     axis: number;
     paramset: ServoTuningParamset;
-    carriageMass?: (number | null);
     loadMass: number;
+    loadMassUnits: Units;
+    carriageMass?: (number | null);
+    carriageMassUnits: Units;
+    motorInertia?: (number | null);
+    motorInertiaUnits: Units;
     tuningParams: ServoTuningParam[];
 }
 export declare const SetSimpleTuning: {

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

@@ -1 +1 @@
-{"version":3,"file":"set_simple_tuning.d.ts","sourceRoot":"","sources":["../../../src/requests/set_simple_tuning.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,mBAAmB,EAAE,MAAM,gCAAgC,CAAC;AACrE,OAAO,EAAE,gBAAgB,EAAE,MAAM,6BAA6B,CAAC;AAE/D,MAAM,WAAW,eAAe;IAC9B,WAAW,EAAE,MAAM,CAAC;IAEpB,MAAM,EAAE,MAAM,CAAC;IAEf,IAAI,EAAE,MAAM,CAAC;IAEb,QAAQ,EAAE,mBAAmB,CAAC;IAE9B,YAAY,CAAC,EAAE,CAAC,MAAM,GAAG,IAAI,CAAC,CAAC;IAE/B,QAAQ,EAAE,MAAM,CAAC;IAEjB,YAAY,EAAE,gBAAgB,EAAE,CAAC;CAElC;AAED,eAAO,MAAM,eAAe;yBACL,UAAU,KAAG,eAAe;sBAC/B,eAAe,KAAG,UAAU;;sBAU5B,eAAe,KAAG,eAAe;CAapD,CAAC"}
+{"version":3,"file":"set_simple_tuning.d.ts","sourceRoot":"","sources":["../../../src/requests/set_simple_tuning.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,mBAAmB,EAAE,MAAM,gCAAgC,CAAC;AACrE,OAAO,EAAE,gBAAgB,EAAE,MAAM,6BAA6B,CAAC;AAC/D,OAAO,EAAE,KAAK,EAAE,MAAM,UAAU,CAAC;AAEjC,MAAM,WAAW,eAAe;IAC9B,WAAW,EAAE,MAAM,CAAC;IAEpB,MAAM,EAAE,MAAM,CAAC;IAEf,IAAI,EAAE,MAAM,CAAC;IAEb,QAAQ,EAAE,mBAAmB,CAAC;IAE9B,QAAQ,EAAE,MAAM,CAAC;IAEjB,aAAa,EAAE,KAAK,CAAC;IAErB,YAAY,CAAC,EAAE,CAAC,MAAM,GAAG,IAAI,CAAC,CAAC;IAE/B,iBAAiB,EAAE,KAAK,CAAC;IAEzB,YAAY,CAAC,EAAE,CAAC,MAAM,GAAG,IAAI,CAAC,CAAC;IAE/B,iBAAiB,EAAE,KAAK,CAAC;IAEzB,YAAY,EAAE,gBAAgB,EAAE,CAAC;CAElC;AAED,eAAO,MAAM,eAAe;yBACL,UAAU,KAAG,eAAe;sBAC/B,eAAe,KAAG,UAAU;;sBAc5B,eAAe,KAAG,eAAe;CAiBpD,CAAC"}

package/dist/lib/requests/set_simple_tuning.js

@@ -6,6 +6,7 @@ const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const servo_tuning_paramset_1 = require("../ascii/servo_tuning_paramset");
 const servo_tuning_param_1 = require("../ascii/servo_tuning_param");
+const units_1 = require("../units");
 exports.SetSimpleTuning = {
     fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
     toBinary: (value) => bson_1.BSON.serialize(exports.SetSimpleTuning.sanitize(value)),
@@ -14,8 +15,12 @@ exports.SetSimpleTuning = {
         device: 0,
         axis: 0,
         paramset: 0,
-        carriageMass: null,
         loadMass: 0,
+        loadMassUnits: units_1.Units.NATIVE,
+        carriageMass: null,
+        carriageMassUnits: units_1.Units.NATIVE,
+        motorInertia: null,
+        motorInertiaUnits: units_1.Units.NATIVE,
         tuningParams: [],
     }),
     sanitize: (value) => {
@@ -31,8 +36,12 @@ exports.SetSimpleTuning = {
             device: sanitizer_1.sanitizer.sanitizeInt(value.device, 'device'),
             axis: sanitizer_1.sanitizer.sanitizeInt(value.axis, 'axis'),
             paramset: sanitizer_1.sanitizer.sanitizeEnum(value.paramset, 'ServoTuningParamset', servo_tuning_paramset_1.ServoTuningParamset, 'paramset'),
-            carriageMass: value.carriageMass != null ? sanitizer_1.sanitizer.sanitizeNumber(value.carriageMass, 'carriageMass') : null,
             loadMass: sanitizer_1.sanitizer.sanitizeNumber(value.loadMass, 'loadMass'),
+            loadMassUnits: sanitizer_1.sanitizer.sanitizeUnits(value.loadMassUnits, 'loadMassUnits'),
+            carriageMass: value.carriageMass != null ? sanitizer_1.sanitizer.sanitizeNumber(value.carriageMass, 'carriageMass') : null,
+            carriageMassUnits: sanitizer_1.sanitizer.sanitizeUnits(value.carriageMassUnits, 'carriageMassUnits'),
+            motorInertia: value.motorInertia != null ? sanitizer_1.sanitizer.sanitizeNumber(value.motorInertia, 'motorInertia') : null,
+            motorInertiaUnits: sanitizer_1.sanitizer.sanitizeUnits(value.motorInertiaUnits, 'motorInertiaUnits'),
             tuningParams: Array.from((_a = value.tuningParams) !== null && _a !== void 0 ? _a : [], item => servo_tuning_param_1.ServoTuningParam.sanitize(item)),
         };
     },