npm - @zaber/motion - Versions diffs - 7.6.2 → 7.7.0 - Mend

@zaber/motion 7.6.2 → 7.7.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (1304) hide show

package/dist/lib/ascii/lockstep.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { LockstepAxes } from './lockstep_axes';\n\n/*\n Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n /\nexport class Lockstep {\n /\n Device that controls this lockstep group.\n /\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /\n The number that identifies the lockstep group on the device.\n /\n public get lockstepGroupId(): number {\n return this._lockstepGroupId;\n }\n private _lockstepGroupId: number;\n\n constructor(device: Device, lockstepGroupId: number) {\n this._device = device;\n this._lockstepGroupId = lockstepGroupId;\n }\n\n /\n Activate the lockstep group on the axes specified.\n * @param axes The numbers of axes in the lockstep group.\n /\n public async enable(\n ...axes: number[]\n ): Promise<void> {\n const request: requests.LockstepEnableRequest & gateway.Message = {\n ...requests.LockstepEnableRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n axes: axes,\n toBinary() {\n return requests.LockstepEnableRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_enable', request);\n }\n\n /\n Disable the lockstep group.\n /\n public async disable(): Promise<void> {\n const request: requests.LockstepDisableRequest & gateway.Message = {\n ...requests.LockstepDisableRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepDisableRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_disable', request);\n }\n\n /\n Stops ongoing lockstep group movement. Decelerates until zero speed.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async stop(\n options: Lockstep.StopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepStopRequest & gateway.Message = {\n ...requests.LockstepStopRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepStopRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_stop', request);\n }\n\n /\n Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async home(\n options: Lockstep.HomeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepHomeRequest & gateway.Message = {\n ...requests.LockstepHomeRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepHomeRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_home', request);\n }\n\n /\n Move the first axis of the lockstep group to an absolute position.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param position Absolute position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveAbsolute(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Lockstep.MoveAbsoluteOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.ABS,\n arg: position,\n unit: unit,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Move the first axis of the lockstep group to a position relative to its current position.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param position Relative position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveRelative(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Lockstep.MoveRelativeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.REL,\n arg: position,\n unit: unit,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Moves the first axis of the lockstep group at the specified speed.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param velocity Movement velocity.\n * @param [unit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveVelocity(\n velocity: number,\n unit: Velocity \| AngularVelocity \| Native = Units.NATIVE,\n options: Lockstep.MoveVelocityOptions = {}\n ): Promise<void> {\n const {\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.VEL,\n arg: velocity,\n unit: unit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Moves the first axis of the lockstep group in a sinusoidal trajectory.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).\n * @param amplitudeUnits Units of position.\n * @param period Period of the sinusoidal motion in milliseconds.\n * @param periodUnits Units of time.\n * @param [options.count=0] Number of sinusoidal cycles to complete.\n * Must be a multiple of 0.5\n * If count is not specified or set to 0, the axis will move indefinitely.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async moveSin(\n amplitude: number,\n amplitudeUnits: Length \| Angle \| Native,\n period: number,\n periodUnits: Time \| Native,\n options: Lockstep.MoveSinOptions = {}\n ): Promise<void> {\n const {\n count = 0,\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepMoveSinRequest & gateway.Message = {\n ...requests.LockstepMoveSinRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n amplitude: amplitude,\n amplitudeUnits: amplitudeUnits,\n period: period,\n periodUnits: periodUnits,\n count: count,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepMoveSinRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move_sin', request);\n }\n\n /\n Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.\n * If the sinusoidal motion was started with an integer-plus-half cycle count,\n * the motion ends at the half-way point of the sinusoidal trajectory.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.\n /\n public async moveSinStop(\n options: Lockstep.MoveSinStopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepStopRequest & gateway.Message = {\n ...requests.LockstepStopRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepStopRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move_sin_stop', request);\n }\n\n /\n Moves the axes to the maximum valid position.\n * The axes in the lockstep group maintain their offsets throughout movement.\n * Respects lim.max for all axes in the group.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMax(\n options: Lockstep.MoveMaxOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.MAX,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Moves the axes to the minimum valid position.\n * The axes in the lockstep group maintain their offsets throughout movement.\n * Respects lim.min for all axes in the group.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMin(\n options: Lockstep.MoveMinOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.MIN,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Waits until the lockstep group stops moving.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n /\n public async waitUntilIdle(\n options: Lockstep.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request: requests.LockstepWaitUntilIdleRequest & gateway.Message = {\n ...requests.LockstepWaitUntilIdleRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n throwErrorOnFault: throwErrorOnFault,\n toBinary() {\n return requests.LockstepWaitUntilIdleRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_wait_until_idle', request);\n }\n\n /\n Returns bool indicating whether the lockstep group is executing a motion command.\n * @returns True if the axes are currently executing a motion command.\n /\n public async isBusy(): Promise<boolean> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/lockstep_is_busy',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n @deprecated Use GetAxisNumbers instead.\n \n Gets the axes of the lockstep group.\n * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n /\n public async getAxes(): Promise<LockstepAxes> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<LockstepAxes>(\n 'device/lockstep_get_axes',\n request,\n LockstepAxes.fromBinary);\n return response;\n }\n\n /\n Gets the axis numbers of the lockstep group.\n * @returns Axis numbers in order specified when enabling lockstep.\n /\n public async getAxisNumbers(): Promise<number[]> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.LockstepGetAxisNumbersResponse>(\n 'device/lockstep_get_axis_numbers',\n request,\n requests.LockstepGetAxisNumbersResponse.fromBinary);\n return response.axes;\n }\n\n /\n Gets the initial offsets of secondary axes of an enabled lockstep group.\n * @param [unit=Units.NATIVE] Units of position.\n * Uses primary axis unit conversion.\n * @returns Initial offset for each axis of the lockstep group.\n /\n public async getOffsets(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number[]> {\n const request: requests.LockstepGetRequest & gateway.Message = {\n ...requests.LockstepGetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n unit: unit,\n toBinary() {\n return requests.LockstepGetRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n 'device/lockstep_get_offsets',\n request,\n requests.DoubleArrayResponse.fromBinary);\n return response.values;\n }\n\n /\n Gets the twists of secondary axes of an enabled lockstep group.\n * @param [unit=Units.NATIVE] Units of position.\n * Uses primary axis unit conversion.\n * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n /\n public async getTwists(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number[]> {\n const request: requests.LockstepGetRequest & gateway.Message = {\n ...requests.LockstepGetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n unit: unit,\n toBinary() {\n return requests.LockstepGetRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n 'device/lockstep_get_twists',\n request,\n requests.DoubleArrayResponse.fromBinary);\n return response.values;\n }\n\n /\n Returns current position of the primary axis.\n * @param [unit=Units.NATIVE] Units of the position.\n * @returns Primary axis position.\n /\n public async getPosition(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number> {\n const request: requests.LockstepGetRequest & gateway.Message = {\n ...requests.LockstepGetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n unit: unit,\n toBinary() {\n return requests.LockstepGetRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleResponse>(\n 'device/lockstep_get_pos',\n request,\n requests.DoubleResponse.fromBinary);\n return response.value;\n }\n\n /\n Sets lockstep twist tolerance.\n * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n * @param tolerance Twist tolerance.\n * @param [unit=Units.NATIVE] Units of the tolerance.\n * Uses primary axis unit conversion when setting to all axes,\n * otherwise uses specified secondary axis unit conversion.\n * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n * If left empty or set to 0, the tolerance is set to all the secondary axes.\n /\n public async setTolerance(\n tolerance: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Lockstep.SetToleranceOptions = {}\n ): Promise<void> {\n const {\n axisIndex = 0,\n } = options;\n const request: requests.LockstepSetRequest & gateway.Message = {\n ...requests.LockstepSetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n value: tolerance,\n unit: unit,\n axisIndex: axisIndex,\n toBinary() {\n return requests.LockstepSetRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_set_tolerance', request);\n }\n\n /\n Checks if the lockstep group is currently enabled on the device.\n * @returns True if a lockstep group with this ID is enabled on the device.\n /\n public async isEnabled(): Promise<boolean> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/lockstep_is_enabled',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns a string which represents the enabled lockstep group.\n * @returns String which represents the enabled lockstep group.\n /\n public toString(): string {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StringResponse>(\n 'device/lockstep_to_string',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n}\n\nnamespace Lockstep {\n export interface StopOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n }\n export interface HomeOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n }\n export interface MoveAbsoluteOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveRelativeOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveVelocityOptions {\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveSinOptions {\n /\n Number of sinusoidal cycles to complete.\n * Must be a multiple of 0.5\n * If count is not specified or set to 0, the axis will move indefinitely.\n /\n count?: number;\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n }\n export interface MoveSinStopOptions {\n /\n Determines whether function should return after the movement is finished.\n /\n waitUntilIdle?: boolean;\n }\n export interface MoveMaxOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveMinOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface WaitUntilIdleOptions {\n /\n Determines whether to throw error when fault is observed.\n /\n throwErrorOnFault?: boolean;\n }\n export interface SetToleranceOptions {\n /\n Optional index of a secondary axis to set the tolerance for.\n * If left empty or set to 0, the tolerance is set to all the secondary axes.\n */\n axisIndex?: number;\n }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { LockstepAxes } from './lockstep_axes';\n\n/*\n Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n /\nexport class Lockstep {\n /\n Device that controls this lockstep group.\n /\n public get device(): Device {\n return this._device;\n }\n private _device: Device;\n\n /\n The number that identifies the lockstep group on the device.\n /\n public get lockstepGroupId(): number {\n return this._lockstepGroupId;\n }\n private _lockstepGroupId: number;\n\n constructor(device: Device, lockstepGroupId: number) {\n this._device = device;\n this._lockstepGroupId = lockstepGroupId;\n }\n\n /\n Activate the lockstep group on the axes specified.\n * @param axes The numbers of axes in the lockstep group.\n /\n public async enable(\n ...axes: number[]\n ): Promise<void> {\n const request: requests.LockstepEnableRequest & gateway.Message = {\n ...requests.LockstepEnableRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n axes: axes,\n toBinary() {\n return requests.LockstepEnableRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_enable', request);\n }\n\n /\n Disable the lockstep group.\n /\n public async disable(): Promise<void> {\n const request: requests.LockstepDisableRequest & gateway.Message = {\n ...requests.LockstepDisableRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepDisableRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_disable', request);\n }\n\n /\n Stops ongoing lockstep group movement. Decelerates until zero speed.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async stop(\n options: Lockstep.StopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepStopRequest & gateway.Message = {\n ...requests.LockstepStopRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepStopRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_stop', request);\n }\n\n /\n Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async home(\n options: Lockstep.HomeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepHomeRequest & gateway.Message = {\n ...requests.LockstepHomeRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepHomeRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_home', request);\n }\n\n /\n Move the first axis of the lockstep group to an absolute position.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param position Absolute position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveAbsolute(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Lockstep.MoveAbsoluteOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.ABS,\n arg: position,\n unit: unit,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Move the first axis of the lockstep group to a position relative to its current position.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param position Relative position.\n * @param [unit=Units.NATIVE] Units of position.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveRelative(\n position: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Lockstep.MoveRelativeOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.REL,\n arg: position,\n unit: unit,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Moves the first axis of the lockstep group at the specified speed.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param velocity Movement velocity.\n * @param [unit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveVelocity(\n velocity: number,\n unit: Velocity \| AngularVelocity \| Native = Units.NATIVE,\n options: Lockstep.MoveVelocityOptions = {}\n ): Promise<void> {\n const {\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.VEL,\n arg: velocity,\n unit: unit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Moves the first axis of the lockstep group in a sinusoidal trajectory.\n * The other axes in the lockstep group maintain their offsets throughout movement.\n * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).\n * @param amplitudeUnits Units of position.\n * @param period Period of the sinusoidal motion in milliseconds.\n * @param periodUnits Units of time.\n * @param [options.count=0] Number of sinusoidal cycles to complete.\n * Must be a multiple of 0.5\n * If count is not specified or set to 0, the axis will move indefinitely.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n /\n public async moveSin(\n amplitude: number,\n amplitudeUnits: Length \| Angle \| Native,\n period: number,\n periodUnits: Time \| Native,\n options: Lockstep.MoveSinOptions = {}\n ): Promise<void> {\n const {\n count = 0,\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepMoveSinRequest & gateway.Message = {\n ...requests.LockstepMoveSinRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n amplitude: amplitude,\n amplitudeUnits: amplitudeUnits,\n period: period,\n periodUnits: periodUnits,\n count: count,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepMoveSinRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move_sin', request);\n }\n\n /\n Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.\n * If the sinusoidal motion was started with an integer-plus-half cycle count,\n * the motion ends at the half-way point of the sinusoidal trajectory.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.\n /\n public async moveSinStop(\n options: Lockstep.MoveSinStopOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n } = options;\n const request: requests.LockstepStopRequest & gateway.Message = {\n ...requests.LockstepStopRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n waitUntilIdle: waitUntilIdle,\n toBinary() {\n return requests.LockstepStopRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move_sin_stop', request);\n }\n\n /\n Moves the axes to the maximum valid position.\n * The axes in the lockstep group maintain their offsets throughout movement.\n * Respects lim.max for all axes in the group.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMax(\n options: Lockstep.MoveMaxOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.MAX,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Moves the axes to the minimum valid position.\n * The axes in the lockstep group maintain their offsets throughout movement.\n * Respects lim.min for all axes in the group.\n * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n * @param [options.velocity=0] Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n * @param [options.acceleration=0] Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n /\n public async moveMin(\n options: Lockstep.MoveMinOptions = {}\n ): Promise<void> {\n const {\n waitUntilIdle = true,\n velocity = 0,\n velocityUnit = Units.NATIVE,\n acceleration = 0,\n accelerationUnit = Units.NATIVE,\n } = options;\n const request: requests.LockstepMoveRequest & gateway.Message = {\n ...requests.LockstepMoveRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n type: requests.AxisMoveType.MIN,\n waitUntilIdle: waitUntilIdle,\n velocity: velocity,\n velocityUnit: velocityUnit,\n acceleration: acceleration,\n accelerationUnit: accelerationUnit,\n toBinary() {\n return requests.LockstepMoveRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_move', request);\n }\n\n /\n Waits until the lockstep group stops moving.\n * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n /\n public async waitUntilIdle(\n options: Lockstep.WaitUntilIdleOptions = {}\n ): Promise<void> {\n const {\n throwErrorOnFault = true,\n } = options;\n const request: requests.LockstepWaitUntilIdleRequest & gateway.Message = {\n ...requests.LockstepWaitUntilIdleRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n throwErrorOnFault: throwErrorOnFault,\n toBinary() {\n return requests.LockstepWaitUntilIdleRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_wait_until_idle', request);\n }\n\n /\n Returns bool indicating whether the lockstep group is executing a motion command.\n * @returns True if the axes are currently executing a motion command.\n /\n public async isBusy(): Promise<boolean> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/lockstep_is_busy',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n @deprecated Use GetAxisNumbers instead.\n \n Gets the axes of the lockstep group.\n * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n /\n public async getAxes(): Promise<LockstepAxes> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<LockstepAxes>(\n 'device/lockstep_get_axes',\n request,\n LockstepAxes.fromBinary);\n return response;\n }\n\n /\n Gets the axis numbers of the lockstep group.\n * @returns Axis numbers in order specified when enabling lockstep.\n /\n public async getAxisNumbers(): Promise<number[]> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.LockstepGetAxisNumbersResponse>(\n 'device/lockstep_get_axis_numbers',\n request,\n requests.LockstepGetAxisNumbersResponse.fromBinary);\n return response.axes;\n }\n\n /\n Gets the initial offsets of secondary axes of an enabled lockstep group.\n * @param [unit=Units.NATIVE] Units of position.\n * Uses primary axis unit conversion.\n * @returns Initial offset for each axis of the lockstep group.\n /\n public async getOffsets(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number[]> {\n const request: requests.LockstepGetRequest & gateway.Message = {\n ...requests.LockstepGetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n unit: unit,\n toBinary() {\n return requests.LockstepGetRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n 'device/lockstep_get_offsets',\n request,\n requests.DoubleArrayResponse.fromBinary);\n return response.values;\n }\n\n /\n Gets the twists of secondary axes of an enabled lockstep group.\n * @param [unit=Units.NATIVE] Units of position.\n * Uses primary axis unit conversion.\n * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n /\n public async getTwists(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number[]> {\n const request: requests.LockstepGetRequest & gateway.Message = {\n ...requests.LockstepGetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n unit: unit,\n toBinary() {\n return requests.LockstepGetRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n 'device/lockstep_get_twists',\n request,\n requests.DoubleArrayResponse.fromBinary);\n return response.values;\n }\n\n /\n Returns current position of the primary axis.\n * @param [unit=Units.NATIVE] Units of the position.\n * @returns Primary axis position.\n /\n public async getPosition(\n unit: Length \| Angle \| Native = Units.NATIVE\n ): Promise<number> {\n const request: requests.LockstepGetRequest & gateway.Message = {\n ...requests.LockstepGetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n unit: unit,\n toBinary() {\n return requests.LockstepGetRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.DoubleResponse>(\n 'device/lockstep_get_pos',\n request,\n requests.DoubleResponse.fromBinary);\n return response.value;\n }\n\n /\n Sets lockstep twist tolerance.\n * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n * @param tolerance Twist tolerance.\n * @param [unit=Units.NATIVE] Units of the tolerance.\n * Uses primary axis unit conversion when setting to all axes,\n * otherwise uses specified secondary axis unit conversion.\n * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n * If left empty or set to 0, the tolerance is set to all the secondary axes.\n /\n public async setTolerance(\n tolerance: number,\n unit: Length \| Angle \| Native = Units.NATIVE,\n options: Lockstep.SetToleranceOptions = {}\n ): Promise<void> {\n const {\n axisIndex = 0,\n } = options;\n const request: requests.LockstepSetRequest & gateway.Message = {\n ...requests.LockstepSetRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n value: tolerance,\n unit: unit,\n axisIndex: axisIndex,\n toBinary() {\n return requests.LockstepSetRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_set_tolerance', request);\n }\n\n /\n Checks if the lockstep group is currently enabled on the device.\n * @returns True if a lockstep group with this ID is enabled on the device.\n /\n public async isEnabled(): Promise<boolean> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/lockstep_is_enabled',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n\n /\n Returns a string which represents the enabled lockstep group.\n * @returns String which represents the enabled lockstep group.\n /\n public toString(): string {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = gateway.callSync<requests.StringResponse>(\n 'device/lockstep_to_string',\n request,\n requests.StringResponse.fromBinary);\n return response.value;\n }\n\n /\n Parks lockstep group in anticipation of turning the power off.\n * It can later be powered on, unparked, and moved without first having to home it.\n /\n public async park(): Promise<void> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_park', request);\n }\n\n /\n Unparks lockstep group. Lockstep group will now be able to move.\n /\n public async unpark(): Promise<void> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n await gateway.callAsync('device/lockstep_unpark', request);\n }\n\n /\n Returns bool indicating whether the axis is parked or not.\n * @returns True if lockstep group is parked.\n /\n public async isParked(): Promise<boolean> {\n const request: requests.LockstepEmptyRequest & gateway.Message = {\n ...requests.LockstepEmptyRequest.DEFAULT,\n interfaceId: this.device.connection.interfaceId,\n device: this.device.deviceAddress,\n lockstepGroupId: this.lockstepGroupId,\n toBinary() {\n return requests.LockstepEmptyRequest.toBinary(this);\n },\n };\n\n const response = await gateway.callAsync<requests.BoolResponse>(\n 'device/lockstep_is_parked',\n request,\n requests.BoolResponse.fromBinary);\n return response.value;\n }\n}\n\nnamespace Lockstep {\n export interface StopOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n }\n export interface HomeOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n }\n export interface MoveAbsoluteOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveRelativeOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveVelocityOptions {\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveSinOptions {\n /\n Number of sinusoidal cycles to complete.\n * Must be a multiple of 0.5\n * If count is not specified or set to 0, the axis will move indefinitely.\n /\n count?: number;\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n }\n export interface MoveSinStopOptions {\n /\n Determines whether function should return after the movement is finished.\n /\n waitUntilIdle?: boolean;\n }\n export interface MoveMaxOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface MoveMinOptions {\n /\n Determines whether function should return after the movement is finished or just started.\n /\n waitUntilIdle?: boolean;\n /\n Movement velocity.\n * Default value of 0 indicates that the maxspeed setting is used instead.\n * Requires at least Firmware 7.25.\n /\n velocity?: number;\n /\n Units of velocity.\n /\n velocityUnit?: Velocity \| AngularVelocity \| Native;\n /\n Movement acceleration.\n * Default value of 0 indicates that the accel setting is used instead.\n * Requires at least Firmware 7.25.\n /\n acceleration?: number;\n /\n Units of acceleration.\n /\n accelerationUnit?: Acceleration \| AngularAcceleration \| Native;\n }\n export interface WaitUntilIdleOptions {\n /\n Determines whether to throw error when fault is observed.\n /\n throwErrorOnFault?: boolean;\n }\n export interface SetToleranceOptions {\n /\n Optional index of a secondary axis to set the tolerance for.\n * If left empty or set to 0, the tolerance is set to all the secondary axes.\n */\n axisIndex?: number;\n }\n}\n"]}

package/dist/lib/ascii/lockstep_axes.d.ts CHANGED Viewed

@@ -1,3 +1,4 @@
+import { BSON } from 'bson';
 /**
  * The axis numbers of a lockstep group.
  */
@@ -24,5 +25,6 @@ export declare const LockstepAxes: {
     toBinary: (value: LockstepAxes) => Uint8Array;
     DEFAULT: Readonly<LockstepAxes>;
     sanitize: (value: LockstepAxes) => LockstepAxes;
+    convert: (value: BSON.Document) => LockstepAxes;
 };
 //# sourceMappingURL=lockstep_axes.d.ts.map

package/dist/lib/ascii/lockstep_axes.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"lockstep_axes.d.ts","sourceRoot":"","sources":["../../../src/ascii/lockstep_axes.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAG5B;;GAEG;AACH,MAAM,WAAW,YAAY;IAC3B;;OAEG;IACH,KAAK,EAAE,MAAM,CAAC;IAEd;;OAEG;IACH,KAAK,EAAE,MAAM,CAAC;IAEd;;OAEG;IACH,KAAK,EAAE,MAAM,CAAC;IAEd;;OAEG;IACH,KAAK,EAAE,MAAM,CAAC;CAEf;AAED,eAAO,MAAM,YAAY;yBACF,UAAU,KAAG,YAAY;sBAC5B,YAAY,KAAG,UAAU;;sBAOzB,YAAY,KAAG,YAAY;qBAU5B,KAAK,QAAQ,KAAG,YAAY;CAM9C,CAAC"}

package/dist/lib/ascii/lockstep_axes.js CHANGED Viewed

@@ -5,7 +5,7 @@ exports.LockstepAxes = void 0;
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 exports.LockstepAxes = {
-    fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
+    fromBinary: (buffer) => exports.LockstepAxes.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
     toBinary: (value) => bson_1.BSON.serialize(exports.LockstepAxes.sanitize(value)),
     DEFAULT: Object.freeze({
         axis1: 0,
@@ -27,5 +27,11 @@ exports.LockstepAxes = {
             axis4: sanitizer_1.sanitizer.sanitizeInt(value.axis4, 'axis4'),
         };
     },
+    convert: (value) => ({
+        axis1: value.axis1,
+        axis2: value.axis2,
+        axis3: value.axis3,
+        axis4: value.axis4,
+    })
 };
 //# sourceMappingURL=lockstep_axes.js.map

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	@@ -1 +1 @@
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1	+ {"version":3,"file":"lockstep_axes.js","sourceRoot":"","sources":["../../../src/ascii/lockstep_axes.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AA4BpC,QAAA,YAAY,GAAG;IAC1B,UAAU,EAAE,CAAC,MAAkB,EAAgB,EAAE,CAAC,oBAAY,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IACvH,QAAQ,EAAE,CAAC,KAAmB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,oBAAY,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IAC3F,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,KAAK,EAAE,CAAC;QACR,KAAK,EAAE,CAAC;QACR,KAAK,EAAE,CAAC;QACR,KAAK,EAAE,CAAC;KACT,CAA2B;IAC5B,QAAQ,EAAE,CAAC,KAAmB,EAAgB,EAAE;QAC9C,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,yDAAyD,CAAC,CAAA;QAAC,CAAC;QACrG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,wCAAwC,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAC/G,OAAO;YACL,KAAK,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC;YAClD,KAAK,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC;YAClD,KAAK,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC;YAClD,KAAK,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC;SACnD,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAgB,EAAE,CAAC,CAAC;QAChD,KAAK,EAAE,KAAK,CAAC,KAAK;QAClB,KAAK,EAAE,KAAK,CAAC,KAAK;QAClB,KAAK,EAAE,KAAK,CAAC,KAAK;QAClB,KAAK,EAAE,KAAK,CAAC,KAAK;KACnB,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. /\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\n\n/\n The axis numbers of a lockstep group.\n /\nexport interface LockstepAxes {\n /\n The axis number used to set the first axis.\n /\n axis1: number;\n\n /\n The axis number used to set the second axis.\n /\n axis2: number;\n\n /\n The axis number used to set the third axis.\n /\n axis3: number;\n\n /\n The axis number used to set the fourth axis.\n */\n axis4: number;\n\n}\n\nexport const LockstepAxes = {\n fromBinary: (buffer: Uint8Array): LockstepAxes => LockstepAxes.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n toBinary: (value: LockstepAxes): Uint8Array => BSON.serialize(LockstepAxes.sanitize(value)),\n DEFAULT: Object.freeze({\n axis1: 0,\n axis2: 0,\n axis3: 0,\n axis4: 0,\n }) as Readonly<LockstepAxes>,\n sanitize: (value: LockstepAxes): LockstepAxes => {\n if (value == null) { throw new TypeError('Expected LockstepAxes object but got null or undefined.') }\n if (typeof value !== 'object') { throw new TypeError(`Expected LockstepAxes object but got ${typeof value}.`) }\n return {\n axis1: sanitizer.sanitizeInt(value.axis1, 'axis1'),\n axis2: sanitizer.sanitizeInt(value.axis2, 'axis2'),\n axis3: sanitizer.sanitizeInt(value.axis3, 'axis3'),\n axis4: sanitizer.sanitizeInt(value.axis4, 'axis4'),\n };\n },\n convert: (value: BSON.Document): LockstepAxes => ({\n axis1: value.axis1,\n axis2: value.axis2,\n axis3: value.axis3,\n axis4: value.axis4,\n })\n};\n"]}

package/dist/lib/ascii/measurement_sequence.d.ts ADDED Viewed

@@ -0,0 +1,23 @@
+import { BSON } from 'bson';
+import { Units } from '../units';
+/**
+ * Represents a sequence of numerical values with optional units specified.
+ */
+export interface MeasurementSequence {
+    /**
+     * Sequence of values.
+     */
+    values: number[];
+    /**
+     * Optional units of the sequence.
+     */
+    unit?: (Units | null);
+}
+export declare const MeasurementSequence: {
+    fromBinary: (buffer: Uint8Array) => MeasurementSequence;
+    toBinary: (value: MeasurementSequence) => Uint8Array;
+    DEFAULT: Readonly<MeasurementSequence>;
+    sanitize: (value: MeasurementSequence) => MeasurementSequence;
+    convert: (value: BSON.Document) => MeasurementSequence;
+};
+//# sourceMappingURL=measurement_sequence.d.ts.map

package/dist/lib/ascii/measurement_sequence.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"measurement_sequence.d.ts","sourceRoot":"","sources":["../../../src/ascii/measurement_sequence.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,KAAK,EAAE,MAAM,UAAU,CAAC;AAEjC;;GAEG;AACH,MAAM,WAAW,mBAAmB;IAClC;;OAEG;IACH,MAAM,EAAE,MAAM,EAAE,CAAC;IAEjB;;OAEG;IACH,IAAI,CAAC,EAAE,CAAC,KAAK,GAAG,IAAI,CAAC,CAAC;CAEvB;AAED,eAAO,MAAM,mBAAmB;yBACT,UAAU,KAAG,mBAAmB;sBACnC,mBAAmB,KAAG,UAAU;;sBAKhC,mBAAmB,KAAG,mBAAmB;qBAQ1C,KAAK,QAAQ,KAAG,mBAAmB;CAIrD,CAAC"}

package/dist/lib/ascii/measurement_sequence.js ADDED Viewed

@@ -0,0 +1,31 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MeasurementSequence = void 0;
+/* This file is generated. Do not modify by hand. */
+const bson_1 = require("bson");
+const sanitizer_1 = require("../gateway/sanitizer");
+exports.MeasurementSequence = {
+    fromBinary: (buffer) => exports.MeasurementSequence.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.MeasurementSequence.sanitize(value)),
+    DEFAULT: Object.freeze({
+        values: [],
+        unit: null,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected MeasurementSequence object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected MeasurementSequence object but got ${typeof value}.`);
+        }
+        return {
+            values: Array.from(value.values ?? [], item => sanitizer_1.sanitizer.sanitizeNumber(item, 'items of values')),
+            unit: value.unit != null ? sanitizer_1.sanitizer.sanitizeUnits(value.unit, 'unit') : null,
+        };
+    },
+    convert: (value) => ({
+        values: value.values,
+        unit: value.unit,
+    })
+};
+//# sourceMappingURL=measurement_sequence.js.map

package/dist/lib/ascii/measurement_sequence.js.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"measurement_sequence.js","sourceRoot":"","sources":["../../../src/ascii/measurement_sequence.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AAmBpC,QAAA,mBAAmB,GAAG;IACjC,UAAU,EAAE,CAAC,MAAkB,EAAuB,EAAE,CAAC,2BAAmB,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IACrI,QAAQ,EAAE,CAAC,KAA0B,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,2BAAmB,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACzG,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,MAAM,EAAE,EAAE;QACV,IAAI,EAAE,IAAI;KACX,CAAkC;IACnC,QAAQ,EAAE,CAAC,KAA0B,EAAuB,EAAE;QAC5D,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,gEAAgE,CAAC,CAAA;QAAC,CAAC;QAC5G,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,+CAA+C,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QACtH,OAAO;YACL,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,cAAc,CAAC,IAAI,EAAE,iBAAiB,CAAC,CAAC;YACjG,IAAI,EAAE,KAAK,CAAC,IAAI,IAAI,IAAI,CAAC,CAAC,CAAC,qBAAS,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI;SAC9E,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAuB,EAAE,CAAC,CAAC;QACvD,MAAM,EAAE,KAAK,CAAC,MAAM;QACpB,IAAI,EAAE,KAAK,CAAC,IAAI;KACjB,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { Units } from '../units';\n\n/**\n * Represents a sequence of numerical values with optional units specified.\n */\nexport interface MeasurementSequence {\n /**\n * Sequence of values.\n */\n values: number[];\n\n /**\n * Optional units of the sequence.\n */\n unit?: (Units | null);\n\n}\n\nexport const MeasurementSequence = {\n fromBinary: (buffer: Uint8Array): MeasurementSequence => MeasurementSequence.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n toBinary: (value: MeasurementSequence): Uint8Array => BSON.serialize(MeasurementSequence.sanitize(value)),\n DEFAULT: Object.freeze({\n values: [],\n unit: null,\n }) as Readonly<MeasurementSequence>,\n sanitize: (value: MeasurementSequence): MeasurementSequence => {\n if (value == null) { throw new TypeError('Expected MeasurementSequence object but got null or undefined.') }\n if (typeof value !== 'object') { throw new TypeError(`Expected MeasurementSequence object but got ${typeof value}.`) }\n return {\n values: Array.from(value.values ?? [], item => sanitizer.sanitizeNumber(item, 'items of values')),\n unit: value.unit != null ? sanitizer.sanitizeUnits(value.unit, 'unit') : null,\n };\n },\n convert: (value: BSON.Document): MeasurementSequence => ({\n values: value.values,\n unit: value.unit,\n })\n};\n"]}

package/dist/lib/ascii/oscilloscope_capture_properties.d.ts CHANGED Viewed

@@ -1,3 +1,4 @@
+import { BSON } from 'bson';
 import { OscilloscopeDataSource } from '../ascii/oscilloscope_data_source';
 import { IoPortType } from '../ascii/io_port_type';
 /**
@@ -30,5 +31,6 @@ export declare const OscilloscopeCaptureProperties: {
     toBinary: (value: OscilloscopeCaptureProperties) => Uint8Array;
     DEFAULT: Readonly<OscilloscopeCaptureProperties>;
     sanitize: (value: OscilloscopeCaptureProperties) => OscilloscopeCaptureProperties;
+    convert: (value: BSON.Document) => OscilloscopeCaptureProperties;
 };
 //# sourceMappingURL=oscilloscope_capture_properties.d.ts.map

package/dist/lib/ascii/oscilloscope_capture_properties.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"oscilloscope_capture_properties.d.ts","sourceRoot":"","sources":["../../../src/ascii/oscilloscope_capture_properties.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,sBAAsB,EAAE,MAAM,mCAAmC,CAAC;AAC3E,OAAO,EAAE,UAAU,EAAE,MAAM,uBAAuB,CAAC;AAEnD;;GAEG;AACH,MAAM,WAAW,6BAA6B;IAC5C;;OAEG;IACH,UAAU,EAAE,sBAAsB,CAAC;IAEnC;;OAEG;IACH,OAAO,EAAE,MAAM,CAAC;IAEhB;;OAEG;IACH,UAAU,EAAE,MAAM,CAAC;IAEnB;;OAEG;IACH,MAAM,EAAE,UAAU,CAAC;IAEnB;;OAEG;IACH,SAAS,EAAE,MAAM,CAAC;CAEnB;AAED,eAAO,MAAM,6BAA6B;yBACnB,UAAU,KAAG,6BAA6B;sBAC7C,6BAA6B,KAAG,UAAU;;sBAQ1C,6BAA6B,KAAG,6BAA6B;qBAW9D,KAAK,QAAQ,KAAG,6BAA6B;CAO/D,CAAC"}

package/dist/lib/ascii/oscilloscope_capture_properties.js CHANGED Viewed

@@ -7,7 +7,7 @@ const sanitizer_1 = require("../gateway/sanitizer");
 const oscilloscope_data_source_1 = require("../ascii/oscilloscope_data_source");
 const io_port_type_1 = require("../ascii/io_port_type");
 exports.OscilloscopeCaptureProperties = {
-    fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
+    fromBinary: (buffer) => exports.OscilloscopeCaptureProperties.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
     toBinary: (value) => bson_1.BSON.serialize(exports.OscilloscopeCaptureProperties.sanitize(value)),
     DEFAULT: Object.freeze({
         dataSource: 0,
@@ -31,5 +31,12 @@ exports.OscilloscopeCaptureProperties = {
             ioChannel: sanitizer_1.sanitizer.sanitizeInt(value.ioChannel, 'ioChannel'),
         };
     },
+    convert: (value) => ({
+        dataSource: value.dataSource,
+        setting: value.setting,
+        axisNumber: value.axisNumber,
+        ioType: value.ioType,
+        ioChannel: value.ioChannel,
+    })
 };
 //# sourceMappingURL=oscilloscope_capture_properties.js.map

package/dist/lib/ascii/oscilloscope_capture_properties.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"oscilloscope_capture_properties.js","sourceRoot":"","sources":["../../../src/ascii/oscilloscope_capture_properties.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,gFAA2E;AAC3E,wDAAmD;AAiCtC,QAAA,6BAA6B,GAAG;IAC3C,UAAU,EAAE,CAAC,MAAkB,EAAiC,EAAE,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,~~CAAkC~~;~~IAC5H~~,QAAQ,EAAE,CAAC,KAAoC,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,qCAA6B,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IAC7H,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,UAAU,EAAE,CAA2B;QACvC,OAAO,EAAE,EAAE;QACX,UAAU,EAAE,CAAC;QACb,MAAM,EAAE,CAAe;QACvB,SAAS,EAAE,CAAC;KACb,CAA4C;IAC7C,QAAQ,EAAE,CAAC,KAAoC,EAAiC,EAAE;QAChF,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,0EAA0E,CAAC,CAAA;QAAC,CAAC;QACtH,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,yDAAyD,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAChI,OAAO;YACL,UAAU,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,UAAU,EAAE,wBAAwB,EAAE,iDAAsB,EAAE,YAAY,CAAC;YACpH,OAAO,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC;YAC3D,UAAU,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,UAAU,EAAE,YAAY,CAAC;YACjE,MAAM,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,MAAM,EAAE,YAAY,EAAE,yBAAU,EAAE,QAAQ,CAAC;YAChF,SAAS,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,SAAS,EAAE,WAAW,CAAC;SAC/D,CAAC;IACJ,CAAC;~~CACF~~,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. /\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { OscilloscopeDataSource } from '../ascii/oscilloscope_data_source';\nimport { IoPortType } from '../ascii/io_port_type';\n\n/\n The public properties of one channel of recorded oscilloscope data.\n /\nexport interface OscilloscopeCaptureProperties {\n /\n Indicates whether the data came from a setting or an I/O pin.\n /\n dataSource: OscilloscopeDataSource;\n\n /\n The name of the recorded setting.\n /\n setting: string;\n\n /\n The number of the axis the data was recorded from, or 0 for the controller.\n /\n axisNumber: number;\n\n /\n Which kind of I/O port data was recorded from.\n /\n ioType: IoPortType;\n\n /\n Which I/O pin within the port was recorded.\n */\n ioChannel: number;\n\n}\n\nexport const OscilloscopeCaptureProperties = {\n fromBinary: (buffer: Uint8Array): OscilloscopeCaptureProperties => BSON.deserialize(buffer) as ~~OscilloscopeCaptureProperties~~,\n toBinary: (value: OscilloscopeCaptureProperties): Uint8Array => BSON.serialize(OscilloscopeCaptureProperties.sanitize(value)),\n DEFAULT: Object.freeze({\n dataSource: 0 as OscilloscopeDataSource,\n setting: '',\n axisNumber: 0,\n ioType: 0 as IoPortType,\n ioChannel: 0,\n }) as Readonly<OscilloscopeCaptureProperties>,\n sanitize: (value: OscilloscopeCaptureProperties): OscilloscopeCaptureProperties => {\n if (value == null) { throw new TypeError('Expected OscilloscopeCaptureProperties object but got null or undefined.') }\n if (typeof value !== 'object') { throw new TypeError(`Expected OscilloscopeCaptureProperties object but got ${typeof value}.`) }\n return {\n dataSource: sanitizer.sanitizeEnum(value.dataSource, 'OscilloscopeDataSource', OscilloscopeDataSource, 'dataSource'),\n setting: sanitizer.sanitizeString(value.setting, 'setting'),\n axisNumber: sanitizer.sanitizeInt(value.axisNumber, 'axisNumber'),\n ioType: sanitizer.sanitizeEnum(value.ioType, 'IoPortType', IoPortType, 'ioType'),\n ioChannel: sanitizer.sanitizeInt(value.ioChannel, 'ioChannel'),\n };\n },\n};\n"]}
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package/dist/lib/ascii/paramset_info.d.ts CHANGED Viewed

@@ -1,3 +1,4 @@
+import { BSON } from 'bson';
 import { ServoTuningParam } from '../ascii/servo_tuning_param';
 /**
  * The raw parameters currently saved to a given paramset.
@@ -21,5 +22,6 @@ export declare const ParamsetInfo: {
     toBinary: (value: ParamsetInfo) => Uint8Array;
     DEFAULT: Readonly<ParamsetInfo>;
     sanitize: (value: ParamsetInfo) => ParamsetInfo;
+    convert: (value: BSON.Document) => ParamsetInfo;
 };
 //# sourceMappingURL=paramset_info.d.ts.map

package/dist/lib/ascii/paramset_info.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"paramset_info.d.ts","sourceRoot":"","sources":["../../../src/ascii/paramset_info.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,gBAAgB,EAAE,MAAM,6BAA6B,CAAC;AAE/D;;GAEG;AACH,MAAM,WAAW,YAAY;IAC3B;;OAEG;IACH,IAAI,EAAE,MAAM,CAAC;IAEb;;OAEG;IACH,OAAO,EAAE,MAAM,CAAC;IAEhB;;OAEG;IACH,MAAM,EAAE,gBAAgB,EAAE,CAAC;CAE5B;AAED,eAAO,MAAM,YAAY;yBACF,UAAU,KAAG,YAAY;sBAC5B,YAAY,KAAG,UAAU;;sBAMzB,YAAY,KAAG,YAAY;qBAS5B,KAAK,QAAQ,KAAG,YAAY;CAK9C,CAAC"}

package/dist/lib/ascii/paramset_info.js CHANGED Viewed

@@ -6,7 +6,7 @@ const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const servo_tuning_param_1 = require("../ascii/servo_tuning_param");
 exports.ParamsetInfo = {
-    fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
+    fromBinary: (buffer) => exports.ParamsetInfo.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
     toBinary: (value) => bson_1.BSON.serialize(exports.ParamsetInfo.sanitize(value)),
     DEFAULT: Object.freeze({
         type: '',
@@ -14,7 +14,6 @@ exports.ParamsetInfo = {
         params: [],
     }),
     sanitize: (value) => {
-        var _a;
         if (value == null) {
             throw new TypeError('Expected ParamsetInfo object but got null or undefined.');
         }
@@ -24,8 +23,13 @@ exports.ParamsetInfo = {
         return {
             type: sanitizer_1.sanitizer.sanitizeString(value.type, 'type'),
             version: sanitizer_1.sanitizer.sanitizeInt(value.version, 'version'),
-            params: Array.from((_a = value.params) !== null && _a !== void 0 ? _a : [], item => servo_tuning_param_1.ServoTuningParam.sanitize(item)),
+            params: Array.from(value.params ?? [], item => servo_tuning_param_1.ServoTuningParam.sanitize(item)),
         };
     },
+    convert: (value) => ({
+        type: value.type,
+        version: value.version,
+        params: value.params,
+    })
 };
 //# sourceMappingURL=paramset_info.js.map

package/dist/lib/ascii/paramset_info.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/ascii/pid_tuning.d.ts CHANGED Viewed

@@ -1,3 +1,4 @@
+import { BSON } from 'bson';
 /**
  * The tuning of this axis represented by PID parameters.
  */
@@ -32,5 +33,6 @@ export declare const PidTuning: {
     toBinary: (value: PidTuning) => Uint8Array;
     DEFAULT: Readonly<PidTuning>;
     sanitize: (value: PidTuning) => PidTuning;
+    convert: (value: BSON.Document) => PidTuning;
 };
 //# sourceMappingURL=pid_tuning.d.ts.map

package/dist/lib/ascii/pid_tuning.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"pid_tuning.d.ts","sourceRoot":"","sources":["../../../src/ascii/pid_tuning.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAG5B;;GAEG;AACH,MAAM,WAAW,SAAS;IACxB;;OAEG;IACH,IAAI,EAAE,MAAM,CAAC;IAEb;;OAEG;IACH,OAAO,EAAE,MAAM,CAAC;IAEhB;;OAEG;IACH,CAAC,EAAE,MAAM,CAAC;IAEV;;OAEG;IACH,CAAC,EAAE,MAAM,CAAC;IAEV;;OAEG;IACH,CAAC,EAAE,MAAM,CAAC;IAEV;;OAEG;IACH,EAAE,EAAE,MAAM,CAAC;CAEZ;AAED,eAAO,MAAM,SAAS;yBACC,UAAU,KAAG,SAAS;sBACzB,SAAS,KAAG,UAAU;;sBAStB,SAAS,KAAG,SAAS;qBAYtB,KAAK,QAAQ,KAAG,SAAS;CAQ3C,CAAC"}

package/dist/lib/ascii/pid_tuning.js CHANGED Viewed

@@ -5,7 +5,7 @@ exports.PidTuning = void 0;
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 exports.PidTuning = {
-    fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
+    fromBinary: (buffer) => exports.PidTuning.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
     toBinary: (value) => bson_1.BSON.serialize(exports.PidTuning.sanitize(value)),
     DEFAULT: Object.freeze({
         type: '',
@@ -31,5 +31,13 @@ exports.PidTuning = {
             fc: sanitizer_1.sanitizer.sanitizeNumber(value.fc, 'fc'),
         };
     },
+    convert: (value) => ({
+        type: value.type,
+        version: value.version,
+        p: value.p,
+        i: value.i,
+        d: value.d,
+        fc: value.fc,
+    })
 };
 //# sourceMappingURL=pid_tuning.js.map

package/dist/lib/ascii/pid_tuning.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/ascii/pvt_axis_definition.d.ts CHANGED Viewed

@@ -1,3 +1,4 @@
+import { BSON } from 'bson';
 import { PvtAxisType } from '../ascii/pvt_axis_type';
 /**
  * Defines an axis of the PVT sequence.
@@ -17,5 +18,6 @@ export declare const PvtAxisDefinition: {
     toBinary: (value: PvtAxisDefinition) => Uint8Array;
     DEFAULT: Readonly<PvtAxisDefinition>;
     sanitize: (value: PvtAxisDefinition) => PvtAxisDefinition;
+    convert: (value: BSON.Document) => PvtAxisDefinition;
 };
 //# sourceMappingURL=pvt_axis_definition.d.ts.map

package/dist/lib/ascii/pvt_axis_definition.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"pvt_axis_definition.d.ts","sourceRoot":"","sources":["../../../src/ascii/pvt_axis_definition.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,WAAW,EAAE,MAAM,wBAAwB,CAAC;AAErD;;GAEG;AACH,MAAM,WAAW,iBAAiB;IAChC;;OAEG;IACH,UAAU,EAAE,MAAM,CAAC;IAEnB;;OAEG;IACH,QAAQ,CAAC,EAAE,CAAC,WAAW,GAAG,IAAI,CAAC,CAAC;CAEjC;AAED,eAAO,MAAM,iBAAiB;yBACP,UAAU,KAAG,iBAAiB;sBACjC,iBAAiB,KAAG,UAAU;;sBAK9B,iBAAiB,KAAG,iBAAiB;qBAQtC,KAAK,QAAQ,KAAG,iBAAiB;CAInD,CAAC"}

package/dist/lib/ascii/pvt_axis_definition.js CHANGED Viewed

@@ -6,7 +6,7 @@ const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const pvt_axis_type_1 = require("../ascii/pvt_axis_type");
 exports.PvtAxisDefinition = {
-    fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
+    fromBinary: (buffer) => exports.PvtAxisDefinition.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
     toBinary: (value) => bson_1.BSON.serialize(exports.PvtAxisDefinition.sanitize(value)),
     DEFAULT: Object.freeze({
         axisNumber: 0,
@@ -24,5 +24,9 @@ exports.PvtAxisDefinition = {
             axisType: value.axisType != null ? sanitizer_1.sanitizer.sanitizeEnum(value.axisType, 'PvtAxisType', pvt_axis_type_1.PvtAxisType, 'axisType') : null,
         };
     },
+    convert: (value) => ({
+        axisNumber: value.axisNumber,
+        axisType: value.axisType,
+    })
 };
 //# sourceMappingURL=pvt_axis_definition.js.map

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	@@ -1 +1 @@
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package/dist/lib/ascii/pvt_csv_data.d.ts ADDED Viewed

@@ -0,0 +1,24 @@
+import { BSON } from 'bson';
+import { PvtSequenceData } from '../ascii/pvt_sequence_data';
+/**
+ * Data representing content loaded from PVT CSV file, with sequence data and sequence names.
+ */
+export interface PvtCsvData {
+    /**
+     * The positions, velocities and times of the PVT sequence.
+     */
+    sequenceData: PvtSequenceData;
+    /**
+     * The names of the columns in the CSV header.
+     * If the header columns do not contain names, these will default to `Series 1`, `Series 2`, etc..
+     */
+    seriesNames: string[];
+}
+export declare const PvtCsvData: {
+    fromBinary: (buffer: Uint8Array) => PvtCsvData;
+    toBinary: (value: PvtCsvData) => Uint8Array;
+    DEFAULT: Readonly<PvtCsvData>;
+    sanitize: (value: PvtCsvData) => PvtCsvData;
+    convert: (value: BSON.Document) => PvtCsvData;
+};
+//# sourceMappingURL=pvt_csv_data.d.ts.map