@zaber/motion 7.6.2 → 7.7.0

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

@@ -0,0 +1 @@
+{"version":3,"file":"pvt_csv_data.d.ts","sourceRoot":"","sources":["../../../src/ascii/pvt_csv_data.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,eAAe,EAAE,MAAM,4BAA4B,CAAC;AAE7D;;GAEG;AACH,MAAM,WAAW,UAAU;IACzB;;OAEG;IACH,YAAY,EAAE,eAAe,CAAC;IAE9B;;;OAGG;IACH,WAAW,EAAE,MAAM,EAAE,CAAC;CAEvB;AAED,eAAO,MAAM,UAAU;yBACA,UAAU,KAAG,UAAU;sBAC1B,UAAU,KAAG,UAAU;;sBAKvB,UAAU,KAAG,UAAU;qBAQxB,KAAK,QAAQ,KAAG,UAAU;CAI5C,CAAC"}

package/dist/lib/ascii/pvt_csv_data.js

@@ -0,0 +1,32 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtCsvData = void 0;
+/* This file is generated. Do not modify by hand. */
+const bson_1 = require("bson");
+const sanitizer_1 = require("../gateway/sanitizer");
+const pvt_sequence_data_1 = require("../ascii/pvt_sequence_data");
+exports.PvtCsvData = {
+    fromBinary: (buffer) => exports.PvtCsvData.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.PvtCsvData.sanitize(value)),
+    DEFAULT: Object.freeze({
+        sequenceData: pvt_sequence_data_1.PvtSequenceData.DEFAULT,
+        seriesNames: [],
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected PvtCsvData object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected PvtCsvData object but got ${typeof value}.`);
+        }
+        return {
+            sequenceData: pvt_sequence_data_1.PvtSequenceData.sanitize(value.sequenceData),
+            seriesNames: Array.from(value.seriesNames ?? [], item => sanitizer_1.sanitizer.sanitizeString(item, 'items of seriesNames')),
+        };
+    },
+    convert: (value) => ({
+        sequenceData: value.sequenceData,
+        seriesNames: value.seriesNames,
+    })
+};
+//# sourceMappingURL=pvt_csv_data.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pvt_csv_data.js","sourceRoot":"","sources":["../../../src/ascii/pvt_csv_data.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,kEAA6D;AAmBhD,QAAA,UAAU,GAAG;IACxB,UAAU,EAAE,CAAC,MAAkB,EAAc,EAAE,CAAC,kBAAU,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IACnH,QAAQ,EAAE,CAAC,KAAiB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,kBAAU,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACvF,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,YAAY,EAAE,mCAAe,CAAC,OAAO;QACrC,WAAW,EAAE,EAAE;KAChB,CAAyB;IAC1B,QAAQ,EAAE,CAAC,KAAiB,EAAc,EAAE;QAC1C,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,uDAAuD,CAAC,CAAA;QAAC,CAAC;QACnG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,sCAAsC,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAC7G,OAAO;YACL,YAAY,EAAE,mCAAe,CAAC,QAAQ,CAAC,KAAK,CAAC,YAAY,CAAC;YAC1D,WAAW,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,WAAW,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,cAAc,CAAC,IAAI,EAAE,sBAAsB,CAAC,CAAC;SACjH,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAc,EAAE,CAAC,CAAC;QAC9C,YAAY,EAAE,KAAK,CAAC,YAAY;QAChC,WAAW,EAAE,KAAK,CAAC,WAAW;KAC/B,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { PvtSequenceData } from '../ascii/pvt_sequence_data';\n\n/**\n * Data representing content loaded from PVT CSV file, with sequence data and sequence names.\n */\nexport interface PvtCsvData {\n  /**\n   * The positions, velocities and times of the PVT sequence.\n   */\n  sequenceData: PvtSequenceData;\n\n  /**\n   * The names of the columns in the CSV header.\n   * If the header columns do not contain names, these will default to `Series 1`, `Series 2`, etc..\n   */\n  seriesNames: string[];\n\n}\n\nexport const PvtCsvData = {\n  fromBinary: (buffer: Uint8Array): PvtCsvData => PvtCsvData.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: PvtCsvData): Uint8Array => BSON.serialize(PvtCsvData.sanitize(value)),\n  DEFAULT: Object.freeze({\n    sequenceData: PvtSequenceData.DEFAULT,\n    seriesNames: [],\n  }) as Readonly<PvtCsvData>,\n  sanitize: (value: PvtCsvData): PvtCsvData => {\n    if (value == null) { throw new TypeError('Expected PvtCsvData object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected PvtCsvData object but got ${typeof value}.`) }\n    return {\n      sequenceData: PvtSequenceData.sanitize(value.sequenceData),\n      seriesNames: Array.from(value.seriesNames ?? [], item => sanitizer.sanitizeString(item, 'items of seriesNames')),\n    };\n  },\n  convert: (value: BSON.Document): PvtCsvData => ({\n    sequenceData: value.sequenceData,\n    seriesNames: value.seriesNames,\n  })\n};\n"]}

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

@@ -1,8 +1,11 @@
 import { Device } from './device';
+import { MeasurementSequence } from './measurement_sequence';
 import { Measurement } from '../measurement';
 import { PvtBuffer } from './pvt_buffer';
 import { PvtMode } from './pvt_mode';
 import { PvtAxisDefinition } from './pvt_axis_definition';
+import { PvtSequenceData } from './pvt_sequence_data';
+import { PvtCsvData } from './pvt_csv_data';
 import { PvtIo } from './pvt_io';
 import { DigitalOutputAction } from './digital_output_action';
 /**
@@ -77,6 +80,15 @@ export declare class PvtSequence {
      * @param time The duration between the previous point in the sequence and this one.
      */
     point(positions: Measurement[], velocities: (Measurement | null)[], time: Measurement): Promise<void>;
+    /**
+     * Queues points with absolute coordinates in the PVT sequence.
+     * @param positions Per-axis sequences of positions.
+     * @param velocities Per-axis sequences of velocities.
+     * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+     * @param times Segment times from one point to another.
+     * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+     */
+    points(positions: MeasurementSequence[], velocities: MeasurementSequence[], times: MeasurementSequence): Promise<void>;
     /**
      * Queues a point with coordinates relative to the previous point in the PVT sequence.
      * If some or all velocities are not provided, the sequence calculates the velocities
@@ -88,6 +100,15 @@ export declare class PvtSequence {
      * @param time The duration between the previous point in the sequence and this one.
      */
     pointRelative(positions: Measurement[], velocities: (Measurement | null)[], time: Measurement): Promise<void>;
+    /**
+     * Queues points with coordinates relative to the previous point in the PVT sequence.
+     * @param positions Per-axis sequences of positions.
+     * @param velocities Per-axis sequences of velocities.
+     * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+     * @param times Segment times from one point to another.
+     * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+     */
+    pointsRelative(positions: MeasurementSequence[], velocities: MeasurementSequence[], times: MeasurementSequence): Promise<void>;
     /**
      * Waits until the live PVT sequence executes all queued actions.
      * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.
@@ -160,6 +181,43 @@ export declare class PvtSequence {
      * @returns Mode of the PVT sequence.
      */
     private _retrieveMode;
+    /**
+     * Saves PvtSequenceData object as csv file.
+     * Save format is compatible with Zaber Launcher PVT Editor App.
+     *
+     * Throws InvalidArgumentException if fields are undefined or inconsistent.
+     * For example, position and velocity arrays must have the same dimensions.
+     * Sequence lengths must be consistent for positions, velocities and times.
+     * @param sequenceData The PVT sequence data to save.
+     * @param path The path to save the file to.
+     * @param dimensionNames Optional csv column names for each series.
+     * If not provided, the default names will be used: Series 1, Series 2, etc..
+     * Length of this array must be equal to number of dimensions in sequence data.
+     */
+    static saveSequenceData(sequenceData: PvtSequenceData, path: string, dimensionNames?: string[]): Promise<void>;
+    /**
+     * Load PVT Sequence data from CSV file.
+     * The CSV data can include a header (recommended).
+     * There are two possible header formats:
+     *
+     * 1. A time column with named position and velocity columns.
+     * For example, "Time (ms),X Position (cm),X Velocity (cm/s),...".
+     * In this case, position, velocity and time columns are all optional.
+     * Also, order does not matter, but position and velocity names must be consistent.
+     * This is our recommended CSV format.
+     *
+     * 2. A time column with alternating position and velocity columns.
+     * For example, "Time (ms),Position (cm),Velocity (cm/s),...".
+     * In this case, only the time column is optional and order does matter.
+     *
+     * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
+     * Additionally, native units are the default if no units are specified.
+     * If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...".
+     * In this case the number of columns must be odd.
+     * @param path The path from which the csv file will be loaded.
+     * @returns The PVT csv data loaded from the file.
+     */
+    static loadSequenceData(path: string): Promise<PvtCsvData>;
     /**
      * @deprecated Use PvtSequence.Io.SetDigitalOutput instead.
      *

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

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

@@ -28,6 +28,7 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.PvtSequence = void 0;
 const gateway = __importStar(require("../gateway"));
 const requests = __importStar(require("../requests"));
+const pvt_csv_data_1 = require("./pvt_csv_data");
 const pvt_io_1 = require("./pvt_io");
 /**
  * A handle for a PVT sequence with this number on the device.
@@ -195,6 +196,31 @@ class PvtSequence {
         };
         await gateway.callAsync('device/stream_point', request);
     }
+    /**
+     * Queues points with absolute coordinates in the PVT sequence.
+     * @param positions Per-axis sequences of positions.
+     * @param velocities Per-axis sequences of velocities.
+     * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+     * @param times Segment times from one point to another.
+     * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+     */
+    async points(positions, velocities, times) {
+        const request = {
+            ...requests.PvtPointsRequest.DEFAULT,
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            type: requests.StreamSegmentType.ABS,
+            positions: positions,
+            velocities: velocities,
+            times: times,
+            toBinary() {
+                return requests.PvtPointsRequest.toBinary(this);
+            },
+        };
+        await gateway.callAsync('device/stream_points', request);
+    }
     /**
      * Queues a point with coordinates relative to the previous point in the PVT sequence.
      * If some or all velocities are not provided, the sequence calculates the velocities
@@ -222,6 +248,31 @@ class PvtSequence {
         };
         await gateway.callAsync('device/stream_point', request);
     }
+    /**
+     * Queues points with coordinates relative to the previous point in the PVT sequence.
+     * @param positions Per-axis sequences of positions.
+     * @param velocities Per-axis sequences of velocities.
+     * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+     * @param times Segment times from one point to another.
+     * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+     */
+    async pointsRelative(positions, velocities, times) {
+        const request = {
+            ...requests.PvtPointsRequest.DEFAULT,
+            interfaceId: this.device.connection.interfaceId,
+            device: this.device.deviceAddress,
+            streamId: this.pvtId,
+            pvt: true,
+            type: requests.StreamSegmentType.REL,
+            positions: positions,
+            velocities: velocities,
+            times: times,
+            toBinary() {
+                return requests.PvtPointsRequest.toBinary(this);
+            },
+        };
+        await gateway.callAsync('device/stream_points', request);
+    }
     /**
      * Waits until the live PVT sequence executes all queued actions.
      * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.
@@ -459,6 +510,64 @@ class PvtSequence {
         const response = gateway.callSync('device/stream_get_mode', request, requests.StreamModeResponse.fromBinary);
         return response.pvtMode;
     }
+    /**
+     * Saves PvtSequenceData object as csv file.
+     * Save format is compatible with Zaber Launcher PVT Editor App.
+     *
+     * Throws InvalidArgumentException if fields are undefined or inconsistent.
+     * For example, position and velocity arrays must have the same dimensions.
+     * Sequence lengths must be consistent for positions, velocities and times.
+     * @param sequenceData The PVT sequence data to save.
+     * @param path The path to save the file to.
+     * @param dimensionNames Optional csv column names for each series.
+     * If not provided, the default names will be used: Series 1, Series 2, etc..
+     * Length of this array must be equal to number of dimensions in sequence data.
+     */
+    static async saveSequenceData(sequenceData, path, dimensionNames) {
+        const request = {
+            ...requests.PvtSaveCsvRequest.DEFAULT,
+            sequenceData: sequenceData,
+            path: path,
+            dimensionNames: dimensionNames,
+            toBinary() {
+                return requests.PvtSaveCsvRequest.toBinary(this);
+            },
+        };
+        await gateway.callAsync('device/stream_pvt_save_csv', request);
+    }
+    /**
+     * Load PVT Sequence data from CSV file.
+     * The CSV data can include a header (recommended).
+     * There are two possible header formats:
+     *
+     * 1. A time column with named position and velocity columns.
+     * For example, "Time (ms),X Position (cm),X Velocity (cm/s),...".
+     * In this case, position, velocity and time columns are all optional.
+     * Also, order does not matter, but position and velocity names must be consistent.
+     * This is our recommended CSV format.
+     *
+     * 2. A time column with alternating position and velocity columns.
+     * For example, "Time (ms),Position (cm),Velocity (cm/s),...".
+     * In this case, only the time column is optional and order does matter.
+     *
+     * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
+     * Additionally, native units are the default if no units are specified.
+     * If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...".
+     * In this case the number of columns must be odd.
+     * @param path The path from which the csv file will be loaded.
+     * @returns The PVT csv data loaded from the file.
+     */
+    static async loadSequenceData(path) {
+        const request = {
+            ...requests.PvtLoadCsvRequest.DEFAULT,
+            path: path,
+            toBinary() {
+                return requests.PvtLoadCsvRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/stream_pvt_load_csv', request, pvt_csv_data_1.PvtCsvData.fromBinary);
+        return response;
+    }
     /**
      * @deprecated Use PvtSequence.Io.SetDigitalOutput instead.
      *

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

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

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

@@ -0,0 +1,27 @@
+import { BSON } from 'bson';
+import { MeasurementSequence } from '../ascii/measurement_sequence';
+/**
+ * Data representing a sequence of pvt points with defined positions, velocities and times.
+ */
+export interface PvtSequenceData {
+    /**
+     * Pvt sequence positions for each axis.
+     */
+    positions: MeasurementSequence[];
+    /**
+     * Pvt velocities for each axis.
+     */
+    velocities: MeasurementSequence[];
+    /**
+     * Relative times corresponding to points in PVT sequence.
+     */
+    times: MeasurementSequence;
+}
+export declare const PvtSequenceData: {
+    fromBinary: (buffer: Uint8Array) => PvtSequenceData;
+    toBinary: (value: PvtSequenceData) => Uint8Array;
+    DEFAULT: Readonly<PvtSequenceData>;
+    sanitize: (value: PvtSequenceData) => PvtSequenceData;
+    convert: (value: BSON.Document) => PvtSequenceData;
+};
+//# sourceMappingURL=pvt_sequence_data.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pvt_sequence_data.d.ts","sourceRoot":"","sources":["../../../src/ascii/pvt_sequence_data.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAC5B,OAAO,EAAE,mBAAmB,EAAE,MAAM,+BAA+B,CAAC;AAEpE;;GAEG;AACH,MAAM,WAAW,eAAe;IAC9B;;OAEG;IACH,SAAS,EAAE,mBAAmB,EAAE,CAAC;IAEjC;;OAEG;IACH,UAAU,EAAE,mBAAmB,EAAE,CAAC;IAElC;;OAEG;IACH,KAAK,EAAE,mBAAmB,CAAC;CAE5B;AAED,eAAO,MAAM,eAAe;yBACL,UAAU,KAAG,eAAe;sBAC/B,eAAe,KAAG,UAAU;;sBAM5B,eAAe,KAAG,eAAe;qBASlC,KAAK,QAAQ,KAAG,eAAe;CAKjD,CAAC"}

package/dist/lib/ascii/pvt_sequence_data.js

@@ -0,0 +1,34 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtSequenceData = void 0;
+/* This file is generated. Do not modify by hand. */
+const bson_1 = require("bson");
+const measurement_sequence_1 = require("../ascii/measurement_sequence");
+exports.PvtSequenceData = {
+    fromBinary: (buffer) => exports.PvtSequenceData.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.PvtSequenceData.sanitize(value)),
+    DEFAULT: Object.freeze({
+        positions: [],
+        velocities: [],
+        times: measurement_sequence_1.MeasurementSequence.DEFAULT,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected PvtSequenceData object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected PvtSequenceData object but got ${typeof value}.`);
+        }
+        return {
+            positions: Array.from(value.positions ?? [], item => measurement_sequence_1.MeasurementSequence.sanitize(item)),
+            velocities: Array.from(value.velocities ?? [], item => measurement_sequence_1.MeasurementSequence.sanitize(item)),
+            times: measurement_sequence_1.MeasurementSequence.sanitize(value.times),
+        };
+    },
+    convert: (value) => ({
+        positions: value.positions,
+        velocities: value.velocities,
+        times: value.times,
+    })
+};
+//# sourceMappingURL=pvt_sequence_data.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pvt_sequence_data.js","sourceRoot":"","sources":["../../../src/ascii/pvt_sequence_data.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,wEAAoE;AAuBvD,QAAA,eAAe,GAAG;IAC7B,UAAU,EAAE,CAAC,MAAkB,EAAmB,EAAE,CAAC,uBAAe,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IAC7H,QAAQ,EAAE,CAAC,KAAsB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,uBAAe,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACjG,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,SAAS,EAAE,EAAE;QACb,UAAU,EAAE,EAAE;QACd,KAAK,EAAE,0CAAmB,CAAC,OAAO;KACnC,CAA8B;IAC/B,QAAQ,EAAE,CAAC,KAAsB,EAAmB,EAAE;QACpD,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,4DAA4D,CAAC,CAAA;QAAC,CAAC;QACxG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,2CAA2C,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAClH,OAAO;YACL,SAAS,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,0CAAmB,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;YACxF,UAAU,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,UAAU,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,0CAAmB,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;YAC1F,KAAK,EAAE,0CAAmB,CAAC,QAAQ,CAAC,KAAK,CAAC,KAAK,CAAC;SACjD,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAmB,EAAE,CAAC,CAAC;QACnD,SAAS,EAAE,KAAK,CAAC,SAAS;QAC1B,UAAU,EAAE,KAAK,CAAC,UAAU;QAC5B,KAAK,EAAE,KAAK,CAAC,KAAK;KACnB,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { MeasurementSequence } from '../ascii/measurement_sequence';\n\n/**\n * Data representing a sequence of pvt points with defined positions, velocities and times.\n */\nexport interface PvtSequenceData {\n  /**\n   * Pvt sequence positions for each axis.\n   */\n  positions: MeasurementSequence[];\n\n  /**\n   * Pvt velocities for each axis.\n   */\n  velocities: MeasurementSequence[];\n\n  /**\n   * Relative times corresponding to points in PVT sequence.\n   */\n  times: MeasurementSequence;\n\n}\n\nexport const PvtSequenceData = {\n  fromBinary: (buffer: Uint8Array): PvtSequenceData => PvtSequenceData.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: PvtSequenceData): Uint8Array => BSON.serialize(PvtSequenceData.sanitize(value)),\n  DEFAULT: Object.freeze({\n    positions: [],\n    velocities: [],\n    times: MeasurementSequence.DEFAULT,\n  }) as Readonly<PvtSequenceData>,\n  sanitize: (value: PvtSequenceData): PvtSequenceData => {\n    if (value == null) { throw new TypeError('Expected PvtSequenceData object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected PvtSequenceData object but got ${typeof value}.`) }\n    return {\n      positions: Array.from(value.positions ?? [], item => MeasurementSequence.sanitize(item)),\n      velocities: Array.from(value.velocities ?? [], item => MeasurementSequence.sanitize(item)),\n      times: MeasurementSequence.sanitize(value.times),\n    };\n  },\n  convert: (value: BSON.Document): PvtSequenceData => ({\n    positions: value.positions,\n    velocities: value.velocities,\n    times: value.times,\n  })\n};\n"]}

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

@@ -1,3 +1,4 @@
+import { BSON } from 'bson';
 import { MessageType } from '../ascii/message_type';
 /**
  * Response message from the device.
@@ -37,5 +38,6 @@ export declare const Response: {
     toBinary: (value: Response) => Uint8Array;
     DEFAULT: Readonly<Response>;
     sanitize: (value: Response) => Response;
+    convert: (value: BSON.Document) => Response;
 };
 //# sourceMappingURL=response.d.ts.map

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

@@ -1 +1 @@
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+{"version":3,"file":"response.d.ts","sourceRoot":"","sources":["../../../src/ascii/response.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,WAAW,EAAE,MAAM,uBAAuB,CAAC;AAEpD;;GAEG;AACH,MAAM,WAAW,QAAQ;IACvB;;OAEG;IACH,aAAa,EAAE,MAAM,CAAC;IAEtB;;OAEG;IACH,UAAU,EAAE,MAAM,CAAC;IAEnB;;OAEG;IACH,SAAS,EAAE,MAAM,CAAC;IAElB;;OAEG;IACH,MAAM,EAAE,MAAM,CAAC;IAEf;;OAEG;IACH,WAAW,EAAE,MAAM,CAAC;IAEpB;;OAEG;IACH,IAAI,EAAE,MAAM,CAAC;IAEb;;OAEG;IACH,WAAW,EAAE,WAAW,CAAC;CAE1B;AAED,eAAO,MAAM,QAAQ;yBACE,UAAU,KAAG,QAAQ;sBACxB,QAAQ,KAAG,UAAU;;sBAUrB,QAAQ,KAAG,QAAQ;qBAapB,KAAK,QAAQ,KAAG,QAAQ;CAS1C,CAAC"}

package/dist/lib/ascii/response.js

@@ -6,7 +6,7 @@ const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const message_type_1 = require("../ascii/message_type");
 exports.Response = {
-    fromBinary: (buffer) => bson_1.BSON.deserialize(buffer),
+    fromBinary: (buffer) => exports.Response.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
     toBinary: (value) => bson_1.BSON.serialize(exports.Response.sanitize(value)),
     DEFAULT: Object.freeze({
         deviceAddress: 0,
@@ -34,5 +34,14 @@ exports.Response = {
             messageType: sanitizer_1.sanitizer.sanitizeEnum(value.messageType, 'MessageType', message_type_1.MessageType, 'messageType'),
         };
     },
+    convert: (value) => ({
+        deviceAddress: value.deviceAddress,
+        axisNumber: value.axisNumber,
+        replyFlag: value.replyFlag,
+        status: value.status,
+        warningFlag: value.warningFlag,
+        data: value.data,
+        messageType: value.messageType,
+    })
 };
 //# sourceMappingURL=response.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"response.js","sourceRoot":"","sources":["../../../src/ascii/response.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,wDAAoD;AA2CvC,QAAA,QAAQ,GAAG;IACtB,UAAU,EAAE,CAAC,MAAkB,EAAY,EAAE,CAAC,gBAAQ,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IAC/G,QAAQ,EAAE,CAAC,KAAe,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,gBAAQ,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACnF,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,aAAa,EAAE,CAAC;QAChB,UAAU,EAAE,CAAC;QACb,SAAS,EAAE,EAAE;QACb,MAAM,EAAE,EAAE;QACV,WAAW,EAAE,EAAE;QACf,IAAI,EAAE,EAAE;QACR,WAAW,EAAE,CAAgB;KAC9B,CAAuB;IACxB,QAAQ,EAAE,CAAC,KAAe,EAAY,EAAE;QACtC,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,qDAAqD,CAAC,CAAA;QAAC,CAAC;QACjG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,oCAAoC,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAC3G,OAAO;YACL,aAAa,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,aAAa,EAAE,eAAe,CAAC;YAC1E,UAAU,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,UAAU,EAAE,YAAY,CAAC;YACjE,SAAS,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,SAAS,EAAE,WAAW,CAAC;YACjE,MAAM,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,MAAM,EAAE,QAAQ,CAAC;YACxD,WAAW,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,WAAW,EAAE,aAAa,CAAC;YACvE,IAAI,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,IAAI,EAAE,MAAM,CAAC;YAClD,WAAW,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,WAAW,EAAE,aAAa,EAAE,0BAAW,EAAE,aAAa,CAAC;SAClG,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAY,EAAE,CAAC,CAAC;QAC5C,aAAa,EAAE,KAAK,CAAC,aAAa;QAClC,UAAU,EAAE,KAAK,CAAC,UAAU;QAC5B,SAAS,EAAE,KAAK,CAAC,SAAS;QAC1B,MAAM,EAAE,KAAK,CAAC,MAAM;QACpB,WAAW,EAAE,KAAK,CAAC,WAAW;QAC9B,IAAI,EAAE,KAAK,CAAC,IAAI;QAChB,WAAW,EAAE,KAAK,CAAC,WAAW;KAC/B,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { MessageType } from '../ascii/message_type';\n\n/**\n * Response message from the device.\n */\nexport interface Response {\n  /**\n   * Number of the device that sent the message.\n   */\n  deviceAddress: number;\n\n  /**\n   * Number of the axis which the response applies to. Zero denotes device scope.\n   */\n  axisNumber: number;\n\n  /**\n   * The reply flag indicates if the request was accepted (OK) or rejected (RJ).\n   */\n  replyFlag: string;\n\n  /**\n   * The device status contains BUSY when the axis is moving and IDLE otherwise.\n   */\n  status: string;\n\n  /**\n   * The warning flag contains the highest priority warning currently active for the device or axis.\n   */\n  warningFlag: string;\n\n  /**\n   * Response data which varies depending on the request.\n   */\n  data: string;\n\n  /**\n   * Type of the reply received.\n   */\n  messageType: MessageType;\n\n}\n\nexport const Response = {\n  fromBinary: (buffer: Uint8Array): Response => Response.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: Response): Uint8Array => BSON.serialize(Response.sanitize(value)),\n  DEFAULT: Object.freeze({\n    deviceAddress: 0,\n    axisNumber: 0,\n    replyFlag: '',\n    status: '',\n    warningFlag: '',\n    data: '',\n    messageType: 0 as MessageType,\n  }) as Readonly<Response>,\n  sanitize: (value: Response): Response => {\n    if (value == null) { throw new TypeError('Expected Response object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected Response object but got ${typeof value}.`) }\n    return {\n      deviceAddress: sanitizer.sanitizeInt(value.deviceAddress, 'deviceAddress'),\n      axisNumber: sanitizer.sanitizeInt(value.axisNumber, 'axisNumber'),\n      replyFlag: sanitizer.sanitizeString(value.replyFlag, 'replyFlag'),\n      status: sanitizer.sanitizeString(value.status, 'status'),\n      warningFlag: sanitizer.sanitizeString(value.warningFlag, 'warningFlag'),\n      data: sanitizer.sanitizeString(value.data, 'data'),\n      messageType: sanitizer.sanitizeEnum(value.messageType, 'MessageType', MessageType, 'messageType'),\n    };\n  },\n  convert: (value: BSON.Document): Response => ({\n    deviceAddress: value.deviceAddress,\n    axisNumber: value.axisNumber,\n    replyFlag: value.replyFlag,\n    status: value.status,\n    warningFlag: value.warningFlag,\n    data: value.data,\n    messageType: value.messageType,\n  })\n};\n"]}

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

@@ -1,3 +1,4 @@
+import { BSON } from 'bson';
 /**
  * A parameter used to establish the servo tuning of an axis.
  */
@@ -16,5 +17,6 @@ export declare const ServoTuningParam: {
     toBinary: (value: ServoTuningParam) => Uint8Array;
     DEFAULT: Readonly<ServoTuningParam>;
     sanitize: (value: ServoTuningParam) => ServoTuningParam;
+    convert: (value: BSON.Document) => ServoTuningParam;
 };
 //# sourceMappingURL=servo_tuning_param.d.ts.map

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

@@ -1 +1 @@
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