@zaber/motion 7.6.2 → 7.8.0

package/dist/lib/ascii/paramset_info.js

@@ -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

@@ -1 +1 @@
-{"version":3,"file":"paramset_info.js","sourceRoot":"","sources":["../../../src/ascii/paramset_info.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,oEAA+D;AAuBlD,QAAA,YAAY,GAAG;IAC1B,UAAU,EAAE,CAAC,MAAkB,EAAgB,EAAE,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,CAAiB;IAC1F,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,IAAI,EAAE,EAAE;QACR,OAAO,EAAE,CAAC;QACV,MAAM,EAAE,EAAE;KACX,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,IAAI,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,IAAI,EAAE,MAAM,CAAC;YAClD,OAAO,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC;YACxD,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,MAAA,KAAK,CAAC,MAAM,mCAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qCAAgB,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;SAChF,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 { ServoTuningParam } from '../ascii/servo_tuning_param';\n\n/**\n * The raw parameters currently saved to a given paramset.\n */\nexport interface ParamsetInfo {\n  /**\n   * The tuning algorithm used for this axis.\n   */\n  type: string;\n\n  /**\n   * The version of the tuning algorithm used for this axis.\n   */\n  version: number;\n\n  /**\n   * The raw tuning parameters of this device.\n   */\n  params: ServoTuningParam[];\n\n}\n\nexport const ParamsetInfo = {\n  fromBinary: (buffer: Uint8Array): ParamsetInfo => BSON.deserialize(buffer) as ParamsetInfo,\n  toBinary: (value: ParamsetInfo): Uint8Array => BSON.serialize(ParamsetInfo.sanitize(value)),\n  DEFAULT: Object.freeze({\n    type: '',\n    version: 0,\n    params: [],\n  }) as Readonly<ParamsetInfo>,\n  sanitize: (value: ParamsetInfo): ParamsetInfo => {\n    if (value == null) { throw new TypeError('Expected ParamsetInfo object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected ParamsetInfo object but got ${typeof value}.`) }\n    return {\n      type: sanitizer.sanitizeString(value.type, 'type'),\n      version: sanitizer.sanitizeInt(value.version, 'version'),\n      params: Array.from(value.params ?? [], item => ServoTuningParam.sanitize(item)),\n    };\n  },\n};\n"]}
+{"version":3,"file":"paramset_info.js","sourceRoot":"","sources":["../../../src/ascii/paramset_info.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,oEAA+D;AAuBlD,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,IAAI,EAAE,EAAE;QACR,OAAO,EAAE,CAAC;QACV,MAAM,EAAE,EAAE;KACX,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,IAAI,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,IAAI,EAAE,MAAM,CAAC;YAClD,OAAO,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC;YACxD,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qCAAgB,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;SAChF,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAgB,EAAE,CAAC,CAAC;QAChD,IAAI,EAAE,KAAK,CAAC,IAAI;QAChB,OAAO,EAAE,KAAK,CAAC,OAAO;QACtB,MAAM,EAAE,KAAK,CAAC,MAAM;KACrB,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { ServoTuningParam } from '../ascii/servo_tuning_param';\n\n/**\n * The raw parameters currently saved to a given paramset.\n */\nexport interface ParamsetInfo {\n  /**\n   * The tuning algorithm used for this axis.\n   */\n  type: string;\n\n  /**\n   * The version of the tuning algorithm used for this axis.\n   */\n  version: number;\n\n  /**\n   * The raw tuning parameters of this device.\n   */\n  params: ServoTuningParam[];\n\n}\n\nexport const ParamsetInfo = {\n  fromBinary: (buffer: Uint8Array): ParamsetInfo => ParamsetInfo.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: ParamsetInfo): Uint8Array => BSON.serialize(ParamsetInfo.sanitize(value)),\n  DEFAULT: Object.freeze({\n    type: '',\n    version: 0,\n    params: [],\n  }) as Readonly<ParamsetInfo>,\n  sanitize: (value: ParamsetInfo): ParamsetInfo => {\n    if (value == null) { throw new TypeError('Expected ParamsetInfo object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected ParamsetInfo object but got ${typeof value}.`) }\n    return {\n      type: sanitizer.sanitizeString(value.type, 'type'),\n      version: sanitizer.sanitizeInt(value.version, 'version'),\n      params: Array.from(value.params ?? [], item => ServoTuningParam.sanitize(item)),\n    };\n  },\n  convert: (value: BSON.Document): ParamsetInfo => ({\n    type: value.type,\n    version: value.version,\n    params: value.params,\n  })\n};\n"]}

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

@@ -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

@@ -1 +1 @@
-{"version":3,"file":"pid_tuning.d.ts","sourceRoot":"","sources":["../../../src/ascii/pid_tuning.ts"],"names":[],"mappings":"AAIA;;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;CAYxC,CAAC"}
+{"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

@@ -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

@@ -1 +1 @@
-{"version":3,"file":"pid_tuning.js","sourceRoot":"","sources":["../../../src/ascii/pid_tuning.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AAsCpC,QAAA,SAAS,GAAG;IACvB,UAAU,EAAE,CAAC,MAAkB,EAAa,EAAE,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,CAAc;IACpF,QAAQ,EAAE,CAAC,KAAgB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,iBAAS,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACrF,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,IAAI,EAAE,EAAE;QACR,OAAO,EAAE,CAAC;QACV,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,EAAE,EAAE,CAAC;KACN,CAAwB;IACzB,QAAQ,EAAE,CAAC,KAAgB,EAAa,EAAE;QACxC,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,sDAAsD,CAAC,CAAA;QAAC,CAAC;QAClG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,qCAAqC,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAC5G,OAAO;YACL,IAAI,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,IAAI,EAAE,MAAM,CAAC;YAClD,OAAO,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC;YACxD,CAAC,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC;YACzC,CAAC,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC;YACzC,CAAC,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC;YACzC,EAAE,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,EAAE,EAAE,IAAI,CAAC;SAC7C,CAAC;IACJ,CAAC;CACF,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\n\n/**\n * The tuning of this axis represented by PID parameters.\n */\nexport interface PidTuning {\n  /**\n   * The tuning algorithm used to tune this axis.\n   */\n  type: string;\n\n  /**\n   * The version of the tuning algorithm used to tune this axis.\n   */\n  version: number;\n\n  /**\n   * The positional tuning argument.\n   */\n  p: number;\n\n  /**\n   * The integral tuning argument.\n   */\n  i: number;\n\n  /**\n   * The derivative tuning argument.\n   */\n  d: number;\n\n  /**\n   * The frequency cutoff for the tuning.\n   */\n  fc: number;\n\n}\n\nexport const PidTuning = {\n  fromBinary: (buffer: Uint8Array): PidTuning => BSON.deserialize(buffer) as PidTuning,\n  toBinary: (value: PidTuning): Uint8Array => BSON.serialize(PidTuning.sanitize(value)),\n  DEFAULT: Object.freeze({\n    type: '',\n    version: 0,\n    p: 0,\n    i: 0,\n    d: 0,\n    fc: 0,\n  }) as Readonly<PidTuning>,\n  sanitize: (value: PidTuning): PidTuning => {\n    if (value == null) { throw new TypeError('Expected PidTuning object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected PidTuning object but got ${typeof value}.`) }\n    return {\n      type: sanitizer.sanitizeString(value.type, 'type'),\n      version: sanitizer.sanitizeInt(value.version, 'version'),\n      p: sanitizer.sanitizeNumber(value.p, 'p'),\n      i: sanitizer.sanitizeNumber(value.i, 'i'),\n      d: sanitizer.sanitizeNumber(value.d, 'd'),\n      fc: sanitizer.sanitizeNumber(value.fc, 'fc'),\n    };\n  },\n};\n"]}
+{"version":3,"file":"pid_tuning.js","sourceRoot":"","sources":["../../../src/ascii/pid_tuning.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AAsCpC,QAAA,SAAS,GAAG;IACvB,UAAU,EAAE,CAAC,MAAkB,EAAa,EAAE,CAAC,iBAAS,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IACjH,QAAQ,EAAE,CAAC,KAAgB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,iBAAS,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACrF,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,IAAI,EAAE,EAAE;QACR,OAAO,EAAE,CAAC;QACV,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,EAAE,EAAE,CAAC;KACN,CAAwB;IACzB,QAAQ,EAAE,CAAC,KAAgB,EAAa,EAAE;QACxC,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,sDAAsD,CAAC,CAAA;QAAC,CAAC;QAClG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,qCAAqC,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAC5G,OAAO;YACL,IAAI,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,IAAI,EAAE,MAAM,CAAC;YAClD,OAAO,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC;YACxD,CAAC,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC;YACzC,CAAC,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC;YACzC,CAAC,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC;YACzC,EAAE,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,EAAE,EAAE,IAAI,CAAC;SAC7C,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAa,EAAE,CAAC,CAAC;QAC7C,IAAI,EAAE,KAAK,CAAC,IAAI;QAChB,OAAO,EAAE,KAAK,CAAC,OAAO;QACtB,CAAC,EAAE,KAAK,CAAC,CAAC;QACV,CAAC,EAAE,KAAK,CAAC,CAAC;QACV,CAAC,EAAE,KAAK,CAAC,CAAC;QACV,EAAE,EAAE,KAAK,CAAC,EAAE;KACb,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 tuning of this axis represented by PID parameters.\n */\nexport interface PidTuning {\n  /**\n   * The tuning algorithm used to tune this axis.\n   */\n  type: string;\n\n  /**\n   * The version of the tuning algorithm used to tune this axis.\n   */\n  version: number;\n\n  /**\n   * The positional tuning argument.\n   */\n  p: number;\n\n  /**\n   * The integral tuning argument.\n   */\n  i: number;\n\n  /**\n   * The derivative tuning argument.\n   */\n  d: number;\n\n  /**\n   * The frequency cutoff for the tuning.\n   */\n  fc: number;\n\n}\n\nexport const PidTuning = {\n  fromBinary: (buffer: Uint8Array): PidTuning => PidTuning.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: PidTuning): Uint8Array => BSON.serialize(PidTuning.sanitize(value)),\n  DEFAULT: Object.freeze({\n    type: '',\n    version: 0,\n    p: 0,\n    i: 0,\n    d: 0,\n    fc: 0,\n  }) as Readonly<PidTuning>,\n  sanitize: (value: PidTuning): PidTuning => {\n    if (value == null) { throw new TypeError('Expected PidTuning object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected PidTuning object but got ${typeof value}.`) }\n    return {\n      type: sanitizer.sanitizeString(value.type, 'type'),\n      version: sanitizer.sanitizeInt(value.version, 'version'),\n      p: sanitizer.sanitizeNumber(value.p, 'p'),\n      i: sanitizer.sanitizeNumber(value.i, 'i'),\n      d: sanitizer.sanitizeNumber(value.d, 'd'),\n      fc: sanitizer.sanitizeNumber(value.fc, 'fc'),\n    };\n  },\n  convert: (value: BSON.Document): PidTuning => ({\n    type: value.type,\n    version: value.version,\n    p: value.p,\n    i: value.i,\n    d: value.d,\n    fc: value.fc,\n  })\n};\n"]}

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

@@ -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

@@ -1 +1 @@
-{"version":3,"file":"pvt_axis_definition.d.ts","sourceRoot":"","sources":["../../../src/ascii/pvt_axis_definition.ts"],"names":[],"mappings":"AAGA,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;CAQxD,CAAC"}
+{"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

@@ -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

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

@@ -1 +1 @@
-{"version":3,"file":"pvt_axis_definition.js","sourceRoot":"","sources":["../../../src/ascii/pvt_axis_definition.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,0DAAqD;AAkBxC,QAAA,iBAAiB,GAAG;IAC/B,UAAU,EAAE,CAAC,MAAkB,EAAqB,EAAE,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,CAAsB;IACpG,QAAQ,EAAE,CAAC,KAAwB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,yBAAiB,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACrG,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,UAAU,EAAE,CAAC;QACb,QAAQ,EAAE,IAAI;KACf,CAAgC;IACjC,QAAQ,EAAE,CAAC,KAAwB,EAAqB,EAAE;QACxD,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,8DAA8D,CAAC,CAAA;QAAC,CAAC;QAC1G,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,6CAA6C,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QACpH,OAAO;YACL,UAAU,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,UAAU,EAAE,YAAY,CAAC;YACjE,QAAQ,EAAE,KAAK,CAAC,QAAQ,IAAI,IAAI,CAAC,CAAC,CAAC,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,QAAQ,EAAE,aAAa,EAAE,2BAAW,EAAE,UAAU,CAAC,CAAC,CAAC,CAAC,IAAI;SACzH,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 { PvtAxisType } from '../ascii/pvt_axis_type';\n\n/**\n * Defines an axis of the PVT sequence.\n */\nexport interface PvtAxisDefinition {\n  /**\n   * Number of a physical axis or a lockstep group.\n   */\n  axisNumber: number;\n\n  /**\n   * Defines the type of the axis.\n   */\n  axisType?: (PvtAxisType | null);\n\n}\n\nexport const PvtAxisDefinition = {\n  fromBinary: (buffer: Uint8Array): PvtAxisDefinition => BSON.deserialize(buffer) as PvtAxisDefinition,\n  toBinary: (value: PvtAxisDefinition): Uint8Array => BSON.serialize(PvtAxisDefinition.sanitize(value)),\n  DEFAULT: Object.freeze({\n    axisNumber: 0,\n    axisType: null,\n  }) as Readonly<PvtAxisDefinition>,\n  sanitize: (value: PvtAxisDefinition): PvtAxisDefinition => {\n    if (value == null) { throw new TypeError('Expected PvtAxisDefinition object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected PvtAxisDefinition object but got ${typeof value}.`) }\n    return {\n      axisNumber: sanitizer.sanitizeInt(value.axisNumber, 'axisNumber'),\n      axisType: value.axisType != null ? sanitizer.sanitizeEnum(value.axisType, 'PvtAxisType', PvtAxisType, 'axisType') : null,\n    };\n  },\n};\n"]}
+{"version":3,"file":"pvt_axis_definition.js","sourceRoot":"","sources":["../../../src/ascii/pvt_axis_definition.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,0DAAqD;AAkBxC,QAAA,iBAAiB,GAAG;IAC/B,UAAU,EAAE,CAAC,MAAkB,EAAqB,EAAE,CAAC,yBAAiB,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IACjI,QAAQ,EAAE,CAAC,KAAwB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,yBAAiB,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IACrG,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,UAAU,EAAE,CAAC;QACb,QAAQ,EAAE,IAAI;KACf,CAAgC;IACjC,QAAQ,EAAE,CAAC,KAAwB,EAAqB,EAAE;QACxD,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,8DAA8D,CAAC,CAAA;QAAC,CAAC;QAC1G,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,6CAA6C,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QACpH,OAAO;YACL,UAAU,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,UAAU,EAAE,YAAY,CAAC;YACjE,QAAQ,EAAE,KAAK,CAAC,QAAQ,IAAI,IAAI,CAAC,CAAC,CAAC,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,QAAQ,EAAE,aAAa,EAAE,2BAAW,EAAE,UAAU,CAAC,CAAC,CAAC,CAAC,IAAI;SACzH,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAqB,EAAE,CAAC,CAAC;QACrD,UAAU,EAAE,KAAK,CAAC,UAAU;QAC5B,QAAQ,EAAE,KAAK,CAAC,QAAQ;KACzB,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { PvtAxisType } from '../ascii/pvt_axis_type';\n\n/**\n * Defines an axis of the PVT sequence.\n */\nexport interface PvtAxisDefinition {\n  /**\n   * Number of a physical axis or a lockstep group.\n   */\n  axisNumber: number;\n\n  /**\n   * Defines the type of the axis.\n   */\n  axisType?: (PvtAxisType | null);\n\n}\n\nexport const PvtAxisDefinition = {\n  fromBinary: (buffer: Uint8Array): PvtAxisDefinition => PvtAxisDefinition.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: PvtAxisDefinition): Uint8Array => BSON.serialize(PvtAxisDefinition.sanitize(value)),\n  DEFAULT: Object.freeze({\n    axisNumber: 0,\n    axisType: null,\n  }) as Readonly<PvtAxisDefinition>,\n  sanitize: (value: PvtAxisDefinition): PvtAxisDefinition => {\n    if (value == null) { throw new TypeError('Expected PvtAxisDefinition object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected PvtAxisDefinition object but got ${typeof value}.`) }\n    return {\n      axisNumber: sanitizer.sanitizeInt(value.axisNumber, 'axisNumber'),\n      axisType: value.axisType != null ? sanitizer.sanitizeEnum(value.axisType, 'PvtAxisType', PvtAxisType, 'axisType') : null,\n    };\n  },\n  convert: (value: BSON.Document): PvtAxisDefinition => ({\n    axisNumber: value.axisNumber,\n    axisType: value.axisType,\n  })\n};\n"]}

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

@@ -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

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

@@ -3,6 +3,10 @@ import { Measurement } from '../measurement';
 import { PvtBuffer } from './pvt_buffer';
 import { PvtMode } from './pvt_mode';
 import { PvtAxisDefinition } from './pvt_axis_definition';
+import { MeasurementSequence } from './measurement_sequence';
+import { OptionalMeasurementSequence } from './optional_measurement_sequence';
+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 +81,15 @@ 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 +101,54 @@ 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>;
+    /**
+     * Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence
+     * of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.
+     * If all velocities are defined, the solver will simply return the same velocities.
+     * This function calculates velocities by enforcing that acceleration be continuous at each segment transition.
+     *
+     * Also note that if generating a path for multiple axes, the user must provide a position measurement sequence
+     * per axis, And the values arrays for each sequence must be equal in length to each other and also to the
+     * times sequence.
+     * @param positions Positions for the axes to move through, relative to their home positions.
+     * Each MeasurementSequence represents a sequence of positions along a particular dimension.
+     * For example, a 2D path sequence would contain two MeasurementSequence objects,
+     * one representing positions along X and one for those along Y.
+     * @param times The relative or absolute time of each position in the PVT sequence.
+     * @param velocities Optional velocities corresponding to each point in the position sequences.
+     * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,
+     * they are interpreted as absolute. Note that the values of the returned time
+     * sequence are ALWAYS relative. This is because the PVT sequence API expects
+     * points to have relative times.
+     * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+     */
+    static generateVelocities(positions: MeasurementSequence[], times: MeasurementSequence, velocities?: OptionalMeasurementSequence[], timesRelative?: boolean): Promise<PvtSequenceData>;
+    /**
+     * Generates positions for a sequence of velocities and times. This function calculates
+     * positions by enforcing that acceleration be continuous at each segment transition.
+     *
+     * Note that if generating a path for multiple axes, the user must provide a
+     * velocity measurement sequence per axis, and the values arrays for each sequence
+     * must be equal in length to each other and also to the times sequence.
+     * @param velocities The sequence of velocities for each axis.
+     * Each MeasurementSequence represents a sequence of velocities along particular dimension.
+     * @param times The relative or absolute time of each position in the PVT sequence.
+     * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,
+     * they are interpreted as absolute. Note that the values of the returned time
+     * sequence are ALWAYS relative. This is because the PVT sequence API expects
+     * points to have relative times.
+     * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+     */
+    static generatePositions(velocities: MeasurementSequence[], times: MeasurementSequence, timesRelative?: boolean): Promise<PvtSequenceData>;
     /**
      * 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 +221,43 @@ 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 @@
-{"version":3,"file":"pvt_sequence.d.ts","sourceRoot":"","sources":["../../../src/ascii/pvt_sequence.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,MAAM,EAAE,MAAM,UAAU,CAAC;AAGlC,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAC7C,OAAO,EAAE,SAAS,EAAE,MAAM,cAAc,CAAC;AACzC,OAAO,EAAE,OAAO,EAAE,MAAM,YAAY,CAAC;AACrC,OAAO,EAAE,iBAAiB,EAAE,MAAM,uBAAuB,CAAC;AAC1D,OAAO,EAAE,KAAK,EAAE,MAAM,UAAU,CAAC;AACjC,OAAO,EAAE,mBAAmB,EAAE,MAAM,yBAAyB,CAAC;AAE9D;;;;;;GAMG;AACH,qBAAa,WAAW;IACtB;;OAEG;IACH,IAAW,MAAM,IAAI,MAAM,CAE1B;IACD,OAAO,CAAC,OAAO,CAAS;IAExB;;OAEG;IACH,IAAW,KAAK,IAAI,MAAM,CAEzB;IACD,OAAO,CAAC,MAAM,CAAS;IAEvB;;OAEG;IACH,IAAW,IAAI,IAAI,OAAO,CAEzB;IAED;;OAEG;IACH,IAAW,IAAI,IAAI,iBAAiB,EAAE,CAErC;IAED;;OAEG;IACH,IAAW,EAAE,IAAI,KAAK,CAErB;IACD,OAAO,CAAC,GAAG,CAAQ;gBAEP,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM;IAMzC;;;;OAIG;IACU,kBAAkB,CAC7B,GAAG,OAAO,EAAE,iBAAiB,EAAE,GAC9B,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;OAGG;IACU,SAAS,CACpB,GAAG,IAAI,EAAE,MAAM,EAAE,GAChB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,mBAAmB,CAC9B,SAAS,EAAE,SAAS,EACpB,GAAG,OAAO,EAAE,iBAAiB,EAAE,GAC9B,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;OAIG;IACU,UAAU,CACrB,SAAS,EAAE,SAAS,EACpB,GAAG,IAAI,EAAE,MAAM,EAAE,GAChB,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;OAGG;IACU,IAAI,CACf,SAAS,EAAE,SAAS,GACnB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;;;;;OASG;IACU,KAAK,CAChB,SAAS,EAAE,WAAW,EAAE,EACxB,UAAU,EAAE,CAAC,WAAW,GAAG,IAAI,CAAC,EAAE,EAClC,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;;;;;OASG;IACU,aAAa,CACxB,SAAS,EAAE,WAAW,EAAE,EACxB,UAAU,EAAE,CAAC,WAAW,GAAG,IAAI,CAAC,EAAE,EAClC,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;OAGG;IACU,aAAa,CACxB,OAAO,GAAE,WAAW,CAAC,oBAAyB,GAC7C,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;OAKG;IACU,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAelC;;;OAGG;IACU,MAAM,IAAI,OAAO,CAAC,IAAI,CAAC;IAepC;;;OAGG;IACU,MAAM,IAAI,OAAO,CAAC,OAAO,CAAC;IAmBvC;;;OAGG;IACI,QAAQ,IAAI,MAAM;IAmBzB;;;;;OAKG;IACU,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC;IAerC;;;;OAIG;IACU,cAAc,CACzB,OAAO,EAAE,MAAM,GACd,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,mBAAmB,CAC9B,KAAK,EAAE,MAAM,EAAE,GACd,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,aAAa,IAAI,OAAO,CAAC,OAAO,CAAC;IAmB9C;;OAEG;IACI,2BAA2B,IAAI,IAAI;IAe1C;;OAEG;IACI,0BAA0B,IAAI,IAAI;IAezC;;;OAGG;IACH,OAAO,CAAC,aAAa;IAmBrB;;;OAGG;IACH,OAAO,CAAC,aAAa;IAmBrB;;;;;;OAMG;IACU,gBAAgB,CAC3B,aAAa,EAAE,MAAM,EACrB,KAAK,EAAE,mBAAmB,GACzB,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;;OAKG;IACU,oBAAoB,CAC/B,MAAM,EAAE,mBAAmB,EAAE,GAC5B,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;;OAMG;IACU,eAAe,CAC1B,aAAa,EAAE,MAAM,EACrB,KAAK,EAAE,MAAM,GACZ,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;;OAKG;IACU,mBAAmB,CAC9B,MAAM,EAAE,MAAM,EAAE,GACf,OAAO,CAAC,IAAI,CAAC;CAejB;AAED,kBAAU,WAAW,CAAC;IACpB,UAAiB,oBAAoB;QACjC;;WAEG;QACH,iBAAiB,CAAC,EAAE,OAAO,CAAC;KAC/B;CACF"}
+{"version":3,"file":"pvt_sequence.d.ts","sourceRoot":"","sources":["../../../src/ascii/pvt_sequence.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,MAAM,EAAE,MAAM,UAAU,CAAC;AAGlC,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAC7C,OAAO,EAAE,SAAS,EAAE,MAAM,cAAc,CAAC;AACzC,OAAO,EAAE,OAAO,EAAE,MAAM,YAAY,CAAC;AACrC,OAAO,EAAE,iBAAiB,EAAE,MAAM,uBAAuB,CAAC;AAC1D,OAAO,EAAE,mBAAmB,EAAE,MAAM,wBAAwB,CAAC;AAC7D,OAAO,EAAE,2BAA2B,EAAE,MAAM,iCAAiC,CAAC;AAC9E,OAAO,EAAE,eAAe,EAAE,MAAM,qBAAqB,CAAC;AACtD,OAAO,EAAE,UAAU,EAAE,MAAM,gBAAgB,CAAC;AAC5C,OAAO,EAAE,KAAK,EAAE,MAAM,UAAU,CAAC;AACjC,OAAO,EAAE,mBAAmB,EAAE,MAAM,yBAAyB,CAAC;AAE9D;;;;;;GAMG;AACH,qBAAa,WAAW;IACtB;;OAEG;IACH,IAAW,MAAM,IAAI,MAAM,CAE1B;IACD,OAAO,CAAC,OAAO,CAAS;IAExB;;OAEG;IACH,IAAW,KAAK,IAAI,MAAM,CAEzB;IACD,OAAO,CAAC,MAAM,CAAS;IAEvB;;OAEG;IACH,IAAW,IAAI,IAAI,OAAO,CAEzB;IAED;;OAEG;IACH,IAAW,IAAI,IAAI,iBAAiB,EAAE,CAErC;IAED;;OAEG;IACH,IAAW,EAAE,IAAI,KAAK,CAErB;IACD,OAAO,CAAC,GAAG,CAAQ;gBAEP,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM;IAMzC;;;;OAIG;IACU,kBAAkB,CAC7B,GAAG,OAAO,EAAE,iBAAiB,EAAE,GAC9B,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;OAGG;IACU,SAAS,CACpB,GAAG,IAAI,EAAE,MAAM,EAAE,GAChB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,mBAAmB,CAC9B,SAAS,EAAE,SAAS,EACpB,GAAG,OAAO,EAAE,iBAAiB,EAAE,GAC9B,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;OAIG;IACU,UAAU,CACrB,SAAS,EAAE,SAAS,EACpB,GAAG,IAAI,EAAE,MAAM,EAAE,GAChB,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;OAGG;IACU,IAAI,CACf,SAAS,EAAE,SAAS,GACnB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;;;;;OASG;IACU,KAAK,CAChB,SAAS,EAAE,WAAW,EAAE,EACxB,UAAU,EAAE,CAAC,WAAW,GAAG,IAAI,CAAC,EAAE,EAClC,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;;;OAOG;IACU,MAAM,CACjB,SAAS,EAAE,mBAAmB,EAAE,EAChC,UAAU,EAAE,mBAAmB,EAAE,EACjC,KAAK,EAAE,mBAAmB,GACzB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;;;;;OASG;IACU,aAAa,CACxB,SAAS,EAAE,WAAW,EAAE,EACxB,UAAU,EAAE,CAAC,WAAW,GAAG,IAAI,CAAC,EAAE,EAClC,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;;;OAOG;IACU,cAAc,CACzB,SAAS,EAAE,mBAAmB,EAAE,EAChC,UAAU,EAAE,mBAAmB,EAAE,EACjC,KAAK,EAAE,mBAAmB,GACzB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;;;;;;;;;;;;;;;;OAoBG;WACiB,kBAAkB,CACpC,SAAS,EAAE,mBAAmB,EAAE,EAChC,KAAK,EAAE,mBAAmB,EAC1B,UAAU,CAAC,EAAE,2BAA2B,EAAE,EAC1C,aAAa,GAAE,OAAc,GAC5B,OAAO,CAAC,eAAe,CAAC;IAmB3B;;;;;;;;;;;;;;;OAeG;WACiB,iBAAiB,CACnC,UAAU,EAAE,mBAAmB,EAAE,EACjC,KAAK,EAAE,mBAAmB,EAC1B,aAAa,GAAE,OAAc,GAC5B,OAAO,CAAC,eAAe,CAAC;IAkB3B;;;OAGG;IACU,aAAa,CACxB,OAAO,GAAE,WAAW,CAAC,oBAAyB,GAC7C,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;OAKG;IACU,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAelC;;;OAGG;IACU,MAAM,IAAI,OAAO,CAAC,IAAI,CAAC;IAepC;;;OAGG;IACU,MAAM,IAAI,OAAO,CAAC,OAAO,CAAC;IAmBvC;;;OAGG;IACI,QAAQ,IAAI,MAAM;IAmBzB;;;;;OAKG;IACU,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC;IAerC;;;;OAIG;IACU,cAAc,CACzB,OAAO,EAAE,MAAM,GACd,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,mBAAmB,CAC9B,KAAK,EAAE,MAAM,EAAE,GACd,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,aAAa,IAAI,OAAO,CAAC,OAAO,CAAC;IAmB9C;;OAEG;IACI,2BAA2B,IAAI,IAAI;IAe1C;;OAEG;IACI,0BAA0B,IAAI,IAAI;IAezC;;;OAGG;IACH,OAAO,CAAC,aAAa;IAmBrB;;;OAGG;IACH,OAAO,CAAC,aAAa;IAmBrB;;;;;;;;;;;;OAYG;WACiB,gBAAgB,CAClC,YAAY,EAAE,eAAe,EAC7B,IAAI,EAAE,MAAM,EACZ,cAAc,CAAC,EAAE,MAAM,EAAE,GACxB,OAAO,CAAC,IAAI,CAAC;IAchB;;;;;;;;;;;;;;;;;;;;;OAqBG;WACiB,gBAAgB,CAClC,IAAI,EAAE,MAAM,GACX,OAAO,CAAC,UAAU,CAAC;IAgBtB;;;;;;OAMG;IACU,gBAAgB,CAC3B,aAAa,EAAE,MAAM,EACrB,KAAK,EAAE,mBAAmB,GACzB,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;;OAKG;IACU,oBAAoB,CAC/B,MAAM,EAAE,mBAAmB,EAAE,GAC5B,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;;OAMG;IACU,eAAe,CAC1B,aAAa,EAAE,MAAM,EACrB,KAAK,EAAE,MAAM,GACZ,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;;OAKG;IACU,mBAAmB,CAC9B,MAAM,EAAE,MAAM,EAAE,GACf,OAAO,CAAC,IAAI,CAAC;CAejB;AAED,kBAAU,WAAW,CAAC;IACpB,UAAiB,oBAAoB;QACjC;;WAEG;QACH,iBAAiB,CAAC,EAAE,OAAO,CAAC;KAC/B;CACF"}

package/dist/lib/ascii/pvt_sequence.js

@@ -28,6 +28,8 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.PvtSequence = void 0;
 const gateway = __importStar(require("../gateway"));
 const requests = __importStar(require("../requests"));
+const pvt_sequence_data_1 = require("./pvt_sequence_data");
+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 +197,31 @@ 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 +249,95 @@ 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);
+    }
+    /**
+     * Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence
+     * of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.
+     * If all velocities are defined, the solver will simply return the same velocities.
+     * This function calculates velocities by enforcing that acceleration be continuous at each segment transition.
+     *
+     * Also note that if generating a path for multiple axes, the user must provide a position measurement sequence
+     * per axis, And the values arrays for each sequence must be equal in length to each other and also to the
+     * times sequence.
+     * @param positions Positions for the axes to move through, relative to their home positions.
+     * Each MeasurementSequence represents a sequence of positions along a particular dimension.
+     * For example, a 2D path sequence would contain two MeasurementSequence objects,
+     * one representing positions along X and one for those along Y.
+     * @param times The relative or absolute time of each position in the PVT sequence.
+     * @param velocities Optional velocities corresponding to each point in the position sequences.
+     * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,
+     * they are interpreted as absolute. Note that the values of the returned time
+     * sequence are ALWAYS relative. This is because the PVT sequence API expects
+     * points to have relative times.
+     * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+     */
+    static async generateVelocities(positions, times, velocities, timesRelative = true) {
+        const request = {
+            ...requests.PvtGenerateVelocitiesRequest.DEFAULT,
+            positions: positions,
+            times: times,
+            velocities: velocities,
+            timesRelative: timesRelative,
+            toBinary() {
+                return requests.PvtGenerateVelocitiesRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/pvt_generate_velocities', request, pvt_sequence_data_1.PvtSequenceData.fromBinary);
+        return response;
+    }
+    /**
+     * Generates positions for a sequence of velocities and times. This function calculates
+     * positions by enforcing that acceleration be continuous at each segment transition.
+     *
+     * Note that if generating a path for multiple axes, the user must provide a
+     * velocity measurement sequence per axis, and the values arrays for each sequence
+     * must be equal in length to each other and also to the times sequence.
+     * @param velocities The sequence of velocities for each axis.
+     * Each MeasurementSequence represents a sequence of velocities along particular dimension.
+     * @param times The relative or absolute time of each position in the PVT sequence.
+     * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,
+     * they are interpreted as absolute. Note that the values of the returned time
+     * sequence are ALWAYS relative. This is because the PVT sequence API expects
+     * points to have relative times.
+     * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+     */
+    static async generatePositions(velocities, times, timesRelative = true) {
+        const request = {
+            ...requests.PvtGeneratePositionsRequest.DEFAULT,
+            velocities: velocities,
+            times: times,
+            timesRelative: timesRelative,
+            toBinary() {
+                return requests.PvtGeneratePositionsRequest.toBinary(this);
+            },
+        };
+        const response = await gateway.callAsync('device/pvt_generate_positions', request, pvt_sequence_data_1.PvtSequenceData.fromBinary);
+        return response;
+    }
     /**
      * 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 +575,64 @@ 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.
      *