@zaber/motion 8.3.0 → 9.0.0

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

@@ -0,0 +1 @@
+{"version":3,"file":"pvt_set_all_digital_outputs_action.js","sourceRoot":"","sources":["../../../src/ascii/pvt_set_all_digital_outputs_action.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,0EAAqE;AACrE,gDAA6C;AAwBhC,QAAA,6BAA6B,GAAG;IAC3C,UAAU,EAAE,CAAC,MAAkB,EAAiC,EAAE,CAAC,qCAA6B,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IAEzJ,QAAQ,EAAE,CAAC,KAAoC,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,qCAA6B,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IAE7H,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,MAAM,EAAE,EAAE;QACV,KAAK,EAAE,IAAI;QACX,YAAY,EAAE,IAAI;KACnB,CAA4C;IAE7C,QAAQ,EAAE,CAAC,KAAoC,EAAiC,EAAE;QAChF,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,0EAA0E,CAAC,CAAA;QAAC,CAAC;QACtH,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,yDAAyD,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAChI,OAAO;YACL,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,YAAY,CAAC,IAAI,EAAE,qBAAqB,EAAE,2CAAmB,EAAE,iBAAiB,CAAC,CAAC;YAC3I,KAAK,EAAE,KAAK,CAAC,KAAK,IAAI,IAAI,CAAC,CAAC,CAAC,yBAAW,CAAC,QAAQ,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI;YACrE,YAAY,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,YAAY,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,YAAY,CAAC,IAAI,EAAE,qBAAqB,EAAE,2CAAmB,EAAE,uBAAuB,CAAC,CAAC;SAC9J,CAAC;IACJ,CAAC;IAED,OAAO,EAAE,CAAC,KAAoB,EAAiC,EAAE,CAAC,CAAC;QACjE,MAAM,EAAE,KAAK,CAAC,MAAM;QACpB,KAAK,EAAE,KAAK,CAAC,KAAK;QAClB,YAAY,EAAE,KAAK,CAAC,YAAY;KACjC,CAAC;IAEF,GAAG,EAAE,CAAC,KAAU,EAA0C,EAAE;QAC1D,MAAM,SAAS,GAAG,KAAsC,CAAC;QACzD,OAAO,CACL,KAAK,IAAI,IAAI;YACb,OAAO,KAAK,KAAK,QAAQ;YACzB,CAAC,CAAC,SAAS,CAAC,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,MAAM,CAAC,IAAI,EAAE,2CAAmB,CAAC,CAAC;YAC9E,CAAC,SAAS,CAAC,KAAK,IAAI,IAAI,IAAI,yBAAW,CAAC,GAAG,CAAC,SAAS,CAAC,KAAK,CAAC,CAAC;YAC7D,CAAC,SAAS,CAAC,YAAY,IAAI,IAAI,IAAI,CAAC,CAAC,SAAS,CAAC,YAAY,EAAE,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,MAAM,CAAC,IAAI,EAAE,2CAAmB,CAAC,CAAC,CAAC,CACzH,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 { DigitalOutputAction } from '../ascii/digital_output_action';\nimport { Measurement } from '../measurement';\n\n/**\n * Change the state of multiple pins of a digital output port in a PVT sequence or buffer.\n */\nexport interface PvtSetAllDigitalOutputsAction {\n  /**\n   * The states to set the digital output pins to. Must have one entry per pin in the port.\n   */\n  values: DigitalOutputAction[];\n\n  /**\n   * If nonzero, specifies the time until the delayed output change occurs.\n   */\n  delay?: (Measurement | null);\n\n  /**\n   * The states to set the output pins to after the delay time expires. Ignored if the delay is zero or unspecified.\n   * Must have one entry per pin in the port.\n   */\n  futureValues?: (DigitalOutputAction[] | null);\n\n}\n\nexport const PvtSetAllDigitalOutputsAction = {\n  fromBinary: (buffer: Uint8Array): PvtSetAllDigitalOutputsAction => PvtSetAllDigitalOutputsAction.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n\n  toBinary: (value: PvtSetAllDigitalOutputsAction): Uint8Array => BSON.serialize(PvtSetAllDigitalOutputsAction.sanitize(value)),\n\n  DEFAULT: Object.freeze({\n    values: [],\n    delay: null,\n    futureValues: null,\n  }) as Readonly<PvtSetAllDigitalOutputsAction>,\n\n  sanitize: (value: PvtSetAllDigitalOutputsAction): PvtSetAllDigitalOutputsAction => {\n    if (value == null) { throw new TypeError('Expected PvtSetAllDigitalOutputsAction object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected PvtSetAllDigitalOutputsAction object but got ${typeof value}.`) }\n    return {\n      values: Array.from(value.values ?? [], item => sanitizer.sanitizeEnum(item, 'DigitalOutputAction', DigitalOutputAction, 'items of values')),\n      delay: value.delay != null ? Measurement.sanitize(value.delay) : null,\n      futureValues: Array.from(value.futureValues ?? [], item => sanitizer.sanitizeEnum(item, 'DigitalOutputAction', DigitalOutputAction, 'items of futureValues')),\n    };\n  },\n\n  convert: (value: BSON.Document): PvtSetAllDigitalOutputsAction => ({\n    values: value.values,\n    delay: value.delay,\n    futureValues: value.futureValues,\n  }),\n\n  isA: (value: any): value is PvtSetAllDigitalOutputsAction => {\n    const castValue = value as PvtSetAllDigitalOutputsAction;\n    return (\n      value != null &&\n      typeof value === 'object' &&\n      !!castValue.values?.every(item => sanitizer.isEnum(item, DigitalOutputAction)) &&\n      (castValue.delay == null || Measurement.isA(castValue.delay)) &&\n      (castValue.futureValues == null || !!castValue.futureValues?.every(item => sanitizer.isEnum(item, DigitalOutputAction)))\n    );\n  },\n};\n"]}

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

@@ -0,0 +1,32 @@
+import { BSON } from 'bson';
+import { Measurement } from '../measurement';
+/**
+ * Change the state of an analog output pin in a PVT sequence or buffer.
+ */
+export interface PvtSetAnalogOutputAction {
+    /**
+     * The number of the analog output pin to change.
+     */
+    channel: number;
+    /**
+     * The voltage to set the analog output pin to.
+     */
+    value: Measurement;
+    /**
+     * If nonzero, specifies the time until the delayed output change occurs.
+     */
+    delay?: (Measurement | null);
+    /**
+     * The voltage to set the output pin to after the delay time expires. Ignored if the delay is zero or unspecified.
+     */
+    futureValue?: (Measurement | null);
+}
+export declare const PvtSetAnalogOutputAction: {
+    fromBinary: (buffer: Uint8Array) => PvtSetAnalogOutputAction;
+    toBinary: (value: PvtSetAnalogOutputAction) => Uint8Array;
+    DEFAULT: Readonly<PvtSetAnalogOutputAction>;
+    sanitize: (value: PvtSetAnalogOutputAction) => PvtSetAnalogOutputAction;
+    convert: (value: BSON.Document) => PvtSetAnalogOutputAction;
+    isA: (value: any) => value is PvtSetAnalogOutputAction;
+};
+//# sourceMappingURL=pvt_set_analog_output_action.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/lib/ascii/pvt_set_analog_output_action.js

@@ -0,0 +1,47 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtSetAnalogOutputAction = void 0;
+/* This file is generated. Do not modify by hand. */
+const bson_1 = require("bson");
+const sanitizer_1 = require("../gateway/sanitizer");
+const measurement_1 = require("../measurement");
+exports.PvtSetAnalogOutputAction = {
+    fromBinary: (buffer) => exports.PvtSetAnalogOutputAction.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.PvtSetAnalogOutputAction.sanitize(value)),
+    DEFAULT: Object.freeze({
+        channel: 0,
+        value: measurement_1.Measurement.DEFAULT,
+        delay: null,
+        futureValue: null,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected PvtSetAnalogOutputAction object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected PvtSetAnalogOutputAction object but got ${typeof value}.`);
+        }
+        return {
+            channel: sanitizer_1.sanitizer.sanitizeInt(value.channel, 'channel'),
+            value: measurement_1.Measurement.sanitize(value.value),
+            delay: value.delay != null ? measurement_1.Measurement.sanitize(value.delay) : null,
+            futureValue: value.futureValue != null ? measurement_1.Measurement.sanitize(value.futureValue) : null,
+        };
+    },
+    convert: (value) => ({
+        channel: value.channel,
+        value: value.value,
+        delay: value.delay,
+        futureValue: value.futureValue,
+    }),
+    isA: (value) => {
+        const castValue = value;
+        return (value != null &&
+            typeof value === 'object' &&
+            sanitizer_1.sanitizer.isInt(castValue.channel) &&
+            measurement_1.Measurement.isA(castValue.value) &&
+            (castValue.delay == null || measurement_1.Measurement.isA(castValue.delay)) &&
+            (castValue.futureValue == null || measurement_1.Measurement.isA(castValue.futureValue)));
+    },
+};
+//# sourceMappingURL=pvt_set_analog_output_action.js.map

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

@@ -0,0 +1 @@
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package/dist/lib/ascii/pvt_set_digital_output_action.d.ts

@@ -0,0 +1,33 @@
+import { BSON } from 'bson';
+import { DigitalOutputAction } from '../ascii/digital_output_action';
+import { Measurement } from '../measurement';
+/**
+ * Change the state of a digital output pin in a PVT sequence or buffer.
+ */
+export interface PvtSetDigitalOutputAction {
+    /**
+     * The number of the digital output pin to change.
+     */
+    channel: number;
+    /**
+     * The state to set the digital output pin to.
+     */
+    value: DigitalOutputAction;
+    /**
+     * If nonzero, specifies the time until the delayed output change occurs.
+     */
+    delay?: (Measurement | null);
+    /**
+     * The state to set the output pin to after the delay time expires. Ignored if the delay is zero or unspecified.
+     */
+    futureValue?: (DigitalOutputAction | null);
+}
+export declare const PvtSetDigitalOutputAction: {
+    fromBinary: (buffer: Uint8Array) => PvtSetDigitalOutputAction;
+    toBinary: (value: PvtSetDigitalOutputAction) => Uint8Array;
+    DEFAULT: Readonly<PvtSetDigitalOutputAction>;
+    sanitize: (value: PvtSetDigitalOutputAction) => PvtSetDigitalOutputAction;
+    convert: (value: BSON.Document) => PvtSetDigitalOutputAction;
+    isA: (value: any) => value is PvtSetDigitalOutputAction;
+};
+//# sourceMappingURL=pvt_set_digital_output_action.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pvt_set_digital_output_action.d.ts","sourceRoot":"","sources":["../../../src/ascii/pvt_set_digital_output_action.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,mBAAmB,EAAE,MAAM,gCAAgC,CAAC;AACrE,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAE7C;;GAEG;AACH,MAAM,WAAW,yBAAyB;IACxC;;OAEG;IACH,OAAO,EAAE,MAAM,CAAC;IAEhB;;OAEG;IACH,KAAK,EAAE,mBAAmB,CAAC;IAE3B;;OAEG;IACH,KAAK,CAAC,EAAE,CAAC,WAAW,GAAG,IAAI,CAAC,CAAC;IAE7B;;OAEG;IACH,WAAW,CAAC,EAAE,CAAC,mBAAmB,GAAG,IAAI,CAAC,CAAC;CAE5C;AAED,eAAO,MAAM,yBAAyB;yBACf,UAAU,KAAG,yBAAyB;sBAEzC,yBAAyB,KAAG,UAAU;;sBAStC,yBAAyB,KAAG,yBAAyB;qBAWtD,KAAK,QAAQ,KAAG,yBAAyB;iBAO7C,GAAG;CAWjB,CAAC"}

package/dist/lib/ascii/pvt_set_digital_output_action.js

@@ -0,0 +1,48 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtSetDigitalOutputAction = void 0;
+/* This file is generated. Do not modify by hand. */
+const bson_1 = require("bson");
+const sanitizer_1 = require("../gateway/sanitizer");
+const digital_output_action_1 = require("../ascii/digital_output_action");
+const measurement_1 = require("../measurement");
+exports.PvtSetDigitalOutputAction = {
+    fromBinary: (buffer) => exports.PvtSetDigitalOutputAction.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.PvtSetDigitalOutputAction.sanitize(value)),
+    DEFAULT: Object.freeze({
+        channel: 0,
+        value: 0,
+        delay: null,
+        futureValue: null,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected PvtSetDigitalOutputAction object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected PvtSetDigitalOutputAction object but got ${typeof value}.`);
+        }
+        return {
+            channel: sanitizer_1.sanitizer.sanitizeInt(value.channel, 'channel'),
+            value: sanitizer_1.sanitizer.sanitizeEnum(value.value, 'DigitalOutputAction', digital_output_action_1.DigitalOutputAction, 'value'),
+            delay: value.delay != null ? measurement_1.Measurement.sanitize(value.delay) : null,
+            futureValue: value.futureValue != null ? sanitizer_1.sanitizer.sanitizeEnum(value.futureValue, 'DigitalOutputAction', digital_output_action_1.DigitalOutputAction, 'futureValue') : null,
+        };
+    },
+    convert: (value) => ({
+        channel: value.channel,
+        value: value.value,
+        delay: value.delay,
+        futureValue: value.futureValue,
+    }),
+    isA: (value) => {
+        const castValue = value;
+        return (value != null &&
+            typeof value === 'object' &&
+            sanitizer_1.sanitizer.isInt(castValue.channel) &&
+            sanitizer_1.sanitizer.isEnum(castValue.value, digital_output_action_1.DigitalOutputAction) &&
+            (castValue.delay == null || measurement_1.Measurement.isA(castValue.delay)) &&
+            (castValue.futureValue == null || sanitizer_1.sanitizer.isEnum(castValue.futureValue, digital_output_action_1.DigitalOutputAction)));
+    },
+};
+//# sourceMappingURL=pvt_set_digital_output_action.js.map

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

@@ -0,0 +1 @@
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package/dist/lib/ascii/servo_tuner.d.ts

@@ -1,11 +1,11 @@
+import { Units } from '../units';
 import { Axis } from './axis';
-import { ServoTuningParamset } from './servo_tuning_paramset';
 import { ParamsetInfo } from './paramset_info';
-import { ServoTuningParam } from './servo_tuning_param';
 import { PidTuning } from './pid_tuning';
-import { SimpleTuningParamDefinition } from './simple_tuning_param_definition';
+import { ServoTuningParam } from './servo_tuning_param';
+import { ServoTuningParamset } from './servo_tuning_paramset';
 import { SimpleTuning } from './simple_tuning';
-import { Units } from '../units';
+import { SimpleTuningParamDefinition } from './simple_tuning_param_definition';
 /**
  * Exposes the capabilities to inspect and edit an axis' servo tuning.
  * Requires at least Firmware 6.25 or 7.00.

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

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

@@ -28,10 +28,10 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.ServoTuner = void 0;
 const gateway = __importStar(require("../gateway"));
 const requests = __importStar(require("../requests"));
+const units_1 = require("../units");
 const paramset_info_1 = require("./paramset_info");
 const pid_tuning_1 = require("./pid_tuning");
 const simple_tuning_1 = require("./simple_tuning");
-const units_1 = require("../units");
 /**
  * Exposes the capabilities to inspect and edit an axis' servo tuning.
  * Requires at least Firmware 6.25 or 7.00.

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

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

package/dist/lib/ascii/set_state_axis_response.js

@@ -31,7 +31,7 @@ exports.SetStateAxisResponse = {
         const castValue = value;
         return (value != null &&
             typeof value === 'object' &&
-            castValue.warnings.every(item => sanitizer_1.sanitizer.isString(item)) &&
+            !!castValue.warnings?.every(item => sanitizer_1.sanitizer.isString(item)) &&
             sanitizer_1.sanitizer.isInt(castValue.axisNumber));
     },
 };

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

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

@@ -32,8 +32,8 @@ exports.SetStateDeviceResponse = {
         const castValue = value;
         return (value != null &&
             typeof value === 'object' &&
-            castValue.warnings.every(item => sanitizer_1.sanitizer.isString(item)) &&
-            castValue.axisResponses.every(item => set_state_axis_response_1.SetStateAxisResponse.isA(item)));
+            !!castValue.warnings?.every(item => sanitizer_1.sanitizer.isString(item)) &&
+            !!castValue.axisResponses?.every(item => set_state_axis_response_1.SetStateAxisResponse.isA(item)));
     },
 };
 //# sourceMappingURL=set_state_device_response.js.map

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

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

@@ -49,7 +49,7 @@ exports.SimpleTuning = {
             (castValue.carriageInertia == null || sanitizer_1.sanitizer.isNumber(castValue.carriageInertia)) &&
             (castValue.motorInertia == null || sanitizer_1.sanitizer.isNumber(castValue.motorInertia)) &&
             sanitizer_1.sanitizer.isNumber(castValue.loadInertia) &&
-            castValue.tuningParams.every(item => servo_tuning_param_1.ServoTuningParam.isA(item)));
+            !!castValue.tuningParams?.every(item => servo_tuning_param_1.ServoTuningParam.isA(item)));
     },
 };
 //# sourceMappingURL=simple_tuning.js.map

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

@@ -1 +1 @@
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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 masses and parameters last used by simple tuning.\n */\nexport interface SimpleTuning {\n  /**\n   * Whether the tuning returned is currently in use by this paramset,\n   * or if it has been overwritten by a later change.\n   */\n  isUsed: boolean;\n\n  /**\n   * If this paramset has been tuned using the simple tuning method, whether or not it's currently in use.\n   */\n  isSet: boolean;\n\n  /**\n   * The inertia of the carriage in kg (for linear devices) or kg⋅m² (for rotary devices).\n   */\n  carriageInertia?: (number | null);\n\n  /**\n   * The inertia of the motor in kg⋅m².\n   */\n  motorInertia?: (number | null);\n\n  /**\n   * The inertia of the load in kg (for linear devices) or kg⋅m² (for rotary devices),\n   * excluding the inertia of the carriage.\n   */\n  loadInertia: number;\n\n  /**\n   * The parameters used by simple tuning.\n   */\n  tuningParams: ServoTuningParam[];\n\n}\n\nexport const SimpleTuning = {\n  fromBinary: (buffer: Uint8Array): SimpleTuning => SimpleTuning.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n\n  toBinary: (value: SimpleTuning): Uint8Array => BSON.serialize(SimpleTuning.sanitize(value)),\n\n  DEFAULT: Object.freeze({\n    isUsed: false,\n    isSet: false,\n    carriageInertia: null,\n    motorInertia: null,\n    loadInertia: 0,\n    tuningParams: [],\n  }) as Readonly<SimpleTuning>,\n\n  sanitize: (value: SimpleTuning): SimpleTuning => {\n    if (value == null) { throw new TypeError('Expected SimpleTuning object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected SimpleTuning object but got ${typeof value}.`) }\n    return {\n      isUsed: sanitizer.sanitizeBool(value.isUsed, 'isUsed'),\n      isSet: sanitizer.sanitizeBool(value.isSet, 'isSet'),\n      carriageInertia: value.carriageInertia != null ? sanitizer.sanitizeNumber(value.carriageInertia, 'carriageInertia') : null,\n      motorInertia: value.motorInertia != null ? sanitizer.sanitizeNumber(value.motorInertia, 'motorInertia') : null,\n      loadInertia: sanitizer.sanitizeNumber(value.loadInertia, 'loadInertia'),\n      tuningParams: Array.from(value.tuningParams ?? [], item => ServoTuningParam.sanitize(item)),\n    };\n  },\n\n  convert: (value: BSON.Document): SimpleTuning => ({\n    isUsed: value.isUsed,\n    isSet: value.isSet,\n    carriageInertia: value.carriageInertia,\n    motorInertia: value.motorInertia,\n    loadInertia: value.loadInertia,\n    tuningParams: value.tuningParams,\n  }),\n\n  isA: (value: any): value is SimpleTuning => {\n    const castValue = value as SimpleTuning;\n    return (\n      value != null &&\n      typeof value === 'object' &&\n      sanitizer.isBool(castValue.isUsed) &&\n      sanitizer.isBool(castValue.isSet) &&\n      (castValue.carriageInertia == null || sanitizer.isNumber(castValue.carriageInertia)) &&\n      (castValue.motorInertia == null || sanitizer.isNumber(castValue.motorInertia)) &&\n      sanitizer.isNumber(castValue.loadInertia) &&\n      castValue.tuningParams.every(item => ServoTuningParam.isA(item))\n    );\n  },\n};\n"]}
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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 masses and parameters last used by simple tuning.\n */\nexport interface SimpleTuning {\n  /**\n   * Whether the tuning returned is currently in use by this paramset,\n   * or if it has been overwritten by a later change.\n   */\n  isUsed: boolean;\n\n  /**\n   * If this paramset has been tuned using the simple tuning method, whether or not it's currently in use.\n   */\n  isSet: boolean;\n\n  /**\n   * The inertia of the carriage in kg (for linear devices) or kg⋅m² (for rotary devices).\n   */\n  carriageInertia?: (number | null);\n\n  /**\n   * The inertia of the motor in kg⋅m².\n   */\n  motorInertia?: (number | null);\n\n  /**\n   * The inertia of the load in kg (for linear devices) or kg⋅m² (for rotary devices),\n   * excluding the inertia of the carriage.\n   */\n  loadInertia: number;\n\n  /**\n   * The parameters used by simple tuning.\n   */\n  tuningParams: ServoTuningParam[];\n\n}\n\nexport const SimpleTuning = {\n  fromBinary: (buffer: Uint8Array): SimpleTuning => SimpleTuning.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n\n  toBinary: (value: SimpleTuning): Uint8Array => BSON.serialize(SimpleTuning.sanitize(value)),\n\n  DEFAULT: Object.freeze({\n    isUsed: false,\n    isSet: false,\n    carriageInertia: null,\n    motorInertia: null,\n    loadInertia: 0,\n    tuningParams: [],\n  }) as Readonly<SimpleTuning>,\n\n  sanitize: (value: SimpleTuning): SimpleTuning => {\n    if (value == null) { throw new TypeError('Expected SimpleTuning object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected SimpleTuning object but got ${typeof value}.`) }\n    return {\n      isUsed: sanitizer.sanitizeBool(value.isUsed, 'isUsed'),\n      isSet: sanitizer.sanitizeBool(value.isSet, 'isSet'),\n      carriageInertia: value.carriageInertia != null ? sanitizer.sanitizeNumber(value.carriageInertia, 'carriageInertia') : null,\n      motorInertia: value.motorInertia != null ? sanitizer.sanitizeNumber(value.motorInertia, 'motorInertia') : null,\n      loadInertia: sanitizer.sanitizeNumber(value.loadInertia, 'loadInertia'),\n      tuningParams: Array.from(value.tuningParams ?? [], item => ServoTuningParam.sanitize(item)),\n    };\n  },\n\n  convert: (value: BSON.Document): SimpleTuning => ({\n    isUsed: value.isUsed,\n    isSet: value.isSet,\n    carriageInertia: value.carriageInertia,\n    motorInertia: value.motorInertia,\n    loadInertia: value.loadInertia,\n    tuningParams: value.tuningParams,\n  }),\n\n  isA: (value: any): value is SimpleTuning => {\n    const castValue = value as SimpleTuning;\n    return (\n      value != null &&\n      typeof value === 'object' &&\n      sanitizer.isBool(castValue.isUsed) &&\n      sanitizer.isBool(castValue.isSet) &&\n      (castValue.carriageInertia == null || sanitizer.isNumber(castValue.carriageInertia)) &&\n      (castValue.motorInertia == null || sanitizer.isNumber(castValue.motorInertia)) &&\n      sanitizer.isNumber(castValue.loadInertia) &&\n      !!castValue.tuningParams?.every(item => ServoTuningParam.isA(item))\n    );\n  },\n};\n"]}

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

@@ -1,11 +1,11 @@
-import { Device } from './device';
-import { Time, Native, Acceleration, AngularAcceleration, AngularVelocity, Velocity } from '../units';
-import { RotationDirection } from '../rotation_direction';
 import { Measurement } from '../measurement';
-import { StreamBuffer } from './stream_buffer';
-import { StreamMode } from './stream_mode';
+import { RotationDirection } from '../rotation_direction';
+import { Time, Native, Acceleration, AngularAcceleration, AngularVelocity, Velocity } from '../units';
+import { Device } from './device';
 import { StreamAxisDefinition } from './stream_axis_definition';
+import { StreamBuffer } from './stream_buffer';
 import { StreamIo } from './stream_io';
+import { StreamMode } from './stream_mode';
 /**
  * A handle for a stream with this number on the device.
  * Streams provide a way to execute or store a sequence of actions.
@@ -57,7 +57,7 @@ export declare class Stream {
     /**
      * Setup the stream to control the specified axes and queue actions into a stream buffer.
      * @param streamBuffer The stream buffer to queue actions in.
-     * @param axes Numbers of physical axes to setup the stream on.
+     * @param axes The axis numbers of the physical axes to setup the stream on.
      */
     setupStore(streamBuffer: StreamBuffer, ...axes: number[]): Promise<void>;
     /**

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

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+{"version":3,"file":"stream.d.ts","sourceRoot":"","sources":["../../../src/ascii/stream.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAE7C,OAAO,EAAE,iBAAiB,EAAE,MAAM,uBAAuB,CAAC;AAC1D,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,YAAY,EAAE,mBAAmB,EAAE,eAAe,EAAE,QAAQ,EAAS,MAAM,UAAU,CAAC;AAC7G,OAAO,EAAE,MAAM,EAAE,MAAM,UAAU,CAAC;AAClC,OAAO,EAAE,oBAAoB,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAAE,YAAY,EAAE,MAAM,iBAAiB,CAAC;AAC/C,OAAO,EAAE,QAAQ,EAAE,MAAM,aAAa,CAAC;AACvC,OAAO,EAAE,UAAU,EAAE,MAAM,eAAe,CAAC;AAE3C;;;;GAIG;AACH,qBAAa,MAAM;IACjB;;OAEG;IACH,IAAW,MAAM,IAAI,MAAM,CAE1B;IACD,OAAO,CAAC,OAAO,CAAS;IAExB;;OAEG;IACH,IAAW,QAAQ,IAAI,MAAM,CAE5B;IACD,OAAO,CAAC,SAAS,CAAS;IAE1B;;OAEG;IACH,IAAW,IAAI,IAAI,UAAU,CAE5B;IAED;;OAEG;IACH,IAAW,IAAI,IAAI,oBAAoB,EAAE,CAExC;IAED;;OAEG;IACH,IAAW,EAAE,IAAI,QAAQ,CAExB;IACD,OAAO,CAAC,GAAG,CAAW;gBAEV,MAAM,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM;IAM5C;;;;OAIG;IACU,kBAAkB,CAC7B,GAAG,IAAI,EAAE,oBAAoB,EAAE,GAC9B,OAAO,CAAC,IAAI,CAAC;IAehB;;;OAGG;IACU,SAAS,CACpB,GAAG,IAAI,EAAE,MAAM,EAAE,GAChB,OAAO,CAAC,IAAI,CAAC;IAehB;;;;;OAKG;IACU,mBAAmB,CAC9B,YAAY,EAAE,YAAY,EAC1B,GAAG,IAAI,EAAE,oBAAoB,EAAE,GAC9B,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;OAIG;IACU,UAAU,CACrB,YAAY,EAAE,YAAY,EAC1B,GAAG,IAAI,EAAE,MAAM,EAAE,GAChB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;;OAMG;IACU,uBAAuB,CAClC,YAAY,EAAE,YAAY,EAC1B,SAAS,EAAE,MAAM,GAChB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;OAGG;IACU,IAAI,CACf,YAAY,EAAE,YAAY,GACzB,OAAO,CAAC,IAAI,CAAC;IAehB;;;OAGG;IACU,YAAY,CACvB,GAAG,QAAQ,EAAE,WAAW,EAAE,GACzB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;OAGG;IACU,YAAY,CACvB,GAAG,QAAQ,EAAE,WAAW,EAAE,GACzB,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;;;OAOG;IACU,cAAc,CACzB,iBAAiB,EAAE,MAAM,EAAE,EAC3B,QAAQ,EAAE,WAAW,EAAE,GACtB,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;;;;OAOG;IACU,cAAc,CACzB,iBAAiB,EAAE,MAAM,EAAE,EAC3B,QAAQ,EAAE,WAAW,EAAE,GACtB,OAAO,CAAC,IAAI,CAAC;IAiBhB;;;;;;;;OAQG;IACU,WAAW,CACtB,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,EACpB,IAAI,EAAE,WAAW,EACjB,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAoBhB;;;;;;;;OAQG;IACU,WAAW,CACtB,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,EACpB,IAAI,EAAE,WAAW,EACjB,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAoBhB;;;;;;;;;;;;OAYG;IACU,aAAa,CACxB,iBAAiB,EAAE,MAAM,EAAE,EAC3B,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,EACpB,IAAI,EAAE,WAAW,EACjB,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAqBhB;;;;;;;;;;;;OAYG;IACU,aAAa,CACxB,iBAAiB,EAAE,MAAM,EAAE,EAC3B,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,EACpB,IAAI,EAAE,WAAW,EACjB,IAAI,EAAE,WAAW,GAChB,OAAO,CAAC,IAAI,CAAC;IAqBhB;;;;;;;;;;;;;;OAcG;IACU,eAAe,CAC1B,iBAAiB,EAAE,MAAM,EAAE,EAC3B,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,EACpB,IAAI,EAAE,WAAW,EACjB,IAAI,EAAE,WAAW,EACjB,GAAG,QAAQ,EAAE,WAAW,EAAE,GACzB,OAAO,CAAC,IAAI,CAAC;IAsBhB;;;;;;;;;;;;;;OAcG;IACU,eAAe,CAC1B,iBAAiB,EAAE,MAAM,EAAE,EAC3B,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,EACpB,IAAI,EAAE,WAAW,EACjB,IAAI,EAAE,WAAW,EACjB,GAAG,QAAQ,EAAE,WAAW,EAAE,GACzB,OAAO,CAAC,IAAI,CAAC;IAsBhB;;;;;;OAMG;IACU,cAAc,CACzB,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,GACnB,OAAO,CAAC,IAAI,CAAC;IAkBhB;;;;;;OAMG;IACU,cAAc,CACzB,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,GACnB,OAAO,CAAC,IAAI,CAAC;IAkBhB;;;;;;;;;;OAUG;IACU,gBAAgB,CAC3B,iBAAiB,EAAE,MAAM,EAAE,EAC3B,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,GACnB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;;;;;;;OAUG;IACU,gBAAgB,CAC3B,iBAAiB,EAAE,MAAM,EAAE,EAC3B,iBAAiB,EAAE,iBAAiB,EACpC,OAAO,EAAE,WAAW,EACpB,OAAO,EAAE,WAAW,GACnB,OAAO,CAAC,IAAI,CAAC;IAmBhB;;;;OAIG;IACU,IAAI,CACf,IAAI,EAAE,MAAM,EACZ,IAAI,GAAE,IAAI,GAAG,MAAqB,GACjC,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;OAGG;IACU,aAAa,CACxB,OAAO,GAAE,MAAM,CAAC,oBAAyB,GACxC,OAAO,CAAC,IAAI,CAAC;IAkBhB;;;;;OAKG;IACU,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAclC;;;OAGG;IACU,MAAM,IAAI,OAAO,CAAC,IAAI,CAAC;IAcpC;;;;OAIG;IACU,OAAO,CAClB,IAAI,EAAE,OAAO,GACZ,OAAO,CAAC,IAAI,CAAC;IAehB;;;OAGG;IACU,MAAM,IAAI,OAAO,CAAC,OAAO,CAAC;IAkBvC;;;;;OAKG;IACU,WAAW,CACtB,IAAI,GAAE,QAAQ,GAAG,eAAe,GAAG,MAAqB,GACvD,OAAO,CAAC,MAAM,CAAC;IAmBlB;;;;;OAKG;IACU,WAAW,CACtB,QAAQ,EAAE,MAAM,EAChB,IAAI,GAAE,QAAQ,GAAG,eAAe,GAAG,MAAqB,GACvD,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,4BAA4B,CACvC,IAAI,GAAE,YAAY,GAAG,mBAAmB,GAAG,MAAqB,GAC/D,OAAO,CAAC,MAAM,CAAC;IAmBlB;;;;;OAKG;IACU,4BAA4B,CACvC,yBAAyB,EAAE,MAAM,EACjC,IAAI,GAAE,YAAY,GAAG,mBAAmB,GAAG,MAAqB,GAC/D,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;;;OAKG;IACU,6BAA6B,CACxC,IAAI,GAAE,YAAY,GAAG,mBAAmB,GAAG,MAAqB,GAC/D,OAAO,CAAC,MAAM,CAAC;IAmBlB;;;;;OAKG;IACU,6BAA6B,CACxC,0BAA0B,EAAE,MAAM,EAClC,IAAI,GAAE,YAAY,GAAG,mBAAmB,GAAG,MAAqB,GAC/D,OAAO,CAAC,IAAI,CAAC;IAgBhB;;;OAGG;IACI,QAAQ,IAAI,MAAM;IAkBzB;;;;;OAKG;IACU,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC;IAcrC;;;;OAIG;IACU,cAAc,CACzB,OAAO,EAAE,MAAM,GACd,OAAO,CAAC,IAAI,CAAC;IAehB;;;;;OAKG;IACU,mBAAmB,CAC9B,KAAK,EAAE,MAAM,EAAE,GACd,OAAO,CAAC,IAAI,CAAC;IAehB;;;;;OAKG;IACU,aAAa,IAAI,OAAO,CAAC,OAAO,CAAC;IAkB9C;;OAEG;IACI,2BAA2B,IAAI,IAAI;IAc1C;;OAEG;IACI,0BAA0B,IAAI,IAAI;IAczC;;;OAGG;IACH,OAAO,CAAC,aAAa;IAkBrB;;;OAGG;IACH,OAAO,CAAC,aAAa;CAiBtB;AAED,k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package/dist/lib/ascii/stream.js

@@ -26,9 +26,9 @@ var __importStar = (this && this.__importStar) || function (mod) {
 };
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.Stream = void 0;
-const units_1 = require("../units");
 const gateway = __importStar(require("../gateway"));
 const requests = __importStar(require("../requests"));
+const units_1 = require("../units");
 const stream_io_1 = require("./stream_io");
 /**
  * A handle for a stream with this number on the device.
@@ -118,7 +118,7 @@ class Stream {
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.streamId,
-            streamBuffer: streamBuffer.bufferId,
+            streamBuffer: streamBuffer.bufferNumber,
             axes: axes,
             toBinary() {
                 return requests.StreamSetupStoreCompositeRequest.toBinary(this);
@@ -129,7 +129,7 @@ class Stream {
     /**
      * Setup the stream to control the specified axes and queue actions into a stream buffer.
      * @param streamBuffer The stream buffer to queue actions in.
-     * @param axes Numbers of physical axes to setup the stream on.
+     * @param axes The axis numbers of the physical axes to setup the stream on.
      */
     async setupStore(streamBuffer, ...axes) {
         const request = {
@@ -137,7 +137,7 @@ class Stream {
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.streamId,
-            streamBuffer: streamBuffer.bufferId,
+            streamBuffer: streamBuffer.bufferNumber,
             axes: axes,
             toBinary() {
                 return requests.StreamSetupStoreRequest.toBinary(this);
@@ -158,7 +158,7 @@ class Stream {
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.streamId,
-            streamBuffer: streamBuffer.bufferId,
+            streamBuffer: streamBuffer.bufferNumber,
             axesCount: axesCount,
             toBinary() {
                 return requests.StreamSetupStoreArbitraryAxesRequest.toBinary(this);
@@ -176,7 +176,7 @@ class Stream {
             interfaceId: this.device.connection.interfaceId,
             device: this.device.deviceAddress,
             streamId: this.streamId,
-            streamBuffer: streamBuffer.bufferId,
+            streamBuffer: streamBuffer.bufferNumber,
             toBinary() {
                 return requests.StreamCallRequest.toBinary(this);
             },