@zaber/motion 8.4.0 → 9.0.0

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { MeasurementSequence } from './measurement_sequence';\nimport { OptionalMeasurementSequence } from './optional_measurement_sequence';\nimport { PvtSequenceData } from './pvt_sequence_data';\nimport { PvtCsvData } from './pvt_csv_data';\nimport { PvtIo } from './pvt_io';\n\n/**\n * A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n */\nexport class PvtSequence {\n  /**\n   * Device that controls this PVT sequence.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the PVT sequence on the device.\n   */\n  public get pvtId(): number {\n    return this._pvtId;\n  }\n  private _pvtId: number;\n\n  /**\n   * Current mode of the PVT sequence.\n   */\n  public get mode(): PvtMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the PVT sequence is set up to control.\n   */\n  public get axes(): PvtAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  /**\n   * Gets an object that provides access to I/O for this sequence.\n   */\n  public get io(): PvtIo {\n    return this._io;\n  }\n  private _io: PvtIo;\n\n  constructor(device: Device, pvtId: number) {\n    this._device = device;\n    this._pvtId = pvtId;\n    this._io = new PvtIo(device, pvtId);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupLiveComposite(\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupLiveCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupLiveCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupLive(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveRequest & gateway.Message = {\n      ...requests.StreamSetupLiveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupLiveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupStoreComposite(\n    pvtBuffer: PvtBuffer,\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupStoreCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupStoreCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupStore(\n    pvtBuffer: PvtBuffer,\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreRequest & gateway.Message = {\n      ...requests.StreamSetupStoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupStoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Append the actions in a PVT buffer to the sequence's queue.\n   * @param pvtBuffer The PVT buffer to call.\n   */\n  public async call(\n    pvtBuffer: PvtBuffer\n  ): Promise<void> {\n    const request: requests.StreamCallRequest & gateway.Message = {\n      ...requests.StreamCallRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      toBinary() {\n        return requests.StreamCallRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queues a point with absolute coordinates in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async point(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues points with absolute coordinates in the PVT sequence.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async points(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Queues a point with coordinates relative to the previous point in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to the previous point.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async pointRelative(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues points with coordinates relative to the previous point in the PVT sequence.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async pointsRelative(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence\n   * of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.\n   * If all velocities are defined, the solver will simply return the same velocities.\n   * This function calculates velocities by enforcing that acceleration be continuous at each segment transition.\n   *\n   * Also note that if generating a path for multiple axes, the user must provide a position measurement sequence\n   * per axis, And the values arrays for each sequence must be equal in length to each other and also to the\n   * times sequence.\n   *\n   * Does not support native units.\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * Each MeasurementSequence represents a sequence of positions along a particular dimension.\n   * For example, a 2D path sequence would contain two MeasurementSequence objects,\n   * one representing positions along X and one for those along Y.\n   * @param times The relative or absolute time of each position in the PVT sequence.\n   * @param velocities Optional velocities corresponding to each point in the position sequences.\n   * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,\n   * they are interpreted as absolute. Note that the values of the returned time\n   * sequence are ALWAYS relative. This is because the PVT sequence API expects\n   * points to have relative times.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generateVelocities(\n    positions: MeasurementSequence[],\n    times: MeasurementSequence,\n    velocities?: OptionalMeasurementSequence[],\n    timesRelative: boolean = true\n  ): Promise<PvtSequenceData> {\n    const request: requests.PvtGenerateVelocitiesRequest & gateway.Message = {\n      ...requests.PvtGenerateVelocitiesRequest.DEFAULT,\n      positions: positions,\n      times: times,\n      velocities: velocities,\n      timesRelative: timesRelative,\n      toBinary() {\n        return requests.PvtGenerateVelocitiesRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_velocities',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Generates positions for a sequence of velocities and times. This function calculates\n   * positions by enforcing that acceleration be continuous at each segment transition.\n   *\n   * Note that if generating a path for multiple axes, the user must provide a\n   * velocity measurement sequence per axis, and the values arrays for each sequence\n   * must be equal in length to each other and also to the times sequence.\n   *\n   * Does not support native units.\n   * @param velocities The sequence of velocities for each axis.\n   * Each MeasurementSequence represents a sequence of velocities along particular dimension.\n   * @param times The relative or absolute time of each position in the PVT sequence.\n   * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,\n   * they are interpreted as absolute. Note that the values of the returned time\n   * sequence are ALWAYS relative. This is because the PVT sequence API expects\n   * points to have relative times.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generatePositions(\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence,\n    timesRelative: boolean = true\n  ): Promise<PvtSequenceData> {\n    const request: requests.PvtGeneratePositionsRequest & gateway.Message = {\n      ...requests.PvtGeneratePositionsRequest.DEFAULT,\n      velocities: velocities,\n      times: times,\n      timesRelative: timesRelative,\n      toBinary() {\n        return requests.PvtGeneratePositionsRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_positions',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Generates sequences of velocities and times for a sequence of positions.\n   * This function fits a geometric spline (not-a-knot cubic for sequences of >3 points,\n   * natural cubic for 3, and a straight line for 2) over the position sequence\n   * and then calculates the velocity and time information by traversing it using a\n   * trapezoidal motion profile.\n   *\n   * This generation scheme attempts to keep speed and acceleration less than the\n   * specified target values, but does not guarantee it. Generally speaking, a higher\n   * resample number will bring the generated trajectory closer to respecting these\n   * limits.\n   *\n   * Note that consecutive duplicate points will be automatically removed as they\n   * have no geometric significance without additional time information. Also note that\n   * for multi-dimensional paths this function expects axes to be linear and orthogonal,\n   * however for paths of a single dimension rotary units are accepted.\n   *\n   * Does not support native units.\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param targetSpeed The target speed used to generate positions and times.\n   * @param targetAcceleration The target acceleration used to generate positions and times.\n   * @param resampleNumber The number of points to resample the sequence by.\n   * Leave undefined to use the specified points.\n   * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.\n   */\n  public static async generateVelocitiesAndTimes(\n    positions: MeasurementSequence[],\n    targetSpeed: Measurement,\n    targetAcceleration: Measurement,\n    resampleNumber?: number\n  ): Promise<PvtSequenceData> {\n    if (targetSpeed.value <= 0 || targetAcceleration.value <= 0) {\n      throw new TypeError('Target speed and acceleration values must be greater than zero.');\n    }\n    const request: requests.PvtGenerateVelocitiesAndTimesRequest & gateway.Message = {\n      ...requests.PvtGenerateVelocitiesAndTimesRequest.DEFAULT,\n      positions: positions,\n      targetSpeed: targetSpeed,\n      targetAcceleration: targetAcceleration,\n      resampleNumber: resampleNumber,\n      toBinary() {\n        return requests.PvtGenerateVelocitiesAndTimesRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtSequenceData>(\n      'device/pvt_generate_velocities_and_times',\n      request,\n      PvtSequenceData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Waits until the live PVT sequence executes all queued actions.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: PvtSequence.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.StreamWaitUntilIdleRequest & gateway.Message = {\n      ...requests.StreamWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.StreamWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the PVT sequences's action queue, blocking execution.\n   * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n   * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n   * You can only cork an idle live PVT sequence.\n   */\n  public async cork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_cork', request);\n  }\n\n  /**\n   * Uncork the front of the queue, unblocking command execution.\n   * You can only uncork an idle live PVT sequence that is corked.\n   */\n  public async uncork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n   * @returns True if the PVT sequence is executing a queued action.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the PVT sequence.\n   * @returns String which represents the PVT sequence.\n   */\n  public toString(): string {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/stream_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Disables the PVT sequence.\n   * If the PVT sequence is not setup, this command does nothing.\n   * Once disabled, the PVT sequence will no longer accept PVT commands.\n   * The PVT sequence will process the rest of the commands in the queue until it is empty.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the PVT sequence.\n   * Keeps resending the command while the device rejects with AGAIN reason.\n   * @param command Command and its parameters.\n   */\n  public async genericCommand(\n    command: string\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandRequest & gateway.Message = {\n      ...requests.StreamGenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      command: command,\n      toBinary() {\n        return requests.StreamGenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command', request);\n  }\n\n  /**\n   * Sends a batch of generic ASCII commands to the PVT sequence.\n   * Keeps resending command while the device rejects with AGAIN reason.\n   * The batch is atomic in terms of thread safety.\n   * @param batch Array of commands.\n   */\n  public async genericCommandBatch(\n    batch: string[]\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandBatchRequest & gateway.Message = {\n      ...requests.StreamGenericCommandBatchRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      batch: batch,\n      toBinary() {\n        return requests.StreamGenericCommandBatchRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the PVT sequence status from the device\n   * and returns boolean indicating whether the PVT sequence is disabled.\n   * Useful to determine if execution was interrupted by other movements.\n   * @returns True if the PVT sequence is disabled.\n   */\n  public async checkDisabled(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_check_disabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n   */\n  public treatDiscontinuitiesAsError(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n   */\n  public ignoreCurrentDiscontinuity(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the PVT sequence.\n   * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n   */\n  private _retrieveAxes(): PvtAxisDefinition[] {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      requests.StreamGetAxesResponse.fromBinary);\n    return response.pvtAxes;\n  }\n\n  /**\n   * Get the mode of the PVT sequence.\n   * @returns Mode of the PVT sequence.\n   */\n  private _retrieveMode(): PvtMode {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamModeResponse>(\n      'device/stream_get_mode',\n      request,\n      requests.StreamModeResponse.fromBinary);\n    return response.pvtMode;\n  }\n\n  /**\n   * Saves PvtSequenceData object as csv file.\n   * Save format is compatible with Zaber Launcher PVT Editor App.\n   *\n   * Throws InvalidArgumentException if fields are undefined or inconsistent.\n   * For example, position and velocity arrays must have the same dimensions.\n   * Sequence lengths must be consistent for positions, velocities and times.\n   * @param sequenceData The PVT sequence data to save.\n   * @param path The path to save the file to.\n   * @param dimensionNames Optional csv column names for each series.\n   * If not provided, the default names will be used: Series 1, Series 2, etc..\n   * Length of this array must be equal to number of dimensions in sequence data.\n   */\n  public static async saveSequenceData(\n    sequenceData: PvtSequenceData,\n    path: string,\n    dimensionNames?: string[]\n  ): Promise<void> {\n    const request: requests.PvtSaveCsvRequest & gateway.Message = {\n      ...requests.PvtSaveCsvRequest.DEFAULT,\n      sequenceData: sequenceData,\n      path: path,\n      dimensionNames: dimensionNames,\n      toBinary() {\n        return requests.PvtSaveCsvRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_pvt_save_csv', request);\n  }\n\n  /**\n   * Load PVT Sequence data from CSV file.\n   * The CSV data can include a header (recommended).\n   * There are two possible header formats:\n   *\n   * 1. A time column with named position and velocity columns.\n   * For example, \"Time (ms),X Position (cm),X Velocity (cm/s),...\".\n   * In this case, position, velocity and time columns are all optional.\n   * Also, order does not matter, but position and velocity names must be consistent.\n   * This is our recommended CSV format.\n   *\n   * 2. A time column with alternating position and velocity columns.\n   * For example, \"Time (ms),Position (cm),Velocity (cm/s),...\".\n   * In this case, only the time column is optional and order does matter.\n   *\n   * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].\n   * Additionally, native units are the default if no units are specified.\n   * Time values default to milliseconds if no units are provided.\n   * If no header is included, then column order is assumed to be \"T,P1,V1,P2,V2,...\".\n   * In this case the number of columns must be odd.\n   * @param path The path to the csv file to load.\n   * @returns The PVT csv data loaded from the file.\n   */\n  public static async loadSequenceData(\n    path: string\n  ): Promise<PvtCsvData> {\n    const request: requests.PvtLoadCsvRequest & gateway.Message = {\n      ...requests.PvtLoadCsvRequest.DEFAULT,\n      path: path,\n      toBinary() {\n        return requests.PvtLoadCsvRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtCsvData>(\n      'device/stream_pvt_load_csv',\n      request,\n      PvtCsvData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Writes the contents of a PvtSequenceData object to the sequence.\n   * @param sequenceData The PVT sequence data to submit.\n   */\n  public async submitSequenceData(\n    sequenceData: PvtSequenceData\n  ): Promise<void> {\n    const request: requests.PvtSubmitSequenceDataRequest & gateway.Message = {\n      ...requests.PvtSubmitSequenceDataRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      sequenceData: sequenceData,\n      toBinary() {\n        return requests.PvtSubmitSequenceDataRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_pvt_submit_data', request);\n  }\n}\n\nnamespace PvtSequence {\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { Measurement } from '../measurement';\nimport * as requests from '../requests';\nimport { Device } from './device';\nimport { MeasurementSequence } from './measurement_sequence';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { PvtPartialCsvData } from './pvt_partial_csv_data';\nimport { PvtPartialSequenceItem } from './pvt_partial_sequence_item';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtCsvData } from './pvt_csv_data';\nimport { PvtIo } from './pvt_io';\nimport { PvtMode } from './pvt_mode';\nimport { PvtSequenceItem } from './pvt_sequence_item';\n\n/**\n * A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n */\nexport class PvtSequence {\n  /**\n   * Device that controls this PVT sequence.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the PVT sequence on the device.\n   */\n  public get pvtId(): number {\n    return this._pvtId;\n  }\n  private _pvtId: number;\n\n  /**\n   * Current mode of the PVT sequence.\n   */\n  public get mode(): PvtMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the PVT sequence is set up to control.\n   */\n  public get axes(): PvtAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  /**\n   * Gets an object that provides access to I/O for this sequence.\n   */\n  public get io(): PvtIo {\n    return this._io;\n  }\n  private _io: PvtIo;\n\n  constructor(device: Device, pvtId: number) {\n    this._device = device;\n    this._pvtId = pvtId;\n    this._io = new PvtIo(device, pvtId);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupLiveComposite(\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupLiveCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupLiveCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupLive(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveRequest & gateway.Message = {\n      ...requests.StreamSetupLiveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupLiveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupStoreComposite(\n    pvtBuffer: PvtBuffer,\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupStoreCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferNumber,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupStoreCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes The axis numbers of the physical axes to setup the PVT sequence on.\n   */\n  public async setupStore(\n    pvtBuffer: PvtBuffer,\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreRequest & gateway.Message = {\n      ...requests.StreamSetupStoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferNumber,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupStoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Append the actions in a PVT buffer to the sequence's queue.\n   * @param pvtBuffer The PVT buffer to call.\n   */\n  public async call(\n    pvtBuffer: PvtBuffer\n  ): Promise<void> {\n    const request: requests.StreamCallRequest & gateway.Message = {\n      ...requests.StreamCallRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferNumber,\n      toBinary() {\n        return requests.StreamCallRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queues a point with absolute coordinates in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * If time value is zero, the device must already be idle at the specified position\n   * and the specified velocity must be zero.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async point(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * @deprecated This method is being replaced by the new SubmitSequenceData method.\n   *\n   * Queues points with absolute coordinates in the PVT sequence.\n   * Each point must have its time value measured relative to the previous point\n   * or unexpected behavior will result.\n   *\n   * Note that if the first time value is zero, the device must already be idle at\n   * the position of the first point and the velocity of that point must be zero.\n   * All other time values must be greater than zero.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async points(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Queues a point with coordinates relative to the previous point in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   *\n   * The time value must be greater than zero, and each point must have its time value\n   * measured relative to the previous point or unexpected behavior will result.\n   *\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to the previous point.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async pointRelative(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * @deprecated This method is being replaced by the new SubmitSequenceData method.\n   *\n   * Queues points with coordinates relative to the previous point in the PVT sequence.\n   * All time values must be greater than zero and each point must have its time value\n   * measured relative to the previous point or unexpected behavior will result.\n   * @param positions Per-axis sequences of positions.\n   * @param velocities Per-axis sequences of velocities.\n   * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.\n   * @param times Segment times from one point to another.\n   * For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.\n   */\n  public async pointsRelative(\n    positions: MeasurementSequence[],\n    velocities: MeasurementSequence[],\n    times: MeasurementSequence\n  ): Promise<void> {\n    const request: requests.PvtPointsRequest & gateway.Message = {\n      ...requests.PvtPointsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      times: times,\n      toBinary() {\n        return requests.PvtPointsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_points', request);\n  }\n\n  /**\n   * Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence\n   * of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.\n   * If all velocities are defined, the solver will simply return the same velocities.\n   * This function calculates velocities by enforcing that acceleration be continuous at each segment transition.\n   * The function does not modify the input positions or times.\n   *\n   * Also note that if the first position is relative, all following points must be relative.\n   * If the start position is absolute, then the sequence can include a mix of relative and absolute positions.\n   * Additionally, all times must be relative to the previous point.\n   * Please see the ConvertTimeAbsoluteToRelativePartial function for conversions.\n   *\n   * Does not support native units.\n   * @param sequenceItems Partial PVT points defining the positions, optional velocities, and times for the sequence.\n   * Each point should have positions defined for each axis. Velocities are optional.\n   * Times must be defined for each point.\n   * @returns Array of points and actions containing the generated PVT sequence. Note returned times are always relative.\n   */\n  public static async generateVelocities(\n    sequenceItems: PvtPartialSequenceItem[]\n  ): Promise<PvtSequenceItem[]> {\n    const request: requests.PvtGenerateVelocitiesRequest & gateway.Message = {\n      ...requests.PvtGenerateVelocitiesRequest.DEFAULT,\n      sequenceItems: sequenceItems,\n      toBinary() {\n        return requests.PvtGenerateVelocitiesRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.PvtGenerateSequenceResponse>(\n      'device/pvt_generate_velocities',\n      request,\n      requests.PvtGenerateSequenceResponse.fromBinary);\n    return response.sequenceData;\n  }\n\n  /**\n   * Generates positions for a sequence of velocities and times. This function calculates\n   * positions by enforcing that acceleration be continuous at each segment transition.\n   *\n   * This function does not modify the input velocities or times, and outputs absolute\n   * positions. If your initial point has a time of zero, it will be considered a starting\n   * position when submitted to the device, and you must already have moved the device\n   * to that position. Additionally, all times must be relative to the previous point.\n   * Please see the ConvertTimeAbsoluteToRelativePartial function for conversions.\n   *\n   * Does not support native units.\n   * @param sequenceItems Partial PVT points defining the velocities and times for the sequence.\n   * Each point should have velocities defined for each axis.\n   * Times must be defined for each point.\n   * @returns Array of points and actions containing the generated PVT sequence. Note returned times are always relative.\n   */\n  public static async generatePositions(\n    sequenceItems: PvtPartialSequenceItem[]\n  ): Promise<PvtSequenceItem[]> {\n    const request: requests.PvtGeneratePositionsRequest & gateway.Message = {\n      ...requests.PvtGeneratePositionsRequest.DEFAULT,\n      sequenceItems: sequenceItems,\n      toBinary() {\n        return requests.PvtGeneratePositionsRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.PvtGenerateSequenceResponse>(\n      'device/pvt_generate_positions',\n      request,\n      requests.PvtGenerateSequenceResponse.fromBinary);\n    return response.sequenceData;\n  }\n\n  /**\n   * Generates sequences of velocities and times for a sequence of positions.\n   * This function fits a geometric spline (not-a-knot cubic for sequences of >3 points,\n   * natural cubic for 3, and a straight line for 2) over the position sequence\n   * and then calculates the velocity and time information by traversing it using a\n   * trapezoidal motion profile.\n   *\n   * This generation scheme attempts to keep speed and acceleration less than the\n   * specified target values, but does not guarantee it. Generally speaking, a higher\n   * resample number will bring the generated trajectory closer to respecting these\n   * limits.\n   *\n   * Note that consecutive duplicate points will be automatically removed as they\n   * have no geometric significance without additional time information. Also note that\n   * for multi-dimensional paths this function expects axes to be linear and orthogonal,\n   * however for paths of a single dimension rotary units are accepted.\n   * Additionally, if the first positions of the input sequence is relative,\n   * all following positions must also be relative. If the first position is absolute,\n   * the sequence may contain a mix of relative and absolute positions.\n   * Resampling a sequence which contains relative positions is not allowed.\n   *\n   * This function outputs points with absolute positions and relative times, with the\n   * first time equal to zero, meaning it will be treated as a start position when\n   * executing on a device. You must move the device to that position before submitting\n   * the sequence, or change the first point's time to a value greater than zero.\n   *\n   * Does not support native units.\n   * @param sequenceItems Partial PVT points defining the positions for the sequence.\n   * Each point should have positions defined for each axis.\n   * @param targetSpeed The target speed used to generate positions and times.\n   * @param targetAcceleration The target acceleration used to generate positions and times.\n   * @param resampleNumber The number of points to resample the sequence by.\n   * Leave undefined to use the specified points.\n   * @returns Array of points and actions containing the generated PVT sequence. Note returned times are always relative.\n   */\n  public static async generateVelocitiesAndTimes(\n    sequenceItems: PvtPartialSequenceItem[],\n    targetSpeed: Measurement,\n    targetAcceleration: Measurement,\n    resampleNumber?: number\n  ): Promise<PvtSequenceItem[]> {\n    if (targetSpeed.value <= 0 || targetAcceleration.value <= 0) {\n      throw new TypeError('Target speed and acceleration values must be greater than zero.');\n    }\n    const request: requests.PvtGenerateVelocitiesAndTimesRequest & gateway.Message = {\n      ...requests.PvtGenerateVelocitiesAndTimesRequest.DEFAULT,\n      sequenceItems: sequenceItems,\n      targetSpeed: targetSpeed,\n      targetAcceleration: targetAcceleration,\n      resampleNumber: resampleNumber,\n      toBinary() {\n        return requests.PvtGenerateVelocitiesAndTimesRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.PvtGenerateSequenceResponse>(\n      'device/pvt_generate_velocities_and_times',\n      request,\n      requests.PvtGenerateSequenceResponse.fromBinary);\n    return response.sequenceData;\n  }\n\n  /**\n   * Waits until the live PVT sequence executes all queued actions.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: PvtSequence.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.StreamWaitUntilIdleRequest & gateway.Message = {\n      ...requests.StreamWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.StreamWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the PVT sequences's action queue, blocking execution.\n   * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n   * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n   * You can only cork an idle live PVT sequence.\n   */\n  public async cork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_cork', request);\n  }\n\n  /**\n   * Uncork the front of the queue, unblocking command execution.\n   * You can only uncork an idle live PVT sequence that is corked.\n   */\n  public async uncork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n   * @returns True if the PVT sequence is executing a queued action.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the PVT sequence.\n   * @returns String which represents the PVT sequence.\n   */\n  public toString(): string {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/stream_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Disables the PVT sequence.\n   * If the PVT sequence is not setup, this command does nothing.\n   * Once disabled, the PVT sequence will no longer accept PVT commands.\n   * The PVT sequence will process the rest of the commands in the queue until it is empty.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the PVT sequence.\n   * Keeps resending the command while the device rejects with AGAIN reason.\n   * @param command Command and its parameters.\n   */\n  public async genericCommand(\n    command: string\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandRequest & gateway.Message = {\n      ...requests.StreamGenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      command: command,\n      toBinary() {\n        return requests.StreamGenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command', request);\n  }\n\n  /**\n   * Sends a batch of generic ASCII commands to the PVT sequence.\n   * Keeps resending command while the device rejects with AGAIN reason.\n   * The batch is atomic in terms of thread safety.\n   * @param batch Array of commands.\n   */\n  public async genericCommandBatch(\n    batch: string[]\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandBatchRequest & gateway.Message = {\n      ...requests.StreamGenericCommandBatchRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      batch: batch,\n      toBinary() {\n        return requests.StreamGenericCommandBatchRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the PVT sequence status from the device\n   * and returns boolean indicating whether the PVT sequence is disabled.\n   * Useful to determine if execution was interrupted by other movements.\n   * @returns True if the PVT sequence is disabled.\n   */\n  public async checkDisabled(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_check_disabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n   */\n  public treatDiscontinuitiesAsError(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n   */\n  public ignoreCurrentDiscontinuity(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the PVT sequence.\n   * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n   */\n  private _retrieveAxes(): PvtAxisDefinition[] {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      requests.StreamGetAxesResponse.fromBinary);\n    return response.pvtAxes;\n  }\n\n  /**\n   * Get the mode of the PVT sequence.\n   * @returns Mode of the PVT sequence.\n   */\n  private _retrieveMode(): PvtMode {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamModeResponse>(\n      'device/stream_get_mode',\n      request,\n      requests.StreamModeResponse.fromBinary);\n    return response.pvtMode;\n  }\n\n  /**\n   * Saves PvtSequenceItem array as a csv file.\n   * Save format is compatible with Zaber Launcher PVT Editor App.\n   *\n   * Normally a sequence in memory should have relative time values on the points.\n   * If you want to store absolute times instead, you can use the\n   * ConvertTimeRelativeToAbsolute function to convert before saving.\n   *\n   * Throws InvalidArgumentException if fields are undefined or inconsistent.\n   * For example, position and velocity arrays must have the same dimensions.\n   * Sequence lengths must be consistent for positions, velocities and times.\n   * @param sequenceData The PVT sequence data to save.\n   * @param path The path to save the file to.\n   * @param dimensionNames Optional csv column names for each series.\n   * If not provided, the default names will be used: Series 1, Series 2, etc..\n   * Length of this array must be equal to number of dimensions in sequence data.\n   */\n  public static async saveSequenceData(\n    sequenceData: PvtSequenceItem[],\n    path: string,\n    dimensionNames?: string[]\n  ): Promise<void> {\n    const request: requests.PvtSaveCsvRequest & gateway.Message = {\n      ...requests.PvtSaveCsvRequest.DEFAULT,\n      sequenceData: sequenceData,\n      path: path,\n      dimensionNames: dimensionNames,\n      toBinary() {\n        return requests.PvtSaveCsvRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_pvt_save_csv', request);\n  }\n\n  /**\n   * Load PVT Sequence data from CSV file.\n   * This function expects complete data in the CSV files (a time column and\n   * both position and velocity columns for each series).\n   * If your CSV file has partial data, use LoadPartialSequenceData instead.\n   *\n   * The CSV data can include a header (recommended).\n   * There are two possible header formats:\n   *\n   * 1. A time column with named position and velocity columns.\n   * For example, \"Time (ms),X Position (cm),X Velocity (cm/s),...\".\n   * In this case, position, velocity and time columns are all optional.\n   * Also, order does not matter, but position and velocity names must be consistent.\n   * This is our recommended CSV format.\n   *\n   * 2. A time column with alternating position and velocity columns.\n   * For example, \"Time (ms),Position (cm),Velocity (cm/s),...\".\n   * In this case, only the time column is optional and order does matter.\n   *\n   * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].\n   * Additionally, native units are the default if no units are specified.\n   * Time values default to milliseconds if no units are provided.\n   * If no header is included, then column order is assumed to be \"T,P1,V1,P2,V2,...\".\n   * In this case the number of columns must be odd.\n   *\n   * Users can add a column named \"Relative\" with true/false values to\n   * indicate whether each point's position is relative or absolute.\n   * If this column is not included, all points will be assumed to be absolute.\n   *\n   * If the first point has time = zero, it is considered the start position\n   * and treated specially. It must have an absolute position, and the device\n   * must already be idle at that position when the sequence is submitted.\n   * The velocity of the start position is ignored, and should normally be zero.\n   * Sequences with nonzero time for the first point do not have these constraints.\n   *\n   * Buffer calls and I/O actions can be added into the CSV file by\n   * adding a column titled \"Actions\", containing the ASCII protocol command(s)\n   * shortened by everything up to the PVT stream number, for example\n   * \"call 2\" or \"io set do 1 1\". If you want to insert multiple actions\n   * after a point, put them in the same cell separated by a semicolon.\n   * See the ASCII Protocol Manual\n   * [PVT command reference](https://www.zaber.com/protocol-manual?protocol=ASCII#topic_command_pvt)\n   * section for the list of available commands. Unit symbols are not supported;\n   * analog output voltages are always in volts and schedule delay times are\n   * always in milliseconds.\n   *\n   * Note that the Relative and Actions columns are not automatically\n   * detected, so if you include them you must include a header row.\n   *\n   * Time values should always be relative when sent to a device or to the\n   * various Generate... functions on this class. If you want to store\n   * absolute times in a CSV file, you can use the ConvertTimeRelativeToAbsolute\n   * function to convert after loading the file.\n   * @param path The path to the csv file to load.\n   * @returns The PVT csv data loaded from the file.\n   */\n  public static async loadSequenceData(\n    path: string\n  ): Promise<PvtCsvData> {\n    const request: requests.PvtLoadCsvRequest & gateway.Message = {\n      ...requests.PvtLoadCsvRequest.DEFAULT,\n      path: path,\n      toBinary() {\n        return requests.PvtLoadCsvRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtCsvData>(\n      'device/stream_pvt_load_csv',\n      request,\n      PvtCsvData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Load PVT Sequence data from CSV file, allowing for some combinations of incomplete data.\n   * Output from this function cannot be enqueued on a device until the missing data has\n   * been filled in using the GenerateVelocities, GeneratePositions or\n   * GenerateVelocitiesAndTimes functions.\n   *\n   * The CSV data can include a header (recommended).\n   * There are two possible header formats:\n   *\n   * 1. A time column with named position and velocity columns.\n   * For example, \"Time (ms),X Position (cm),X Velocity (cm/s),...\".\n   * In this case, position, velocity and time columns are all optional.\n   * Also, order does not matter, but position and velocity names must be consistent.\n   * This is our recommended CSV format.\n   *\n   * 2. A time column with alternating position and velocity columns.\n   * For example, \"Time (ms),Position (cm),Velocity (cm/s),...\".\n   * In this case, only the time column is optional and order does matter.\n   *\n   * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].\n   * Additionally, native units are the default if no units are specified.\n   * Time values default to milliseconds if no units are provided.\n   * If no header is included, then column order is assumed to be \"T,P1,V1,P2,V2,...\".\n   * In this case the number of columns must be odd.\n   *\n   * Users can add a column named \"Relative\" with true/false values to\n   * indicate whether each point's position is relative or absolute.\n   * If this column is not included, all points will be assumed to be absolute.\n   *\n   * If the first point has time = zero, it is considered the start position\n   * and treated specially. It must have an absolute position, and the device\n   * must already be idle at that position when the sequence is submitted.\n   * The velocity of the start position is ignored, and should normally be zero.\n   * Sequences with nonzero time for the first point do not have these constraints.\n   *\n   * Buffer calls and I/O actions can be added into the CSV file by\n   * adding a column titled \"Actions\", containing the ASCII protocol command(s)\n   * shortened by everything up to the PVT stream number, for example\n   * \"call 2\" or \"io set do 1 1\". If you want to insert multiple actions\n   * after a point, put them in the same cell separated by a semicolon.\n   * See the ASCII Protocol Manual\n   * [PVT command reference](https://www.zaber.com/protocol-manual?protocol=ASCII#topic_command_pvt)\n   * section for the list of available commands. Unit symbols are not supported;\n   * analog output voltages are always in volts and schedule delay times are\n   * always in milliseconds.\n   *\n   * Note that the Relative and Actions columns are not automatically\n   * detected, so if you include them you must include a header row.\n   *\n   * Time values should always be relative when sent to a device or to the\n   * various Generate... functions on this class. If you want to store\n   * absolute times in a CSV file, you can use the ConvertTimeRelativeToAbsolute\n   * function to convert after loading the file.\n   * @param path The path to the csv file to load.\n   * @returns The PVT csv data loaded from the file.\n   */\n  public static async loadPartialSequenceData(\n    path: string\n  ): Promise<PvtPartialCsvData> {\n    const request: requests.PvtLoadCsvRequest & gateway.Message = {\n      ...requests.PvtLoadCsvRequest.DEFAULT,\n      path: path,\n      toBinary() {\n        return requests.PvtLoadCsvRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PvtPartialCsvData>(\n      'device/stream_pvt_load_partial_csv',\n      request,\n      PvtPartialCsvData.fromBinary);\n    return response;\n  }\n\n  /**\n   * Writes the contents of a PvtSequenceItem array to the sequence.\n   * Each point must have its time value measured relative to the previous point\n   * or unexpected behavior will result. If your point times are absolute (measured\n   * from the start of the sequence), use the ConvertTimeAbsoluteToRelative\n   * function to convert them before submitting.\n   *\n   * If the first point in the sequence has a time value of zero, it is\n   * considered the starting position. It must have an absolute position,\n   * zero velocity, and the device must already be idle at the specified position.\n   * @param sequenceData The PVT sequence data to submit.\n   */\n  public async submitSequenceData(\n    sequenceData: PvtSequenceItem[]\n  ): Promise<void> {\n    const request: requests.PvtSubmitSequenceDataRequest & gateway.Message = {\n      ...requests.PvtSubmitSequenceDataRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      sequenceData: sequenceData,\n      toBinary() {\n        return requests.PvtSubmitSequenceDataRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_pvt_submit_sequence_data', request);\n  }\n\n  /**\n   * Converts the time values in a PvtSequenceItem array from absolute to relative.\n   * Points passed to the Generate functions or sent to devices must have relative time values.\n   * @param sequenceData The sequence data for which to convert times from absolute to relative.\n   * Point times must all be in the same units.\n   * @returns The sequence data with times converted from absolute to relative.\n   */\n  public static async convertTimeAbsoluteToRelative(\n    sequenceData: PvtSequenceItem[]\n  ): Promise<PvtSequenceItem[]> {\n    const request: requests.PvtConvertTimeRequest & gateway.Message = {\n      ...requests.PvtConvertTimeRequest.DEFAULT,\n      fromAbsolute: true,\n      sequenceData: sequenceData,\n      toBinary() {\n        return requests.PvtConvertTimeRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.PvtConvertTimeResponse>(\n      'device/stream_pvt_convert_time',\n      request,\n      requests.PvtConvertTimeResponse.fromBinary);\n    return response.sequenceData;\n  }\n\n  /**\n   * Converts the time values in a PvtSequenceItem array from relative to absolute.\n   * @param sequenceData The sequence data for which to convert times from relative to absolute.\n   * Point times must all be in the same units.\n   * @returns The sequence data with times converted from relative to absolute.\n   */\n  public static async convertTimeRelativeToAbsolute(\n    sequenceData: PvtSequenceItem[]\n  ): Promise<PvtSequenceItem[]> {\n    const request: requests.PvtConvertTimeRequest & gateway.Message = {\n      ...requests.PvtConvertTimeRequest.DEFAULT,\n      fromAbsolute: false,\n      sequenceData: sequenceData,\n      toBinary() {\n        return requests.PvtConvertTimeRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.PvtConvertTimeResponse>(\n      'device/stream_pvt_convert_time',\n      request,\n      requests.PvtConvertTimeResponse.fromBinary);\n    return response.sequenceData;\n  }\n\n  /**\n   * Converts the time values in a PvtPartialSequenceItem array from absolute to relative.\n   * Points passed to the Generate functions or sent to devices must have relative time values.\n   * @param sequenceData The sequence data for which to convert times from absolute to relative.\n   * Point times must all be in the same units.\n   * @returns The sequence data with times converted from absolute to relative.\n   */\n  public static async convertTimeAbsoluteToRelativePartial(\n    sequenceData: PvtPartialSequenceItem[]\n  ): Promise<PvtPartialSequenceItem[]> {\n    const request: requests.PvtPartialConvertTimeRequest & gateway.Message = {\n      ...requests.PvtPartialConvertTimeRequest.DEFAULT,\n      fromAbsolute: true,\n      sequenceData: sequenceData,\n      toBinary() {\n        return requests.PvtPartialConvertTimeRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.PvtPartialConvertTimeResponse>(\n      'device/stream_pvt_convert_time_partial',\n      request,\n      requests.PvtPartialConvertTimeResponse.fromBinary);\n    return response.sequenceData;\n  }\n\n  /**\n   * Converts the time values in a PvtPartialSequenceItem array from relative to absolute.\n   * @param sequenceData The sequence data for which to convert times from relative to absolute.\n   * Point times must all be in the same units.\n   * @returns The sequence data with times converted from relative to absolute.\n   */\n  public static async convertTimeRelativeToAbsolutePartial(\n    sequenceData: PvtPartialSequenceItem[]\n  ): Promise<PvtPartialSequenceItem[]> {\n    const request: requests.PvtPartialConvertTimeRequest & gateway.Message = {\n      ...requests.PvtPartialConvertTimeRequest.DEFAULT,\n      fromAbsolute: false,\n      sequenceData: sequenceData,\n      toBinary() {\n        return requests.PvtPartialConvertTimeRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.PvtPartialConvertTimeResponse>(\n      'device/stream_pvt_convert_time_partial',\n      request,\n      requests.PvtPartialConvertTimeResponse.fromBinary);\n    return response.sequenceData;\n  }\n}\n\nnamespace PvtSequence {\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}

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

@@ -0,0 +1,28 @@
+import { BSON } from 'bson';
+import { PvtPoint } from '../ascii/pvt_point';
+import { PvtCallAction } from '../ascii/pvt_call_action';
+import { PvtSetDigitalOutputAction } from '../ascii/pvt_set_digital_output_action';
+import { PvtSetAllDigitalOutputsAction } from '../ascii/pvt_set_all_digital_outputs_action';
+import { PvtSetAnalogOutputAction } from '../ascii/pvt_set_analog_output_action';
+import { PvtSetAllAnalogOutputsAction } from '../ascii/pvt_set_all_analog_outputs_action';
+import { PvtCancelOutputScheduleAction } from '../ascii/pvt_cancel_output_schedule_action';
+import { PvtCancelAllOutputsScheduleAction } from '../ascii/pvt_cancel_all_outputs_schedule_action';
+/**
+ * Union of all data types that can appear in a PVT sequence.
+ */
+export type PvtSequenceItem = PvtPoint | PvtCallAction | PvtSetDigitalOutputAction | PvtSetAllDigitalOutputsAction | PvtSetAnalogOutputAction | PvtSetAllAnalogOutputsAction | PvtCancelOutputScheduleAction | PvtCancelAllOutputsScheduleAction;
+/**
+ * Constants for the possible return values of PvtSequenceItem.typeName().
+ */
+export type PvtSequenceItemTypeTags = 'PvtPoint' | 'PvtCallAction' | 'PvtSetDigitalOutputAction' | 'PvtSetAllDigitalOutputsAction' | 'PvtSetAnalogOutputAction' | 'PvtSetAllAnalogOutputsAction' | 'PvtCancelOutputScheduleAction' | 'PvtCancelAllOutputsScheduleAction';
+export declare const PvtSequenceItem: {
+    sanitize: (value: PvtSequenceItem) => PvtSequenceItem;
+    convert: (value: BSON.Document) => PvtSequenceItem;
+    convertBack: (value: PvtSequenceItem) => BSON.Document;
+    /**
+     * Attempts to determine which member type is present in a variable.
+     */
+    typeName: (value: PvtSequenceItem) => PvtSequenceItemTypeTags;
+    isA: (value: any) => value is PvtSequenceItem;
+};
+//# sourceMappingURL=pvt_sequence_item.d.ts.map

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

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

@@ -0,0 +1,127 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtSequenceItem = void 0;
+const pvt_point_1 = require("../ascii/pvt_point");
+const pvt_call_action_1 = require("../ascii/pvt_call_action");
+const pvt_set_digital_output_action_1 = require("../ascii/pvt_set_digital_output_action");
+const pvt_set_all_digital_outputs_action_1 = require("../ascii/pvt_set_all_digital_outputs_action");
+const pvt_set_analog_output_action_1 = require("../ascii/pvt_set_analog_output_action");
+const pvt_set_all_analog_outputs_action_1 = require("../ascii/pvt_set_all_analog_outputs_action");
+const pvt_cancel_output_schedule_action_1 = require("../ascii/pvt_cancel_output_schedule_action");
+const pvt_cancel_all_outputs_schedule_action_1 = require("../ascii/pvt_cancel_all_outputs_schedule_action");
+exports.PvtSequenceItem = {
+    sanitize: (value) => {
+        const typeName = exports.PvtSequenceItem.typeName(value);
+        switch (typeName) {
+            case 'PvtPoint':
+                value = pvt_point_1.PvtPoint.sanitize(value);
+                break;
+            case 'PvtCallAction':
+                value = pvt_call_action_1.PvtCallAction.sanitize(value);
+                break;
+            case 'PvtSetDigitalOutputAction':
+                value = pvt_set_digital_output_action_1.PvtSetDigitalOutputAction.sanitize(value);
+                break;
+            case 'PvtSetAllDigitalOutputsAction':
+                value = pvt_set_all_digital_outputs_action_1.PvtSetAllDigitalOutputsAction.sanitize(value);
+                break;
+            case 'PvtSetAnalogOutputAction':
+                value = pvt_set_analog_output_action_1.PvtSetAnalogOutputAction.sanitize(value);
+                break;
+            case 'PvtSetAllAnalogOutputsAction':
+                value = pvt_set_all_analog_outputs_action_1.PvtSetAllAnalogOutputsAction.sanitize(value);
+                break;
+            case 'PvtCancelOutputScheduleAction':
+                value = pvt_cancel_output_schedule_action_1.PvtCancelOutputScheduleAction.sanitize(value);
+                break;
+            case 'PvtCancelAllOutputsScheduleAction':
+                value = pvt_cancel_all_outputs_schedule_action_1.PvtCancelAllOutputsScheduleAction.sanitize(value);
+                break;
+            default:
+                break;
+        }
+        return value;
+    },
+    convert: (value) => {
+        switch (value.variantValueType) {
+            case 'PvtPoint':
+                return value.pvtPointValue;
+            case 'PvtCallAction':
+                return value.pvtCallActionValue;
+            case 'PvtSetDigitalOutputAction':
+                return value.pvtSetDigitalOutputActionValue;
+            case 'PvtSetAllDigitalOutputsAction':
+                return value.pvtSetAllDigitalOutputsActionValue;
+            case 'PvtSetAnalogOutputAction':
+                return value.pvtSetAnalogOutputActionValue;
+            case 'PvtSetAllAnalogOutputsAction':
+                return value.pvtSetAllAnalogOutputsActionValue;
+            case 'PvtCancelOutputScheduleAction':
+                return value.pvtCancelOutputScheduleActionValue;
+            case 'PvtCancelAllOutputsScheduleAction':
+                return value.pvtCancelAllOutputsScheduleActionValue;
+            default:
+                throw new TypeError(`Variant type tag '${value.variantValueType}' is not valid for variant type PvtSequenceItem.`);
+        }
+    },
+    convertBack: (value) => {
+        const typeName = exports.PvtSequenceItem.typeName(value);
+        return {
+            variantValueType: typeName,
+            pvtPointValue: typeName === 'PvtPoint' ? value : undefined,
+            pvtCallActionValue: typeName === 'PvtCallAction' ? value : undefined,
+            pvtSetDigitalOutputActionValue: typeName === 'PvtSetDigitalOutputAction' ? value : undefined,
+            pvtSetAllDigitalOutputsActionValue: typeName === 'PvtSetAllDigitalOutputsAction' ? value : undefined,
+            pvtSetAnalogOutputActionValue: typeName === 'PvtSetAnalogOutputAction' ? value : undefined,
+            pvtSetAllAnalogOutputsActionValue: typeName === 'PvtSetAllAnalogOutputsAction' ? value : undefined,
+            pvtCancelOutputScheduleActionValue: typeName === 'PvtCancelOutputScheduleAction' ? value : undefined,
+            pvtCancelAllOutputsScheduleActionValue: typeName === 'PvtCancelAllOutputsScheduleAction' ? value : undefined,
+        };
+    },
+    /**
+     * Attempts to determine which member type is present in a variable.
+     */
+    typeName: (value) => {
+        if (pvt_point_1.PvtPoint.isA(value)) {
+            return 'PvtPoint';
+        }
+        else if (pvt_call_action_1.PvtCallAction.isA(value)) {
+            return 'PvtCallAction';
+        }
+        else if (pvt_set_digital_output_action_1.PvtSetDigitalOutputAction.isA(value)) {
+            return 'PvtSetDigitalOutputAction';
+        }
+        else if (pvt_set_all_digital_outputs_action_1.PvtSetAllDigitalOutputsAction.isA(value)) {
+            return 'PvtSetAllDigitalOutputsAction';
+        }
+        else if (pvt_set_analog_output_action_1.PvtSetAnalogOutputAction.isA(value)) {
+            return 'PvtSetAnalogOutputAction';
+        }
+        else if (pvt_set_all_analog_outputs_action_1.PvtSetAllAnalogOutputsAction.isA(value)) {
+            return 'PvtSetAllAnalogOutputsAction';
+        }
+        else if (pvt_cancel_output_schedule_action_1.PvtCancelOutputScheduleAction.isA(value)) {
+            return 'PvtCancelOutputScheduleAction';
+        }
+        else if (pvt_cancel_all_outputs_schedule_action_1.PvtCancelAllOutputsScheduleAction.isA(value)) {
+            return 'PvtCancelAllOutputsScheduleAction';
+        }
+        else if (value == null) {
+            throw new RangeError('Null or undefined values are not valid values for type PvtSequenceItem');
+        }
+        throw new TypeError(`Unrecognized type for PvtSequenceItem: ${typeof value} (JSON.stringify(value, NULL, 2))`);
+    },
+    isA: (value) => {
+        try {
+            exports.PvtSequenceItem.typeName(value); // Throws if the type is not recognized.
+            return true;
+        }
+        catch (err) {
+            if (err instanceof TypeError) {
+                return false;
+            }
+            throw err;
+        }
+    }
+};
+//# sourceMappingURL=pvt_sequence_item.js.map

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

@@ -0,0 +1 @@
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Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { PvtPoint } from '../ascii/pvt_point';\nimport { PvtCallAction } from '../ascii/pvt_call_action';\nimport { PvtSetDigitalOutputAction } from '../ascii/pvt_set_digital_output_action';\nimport { PvtSetAllDigitalOutputsAction } from '../ascii/pvt_set_all_digital_outputs_action';\nimport { PvtSetAnalogOutputAction } from '../ascii/pvt_set_analog_output_action';\nimport { PvtSetAllAnalogOutputsAction } from '../ascii/pvt_set_all_analog_outputs_action';\nimport { PvtCancelOutputScheduleAction } from '../ascii/pvt_cancel_output_schedule_action';\nimport { PvtCancelAllOutputsScheduleAction } from '../ascii/pvt_cancel_all_outputs_schedule_action';\n\n/**\n * Union of all data types that can appear in a PVT sequence.\n */\nexport type PvtSequenceItem =\n  PvtPoint | PvtCallAction | PvtSetDigitalOutputAction | PvtSetAllDigitalOutputsAction |\n  PvtSetAnalogOutputAction | PvtSetAllAnalogOutputsAction | PvtCancelOutputScheduleAction |\n  PvtCancelAllOutputsScheduleAction;\n\n/**\n * Constants for the possible return values of PvtSequenceItem.typeName().\n */\nexport type PvtSequenceItemTypeTags = 'PvtPoint' | 'PvtCallAction' | 'PvtSetDigitalOutputAction' | 'PvtSetAllDigitalOutputsAction' | 'PvtSetAnalogOutputAction' | 'PvtSetAllAnalogOutputsAction' | 'PvtCancelOutputScheduleAction' | 'PvtCancelAllOutputsScheduleAction';\n\nexport const PvtSequenceItem = {\n  sanitize: (value: PvtSequenceItem): PvtSequenceItem => {\n    const typeName = PvtSequenceItem.typeName(value);\n    switch (typeName) {\n      case 'PvtPoint':\n        value = PvtPoint.sanitize(value as PvtPoint);\n        break;\n\n      case 'PvtCallAction':\n        value = PvtCallAction.sanitize(value as PvtCallAction);\n        break;\n\n      case 'PvtSetDigitalOutputAction':\n        value = PvtSetDigitalOutputAction.sanitize(value as PvtSetDigitalOutputAction);\n        break;\n\n      case 'PvtSetAllDigitalOutputsAction':\n        value = PvtSetAllDigitalOutputsAction.sanitize(value as PvtSetAllDigitalOutputsAction);\n        break;\n\n      case 'PvtSetAnalogOutputAction':\n        value = PvtSetAnalogOutputAction.sanitize(value as PvtSetAnalogOutputAction);\n        break;\n\n      case 'PvtSetAllAnalogOutputsAction':\n        value = PvtSetAllAnalogOutputsAction.sanitize(value as PvtSetAllAnalogOutputsAction);\n        break;\n\n      case 'PvtCancelOutputScheduleAction':\n        value = PvtCancelOutputScheduleAction.sanitize(value as PvtCancelOutputScheduleAction);\n        break;\n\n      case 'PvtCancelAllOutputsScheduleAction':\n        value = PvtCancelAllOutputsScheduleAction.sanitize(value as PvtCancelAllOutputsScheduleAction);\n        break;\n\n      default:\n        break;\n    }\n\n    return value;\n  },\n\n  convert: (value: BSON.Document): PvtSequenceItem => {\n    switch (value.variantValueType as PvtSequenceItemTypeTags) {\n      case 'PvtPoint':\n        return value.pvtPointValue as PvtPoint;\n\n      case 'PvtCallAction':\n        return value.pvtCallActionValue as PvtCallAction;\n\n      case 'PvtSetDigitalOutputAction':\n        return value.pvtSetDigitalOutputActionValue as PvtSetDigitalOutputAction;\n\n      case 'PvtSetAllDigitalOutputsAction':\n        return value.pvtSetAllDigitalOutputsActionValue as PvtSetAllDigitalOutputsAction;\n\n      case 'PvtSetAnalogOutputAction':\n        return value.pvtSetAnalogOutputActionValue as PvtSetAnalogOutputAction;\n\n      case 'PvtSetAllAnalogOutputsAction':\n        return value.pvtSetAllAnalogOutputsActionValue as PvtSetAllAnalogOutputsAction;\n\n      case 'PvtCancelOutputScheduleAction':\n        return value.pvtCancelOutputScheduleActionValue as PvtCancelOutputScheduleAction;\n\n      case 'PvtCancelAllOutputsScheduleAction':\n        return value.pvtCancelAllOutputsScheduleActionValue as PvtCancelAllOutputsScheduleAction;\n\n      default:\n        throw new TypeError(`Variant type tag '${value.variantValueType}' is not valid for variant type PvtSequenceItem.`);\n    }\n  },\n\n  convertBack: (value: PvtSequenceItem): BSON.Document => {\n    const typeName = PvtSequenceItem.typeName(value);\n    return {\n      variantValueType: typeName,\n      pvtPointValue: typeName === 'PvtPoint' ? value as PvtPoint : undefined,\n      pvtCallActionValue: typeName === 'PvtCallAction' ? value as PvtCallAction : undefined,\n      pvtSetDigitalOutputActionValue: typeName === 'PvtSetDigitalOutputAction' ? value as PvtSetDigitalOutputAction : undefined,\n      pvtSetAllDigitalOutputsActionValue: typeName === 'PvtSetAllDigitalOutputsAction' ? value as PvtSetAllDigitalOutputsAction : undefined,\n      pvtSetAnalogOutputActionValue: typeName === 'PvtSetAnalogOutputAction' ? value as PvtSetAnalogOutputAction : undefined,\n      pvtSetAllAnalogOutputsActionValue: typeName === 'PvtSetAllAnalogOutputsAction' ? value as PvtSetAllAnalogOutputsAction : undefined,\n      pvtCancelOutputScheduleActionValue: typeName === 'PvtCancelOutputScheduleAction' ? value as PvtCancelOutputScheduleAction : undefined,\n      pvtCancelAllOutputsScheduleActionValue: typeName === 'PvtCancelAllOutputsScheduleAction' ? value as PvtCancelAllOutputsScheduleAction : undefined,\n    };\n  },\n\n  /**\n   * Attempts to determine which member type is present in a variable.\n   */\n  typeName: (value: PvtSequenceItem): PvtSequenceItemTypeTags => {\n    if (PvtPoint.isA(value)) {\n      return 'PvtPoint';\n    } else if (PvtCallAction.isA(value)) {\n      return 'PvtCallAction';\n    } else if (PvtSetDigitalOutputAction.isA(value)) {\n      return 'PvtSetDigitalOutputAction';\n    } else if (PvtSetAllDigitalOutputsAction.isA(value)) {\n      return 'PvtSetAllDigitalOutputsAction';\n    } else if (PvtSetAnalogOutputAction.isA(value)) {\n      return 'PvtSetAnalogOutputAction';\n    } else if (PvtSetAllAnalogOutputsAction.isA(value)) {\n      return 'PvtSetAllAnalogOutputsAction';\n    } else if (PvtCancelOutputScheduleAction.isA(value)) {\n      return 'PvtCancelOutputScheduleAction';\n    } else if (PvtCancelAllOutputsScheduleAction.isA(value)) {\n      return 'PvtCancelAllOutputsScheduleAction';\n    } else if (value == null) {\n      throw new RangeError('Null or undefined values are not valid values for type PvtSequenceItem');\n    }\n\n    throw new TypeError(`Unrecognized type for PvtSequenceItem: ${typeof value} (JSON.stringify(value, NULL, 2))`);\n  },\n\n  isA: (value: any): value is PvtSequenceItem => {\n    try {\n      PvtSequenceItem.typeName(value as PvtSequenceItem); // Throws if the type is not recognized.\n      return true;\n    } catch (err) {\n      if (err instanceof TypeError) {\n        return false;\n      }\n\n      throw err;\n    }\n  }\n};\n"]}

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

@@ -0,0 +1,29 @@
+import { BSON } from 'bson';
+import { Measurement } from '../measurement';
+/**
+ * Change the state of multiple pins of an analog output port in a PVT sequence or buffer.
+ */
+export interface PvtSetAllAnalogOutputsAction {
+    /**
+     * The voltages to set the analog output pins to. Must have one entry per pin in the port.
+     */
+    values: Measurement[];
+    /**
+     * If nonzero, specifies the time until the delayed output change occurs.
+     */
+    delay?: (Measurement | null);
+    /**
+     * The voltages to set the output pins to after the delay time expires. Ignored if the delay is zero or unspecified.
+     * Must have one entry per pin in the port.
+     */
+    futureValues?: (Measurement[] | null);
+}
+export declare const PvtSetAllAnalogOutputsAction: {
+    fromBinary: (buffer: Uint8Array) => PvtSetAllAnalogOutputsAction;
+    toBinary: (value: PvtSetAllAnalogOutputsAction) => Uint8Array;
+    DEFAULT: Readonly<PvtSetAllAnalogOutputsAction>;
+    sanitize: (value: PvtSetAllAnalogOutputsAction) => PvtSetAllAnalogOutputsAction;
+    convert: (value: BSON.Document) => PvtSetAllAnalogOutputsAction;
+    isA: (value: any) => value is PvtSetAllAnalogOutputsAction;
+};
+//# sourceMappingURL=pvt_set_all_analog_outputs_action.d.ts.map

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

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

@@ -0,0 +1,42 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtSetAllAnalogOutputsAction = void 0;
+/* This file is generated. Do not modify by hand. */
+const bson_1 = require("bson");
+const measurement_1 = require("../measurement");
+exports.PvtSetAllAnalogOutputsAction = {
+    fromBinary: (buffer) => exports.PvtSetAllAnalogOutputsAction.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.PvtSetAllAnalogOutputsAction.sanitize(value)),
+    DEFAULT: Object.freeze({
+        values: [],
+        delay: null,
+        futureValues: null,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected PvtSetAllAnalogOutputsAction object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected PvtSetAllAnalogOutputsAction object but got ${typeof value}.`);
+        }
+        return {
+            values: Array.from(value.values ?? [], item => measurement_1.Measurement.sanitize(item)),
+            delay: value.delay != null ? measurement_1.Measurement.sanitize(value.delay) : null,
+            futureValues: Array.from(value.futureValues ?? [], item => measurement_1.Measurement.sanitize(item)),
+        };
+    },
+    convert: (value) => ({
+        values: value.values,
+        delay: value.delay,
+        futureValues: value.futureValues,
+    }),
+    isA: (value) => {
+        const castValue = value;
+        return (value != null &&
+            typeof value === 'object' &&
+            !!castValue.values?.every(item => measurement_1.Measurement.isA(item)) &&
+            (castValue.delay == null || measurement_1.Measurement.isA(castValue.delay)) &&
+            (castValue.futureValues == null || !!castValue.futureValues?.every(item => measurement_1.Measurement.isA(item))));
+    },
+};
+//# sourceMappingURL=pvt_set_all_analog_outputs_action.js.map

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

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

@@ -0,0 +1,30 @@
+import { BSON } from 'bson';
+import { DigitalOutputAction } from '../ascii/digital_output_action';
+import { Measurement } from '../measurement';
+/**
+ * Change the state of multiple pins of a digital output port in a PVT sequence or buffer.
+ */
+export interface PvtSetAllDigitalOutputsAction {
+    /**
+     * The states to set the digital output pins to. Must have one entry per pin in the port.
+     */
+    values: DigitalOutputAction[];
+    /**
+     * If nonzero, specifies the time until the delayed output change occurs.
+     */
+    delay?: (Measurement | null);
+    /**
+     * The states to set the output pins to after the delay time expires. Ignored if the delay is zero or unspecified.
+     * Must have one entry per pin in the port.
+     */
+    futureValues?: (DigitalOutputAction[] | null);
+}
+export declare const PvtSetAllDigitalOutputsAction: {
+    fromBinary: (buffer: Uint8Array) => PvtSetAllDigitalOutputsAction;
+    toBinary: (value: PvtSetAllDigitalOutputsAction) => Uint8Array;
+    DEFAULT: Readonly<PvtSetAllDigitalOutputsAction>;
+    sanitize: (value: PvtSetAllDigitalOutputsAction) => PvtSetAllDigitalOutputsAction;
+    convert: (value: BSON.Document) => PvtSetAllDigitalOutputsAction;
+    isA: (value: any) => value is PvtSetAllDigitalOutputsAction;
+};
+//# sourceMappingURL=pvt_set_all_digital_outputs_action.d.ts.map

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

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package/dist/lib/ascii/pvt_set_all_digital_outputs_action.js

@@ -0,0 +1,44 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtSetAllDigitalOutputsAction = 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.PvtSetAllDigitalOutputsAction = {
+    fromBinary: (buffer) => exports.PvtSetAllDigitalOutputsAction.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.PvtSetAllDigitalOutputsAction.sanitize(value)),
+    DEFAULT: Object.freeze({
+        values: [],
+        delay: null,
+        futureValues: null,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected PvtSetAllDigitalOutputsAction object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected PvtSetAllDigitalOutputsAction object but got ${typeof value}.`);
+        }
+        return {
+            values: Array.from(value.values ?? [], item => sanitizer_1.sanitizer.sanitizeEnum(item, 'DigitalOutputAction', digital_output_action_1.DigitalOutputAction, 'items of values')),
+            delay: value.delay != null ? measurement_1.Measurement.sanitize(value.delay) : null,
+            futureValues: Array.from(value.futureValues ?? [], item => sanitizer_1.sanitizer.sanitizeEnum(item, 'DigitalOutputAction', digital_output_action_1.DigitalOutputAction, 'items of futureValues')),
+        };
+    },
+    convert: (value) => ({
+        values: value.values,
+        delay: value.delay,
+        futureValues: value.futureValues,
+    }),
+    isA: (value) => {
+        const castValue = value;
+        return (value != null &&
+            typeof value === 'object' &&
+            !!castValue.values?.every(item => sanitizer_1.sanitizer.isEnum(item, digital_output_action_1.DigitalOutputAction)) &&
+            (castValue.delay == null || measurement_1.Measurement.isA(castValue.delay)) &&
+            (castValue.futureValues == null || !!castValue.futureValues?.every(item => sanitizer_1.sanitizer.isEnum(item, digital_output_action_1.DigitalOutputAction))));
+    },
+};
+//# sourceMappingURL=pvt_set_all_digital_outputs_action.js.map