@zaber/motion 8.4.0 → 9.0.1

package/dist/lib/ascii/pvt_point.js

@@ -0,0 +1,48 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.PvtPoint = void 0;
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
+const bson_1 = require("bson");
+const sanitizer_1 = require("../gateway/sanitizer");
+const measurement_1 = require("../measurement");
+exports.PvtPoint = {
+    fromBinary: (buffer) => exports.PvtPoint.convert(bson_1.BSON.deserialize(buffer, { useBigInt64: true })),
+    toBinary: (value) => bson_1.BSON.serialize(exports.PvtPoint.sanitize(value)),
+    DEFAULT: Object.freeze({
+        positions: [],
+        velocities: [],
+        time: measurement_1.Measurement.DEFAULT,
+        relative: false,
+    }),
+    sanitize: (value) => {
+        if (value == null) {
+            throw new TypeError('Expected PvtPoint object but got null or undefined.');
+        }
+        if (typeof value !== 'object') {
+            throw new TypeError(`Expected PvtPoint object but got ${typeof value}.`);
+        }
+        return {
+            positions: Array.from(value.positions ?? [], item => measurement_1.Measurement.sanitize(item)),
+            velocities: Array.from(value.velocities ?? [], item => measurement_1.Measurement.sanitize(item)),
+            time: measurement_1.Measurement.sanitize(value.time),
+            relative: sanitizer_1.sanitizer.sanitizeBool(value.relative, 'relative'),
+        };
+    },
+    convert: (value) => ({
+        positions: value.positions,
+        velocities: value.velocities,
+        time: value.time,
+        relative: value.relative,
+    }),
+    isA: (value) => {
+        const castValue = value;
+        return (value != null &&
+            typeof value === 'object' &&
+            !!castValue.positions?.every(item => measurement_1.Measurement.isA(item)) &&
+            !!castValue.velocities?.every(item => measurement_1.Measurement.isA(item)) &&
+            measurement_1.Measurement.isA(castValue.time) &&
+            sanitizer_1.sanitizer.isBool(castValue.relative));
+    },
+};
+//# sourceMappingURL=pvt_point.js.map

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

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

@@ -1,13 +1,14 @@
-import { Device } from './device';
 import { Measurement } from '../measurement';
-import { PvtBuffer } from './pvt_buffer';
-import { PvtMode } from './pvt_mode';
-import { PvtAxisDefinition } from './pvt_axis_definition';
+import { Device } from './device';
 import { MeasurementSequence } from './measurement_sequence';
-import { OptionalMeasurementSequence } from './optional_measurement_sequence';
-import { PvtSequenceData } from './pvt_sequence_data';
+import { PvtAxisDefinition } from './pvt_axis_definition';
+import { PvtPartialCsvData } from './pvt_partial_csv_data';
+import { PvtPartialSequenceItem } from './pvt_partial_sequence_item';
+import { PvtBuffer } from './pvt_buffer';
 import { PvtCsvData } from './pvt_csv_data';
 import { PvtIo } from './pvt_io';
+import { PvtMode } from './pvt_mode';
+import { PvtSequenceItem } from './pvt_sequence_item';
 /**
  * A handle for a PVT sequence with this number on the device.
  * PVT sequences provide a way execute or store trajectory
@@ -61,7 +62,7 @@ export declare class PvtSequence {
     /**
      * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
      * @param pvtBuffer The PVT buffer to queue actions in.
-     * @param axes Numbers of physical axes to setup the PVT sequence on.
+     * @param axes The axis numbers of the physical axes to setup the PVT sequence on.
      */
     setupStore(pvtBuffer: PvtBuffer, ...axes: number[]): Promise<void>;
     /**
@@ -73,6 +74,8 @@ export declare class PvtSequence {
      * Queues a point with absolute coordinates in the PVT sequence.
      * If some or all velocities are not provided, the sequence calculates the velocities
      * from surrounding points using finite difference.
+     * If time value is zero, the device must already be idle at the specified position
+     * and the specified velocity must be zero.
      * The last point of the sequence must have defined velocity (likely zero).
      * @param positions Positions for the axes to move through, relative to their home positions.
      * @param velocities The axes velocities at the given point.
@@ -81,7 +84,15 @@ export declare class PvtSequence {
      */
     point(positions: Measurement[], velocities: (Measurement | null)[], time: Measurement): Promise<void>;
     /**
+     * @deprecated This method is being replaced by the new SubmitSequenceData method.
+     *
      * Queues points with absolute coordinates in the PVT sequence.
+     * Each point must have its time value measured relative to the previous point
+     * or unexpected behavior will result.
+     *
+     * Note that if the first time value is zero, the device must already be idle at
+     * the position of the first point and the velocity of that point must be zero.
+     * All other time values must be greater than zero.
      * @param positions Per-axis sequences of positions.
      * @param velocities Per-axis sequences of velocities.
      * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
@@ -93,6 +104,10 @@ export declare class PvtSequence {
      * Queues a point with coordinates relative to the previous point in the PVT sequence.
      * If some or all velocities are not provided, the sequence calculates the velocities
      * from surrounding points using finite difference.
+     *
+     * The time value must be greater than zero, and each point must have its time value
+     * measured relative to the previous point or unexpected behavior will result.
+     *
      * The last point of the sequence must have defined velocity (likely zero).
      * @param positions Positions for the axes to move through, relative to the previous point.
      * @param velocities The axes velocities at the given point.
@@ -101,7 +116,11 @@ export declare class PvtSequence {
      */
     pointRelative(positions: Measurement[], velocities: (Measurement | null)[], time: Measurement): Promise<void>;
     /**
+     * @deprecated This method is being replaced by the new SubmitSequenceData method.
+     *
      * Queues points with coordinates relative to the previous point in the PVT sequence.
+     * All time values must be greater than zero and each point must have its time value
+     * measured relative to the previous point or unexpected behavior will result.
      * @param positions Per-axis sequences of positions.
      * @param velocities Per-axis sequences of velocities.
      * For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
@@ -114,44 +133,37 @@ export declare class PvtSequence {
      * of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.
      * If all velocities are defined, the solver will simply return the same velocities.
      * This function calculates velocities by enforcing that acceleration be continuous at each segment transition.
+     * The function does not modify the input positions or times.
      *
-     * Also note that if generating a path for multiple axes, the user must provide a position measurement sequence
-     * per axis, And the values arrays for each sequence must be equal in length to each other and also to the
-     * times sequence.
+     * Also note that if the first position is relative, all following points must be relative.
+     * If the start position is absolute, then the sequence can include a mix of relative and absolute positions.
+     * Additionally, all times must be relative to the previous point.
+     * Please see the ConvertTimeAbsoluteToRelativePartial function for conversions.
      *
      * Does not support native units.
-     * @param positions Positions for the axes to move through, relative to their home positions.
-     * Each MeasurementSequence represents a sequence of positions along a particular dimension.
-     * For example, a 2D path sequence would contain two MeasurementSequence objects,
-     * one representing positions along X and one for those along Y.
-     * @param times The relative or absolute time of each position in the PVT sequence.
-     * @param velocities Optional velocities corresponding to each point in the position sequences.
-     * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,
-     * they are interpreted as absolute. Note that the values of the returned time
-     * sequence are ALWAYS relative. This is because the PVT sequence API expects
-     * points to have relative times.
-     * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.
-     */
-    static generateVelocities(positions: MeasurementSequence[], times: MeasurementSequence, velocities?: OptionalMeasurementSequence[], timesRelative?: boolean): Promise<PvtSequenceData>;
+     * @param sequenceItems Partial PVT points defining the positions, optional velocities, and times for the sequence.
+     * Each point should have positions defined for each axis. Velocities are optional.
+     * Times must be defined for each point.
+     * @returns Array of points and actions containing the generated PVT sequence. Note returned times are always relative.
+     */
+    static generateVelocities(sequenceItems: PvtPartialSequenceItem[]): Promise<PvtSequenceItem[]>;
     /**
      * Generates positions for a sequence of velocities and times. This function calculates
      * positions by enforcing that acceleration be continuous at each segment transition.
      *
-     * Note that if generating a path for multiple axes, the user must provide a
-     * velocity measurement sequence per axis, and the values arrays for each sequence
-     * must be equal in length to each other and also to the times sequence.
+     * This function does not modify the input velocities or times, and outputs absolute
+     * positions. If your initial point has a time of zero, it will be considered a starting
+     * position when submitted to the device, and you must already have moved the device
+     * to that position. Additionally, all times must be relative to the previous point.
+     * Please see the ConvertTimeAbsoluteToRelativePartial function for conversions.
      *
      * Does not support native units.
-     * @param velocities The sequence of velocities for each axis.
-     * Each MeasurementSequence represents a sequence of velocities along particular dimension.
-     * @param times The relative or absolute time of each position in the PVT sequence.
-     * @param [timesRelative=true] If true, the times sequence values are interpreted as relative. Otherwise,
-     * they are interpreted as absolute. Note that the values of the returned time
-     * sequence are ALWAYS relative. This is because the PVT sequence API expects
-     * points to have relative times.
-     * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+     * @param sequenceItems Partial PVT points defining the velocities and times for the sequence.
+     * Each point should have velocities defined for each axis.
+     * Times must be defined for each point.
+     * @returns Array of points and actions containing the generated PVT sequence. Note returned times are always relative.
      */
-    static generatePositions(velocities: MeasurementSequence[], times: MeasurementSequence, timesRelative?: boolean): Promise<PvtSequenceData>;
+    static generatePositions(sequenceItems: PvtPartialSequenceItem[]): Promise<PvtSequenceItem[]>;
     /**
      * Generates sequences of velocities and times for a sequence of positions.
      * This function fits a geometric spline (not-a-knot cubic for sequences of >3 points,
@@ -168,16 +180,26 @@ export declare class PvtSequence {
      * have no geometric significance without additional time information. Also note that
      * for multi-dimensional paths this function expects axes to be linear and orthogonal,
      * however for paths of a single dimension rotary units are accepted.
+     * Additionally, if the first positions of the input sequence is relative,
+     * all following positions must also be relative. If the first position is absolute,
+     * the sequence may contain a mix of relative and absolute positions.
+     * Resampling a sequence which contains relative positions is not allowed.
+     *
+     * This function outputs points with absolute positions and relative times, with the
+     * first time equal to zero, meaning it will be treated as a start position when
+     * executing on a device. You must move the device to that position before submitting
+     * the sequence, or change the first point's time to a value greater than zero.
      *
      * Does not support native units.
-     * @param positions Positions for the axes to move through, relative to their home positions.
+     * @param sequenceItems Partial PVT points defining the positions for the sequence.
+     * Each point should have positions defined for each axis.
      * @param targetSpeed The target speed used to generate positions and times.
      * @param targetAcceleration The target acceleration used to generate positions and times.
      * @param resampleNumber The number of points to resample the sequence by.
      * Leave undefined to use the specified points.
-     * @returns Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+     * @returns Array of points and actions containing the generated PVT sequence. Note returned times are always relative.
      */
-    static generateVelocitiesAndTimes(positions: MeasurementSequence[], targetSpeed: Measurement, targetAcceleration: Measurement, resampleNumber?: number): Promise<PvtSequenceData>;
+    static generateVelocitiesAndTimes(sequenceItems: PvtPartialSequenceItem[], targetSpeed: Measurement, targetAcceleration: Measurement, resampleNumber?: number): Promise<PvtSequenceItem[]>;
     /**
      * Waits until the live PVT sequence executes all queued actions.
      * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.
@@ -251,9 +273,13 @@ export declare class PvtSequence {
      */
     private _retrieveMode;
     /**
-     * Saves PvtSequenceData object as csv file.
+     * Saves PvtSequenceItem array as a csv file.
      * Save format is compatible with Zaber Launcher PVT Editor App.
      *
+     * Normally a sequence in memory should have relative time values on the points.
+     * If you want to store absolute times instead, you can use the
+     * ConvertTimeRelativeToAbsolute function to convert before saving.
+     *
      * Throws InvalidArgumentException if fields are undefined or inconsistent.
      * For example, position and velocity arrays must have the same dimensions.
      * Sequence lengths must be consistent for positions, velocities and times.
@@ -263,9 +289,13 @@ export declare class PvtSequence {
      * If not provided, the default names will be used: Series 1, Series 2, etc..
      * Length of this array must be equal to number of dimensions in sequence data.
      */
-    static saveSequenceData(sequenceData: PvtSequenceData, path: string, dimensionNames?: string[]): Promise<void>;
+    static saveSequenceData(sequenceData: PvtSequenceItem[], path: string, dimensionNames?: string[]): Promise<void>;
     /**
      * Load PVT Sequence data from CSV file.
+     * This function expects complete data in the CSV files (a time column and
+     * both position and velocity columns for each series).
+     * If your CSV file has partial data, use LoadPartialSequenceData instead.
+     *
      * The CSV data can include a header (recommended).
      * There are two possible header formats:
      *
@@ -284,15 +314,139 @@ export declare class PvtSequence {
      * Time values default to milliseconds if no units are provided.
      * If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...".
      * In this case the number of columns must be odd.
+     *
+     * Users can add a column named "Relative" with true/false values to
+     * indicate whether each point's position is relative or absolute.
+     * If this column is not included, all points will be assumed to be absolute.
+     *
+     * If the first point has time = zero, it is considered the start position
+     * and treated specially. It must have an absolute position, and the device
+     * must already be idle at that position when the sequence is submitted.
+     * The velocity of the start position is ignored, and should normally be zero.
+     * Sequences with nonzero time for the first point do not have these constraints.
+     *
+     * Buffer calls and I/O actions can be added into the CSV file by
+     * adding a column titled "Actions", containing the ASCII protocol command(s)
+     * shortened by everything up to the PVT stream number, for example
+     * "call 2" or "io set do 1 1". If you want to insert multiple actions
+     * after a point, put them in the same cell separated by a semicolon.
+     * See the ASCII Protocol Manual
+     * [PVT command reference](https://www.zaber.com/protocol-manual?protocol=ASCII#topic_command_pvt)
+     * section for the list of available commands. Unit symbols are not supported;
+     * analog output voltages are always in volts and schedule delay times are
+     * always in milliseconds.
+     *
+     * Note that the Relative and Actions columns are not automatically
+     * detected, so if you include them you must include a header row.
+     *
+     * Time values should always be relative when sent to a device or to the
+     * various Generate... functions on this class. If you want to store
+     * absolute times in a CSV file, you can use the ConvertTimeRelativeToAbsolute
+     * function to convert after loading the file.
      * @param path The path to the csv file to load.
      * @returns The PVT csv data loaded from the file.
      */
     static loadSequenceData(path: string): Promise<PvtCsvData>;
     /**
-     * Writes the contents of a PvtSequenceData object to the sequence.
+     * Load PVT Sequence data from CSV file, allowing for some combinations of incomplete data.
+     * Output from this function cannot be enqueued on a device until the missing data has
+     * been filled in using the GenerateVelocities, GeneratePositions or
+     * GenerateVelocitiesAndTimes functions.
+     *
+     * The CSV data can include a header (recommended).
+     * There are two possible header formats:
+     *
+     * 1. A time column with named position and velocity columns.
+     * For example, "Time (ms),X Position (cm),X Velocity (cm/s),...".
+     * In this case, position, velocity and time columns are all optional.
+     * Also, order does not matter, but position and velocity names must be consistent.
+     * This is our recommended CSV format.
+     *
+     * 2. A time column with alternating position and velocity columns.
+     * For example, "Time (ms),Position (cm),Velocity (cm/s),...".
+     * In this case, only the time column is optional and order does matter.
+     *
+     * Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
+     * Additionally, native units are the default if no units are specified.
+     * Time values default to milliseconds if no units are provided.
+     * If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...".
+     * In this case the number of columns must be odd.
+     *
+     * Users can add a column named "Relative" with true/false values to
+     * indicate whether each point's position is relative or absolute.
+     * If this column is not included, all points will be assumed to be absolute.
+     *
+     * If the first point has time = zero, it is considered the start position
+     * and treated specially. It must have an absolute position, and the device
+     * must already be idle at that position when the sequence is submitted.
+     * The velocity of the start position is ignored, and should normally be zero.
+     * Sequences with nonzero time for the first point do not have these constraints.
+     *
+     * Buffer calls and I/O actions can be added into the CSV file by
+     * adding a column titled "Actions", containing the ASCII protocol command(s)
+     * shortened by everything up to the PVT stream number, for example
+     * "call 2" or "io set do 1 1". If you want to insert multiple actions
+     * after a point, put them in the same cell separated by a semicolon.
+     * See the ASCII Protocol Manual
+     * [PVT command reference](https://www.zaber.com/protocol-manual?protocol=ASCII#topic_command_pvt)
+     * section for the list of available commands. Unit symbols are not supported;
+     * analog output voltages are always in volts and schedule delay times are
+     * always in milliseconds.
+     *
+     * Note that the Relative and Actions columns are not automatically
+     * detected, so if you include them you must include a header row.
+     *
+     * Time values should always be relative when sent to a device or to the
+     * various Generate... functions on this class. If you want to store
+     * absolute times in a CSV file, you can use the ConvertTimeRelativeToAbsolute
+     * function to convert after loading the file.
+     * @param path The path to the csv file to load.
+     * @returns The PVT csv data loaded from the file.
+     */
+    static loadPartialSequenceData(path: string): Promise<PvtPartialCsvData>;
+    /**
+     * Writes the contents of a PvtSequenceItem array to the sequence.
+     * Each point must have its time value measured relative to the previous point
+     * or unexpected behavior will result. If your point times are absolute (measured
+     * from the start of the sequence), use the ConvertTimeAbsoluteToRelative
+     * function to convert them before submitting.
+     *
+     * If the first point in the sequence has a time value of zero, it is
+     * considered the starting position. It must have an absolute position,
+     * zero velocity, and the device must already be idle at the specified position.
      * @param sequenceData The PVT sequence data to submit.
      */
-    submitSequenceData(sequenceData: PvtSequenceData): Promise<void>;
+    submitSequenceData(sequenceData: PvtSequenceItem[]): Promise<void>;
+    /**
+     * Converts the time values in a PvtSequenceItem array from absolute to relative.
+     * Points passed to the Generate functions or sent to devices must have relative time values.
+     * @param sequenceData The sequence data for which to convert times from absolute to relative.
+     * Point times must all be in the same units.
+     * @returns The sequence data with times converted from absolute to relative.
+     */
+    static convertTimeAbsoluteToRelative(sequenceData: PvtSequenceItem[]): Promise<PvtSequenceItem[]>;
+    /**
+     * Converts the time values in a PvtSequenceItem array from relative to absolute.
+     * @param sequenceData The sequence data for which to convert times from relative to absolute.
+     * Point times must all be in the same units.
+     * @returns The sequence data with times converted from relative to absolute.
+     */
+    static convertTimeRelativeToAbsolute(sequenceData: PvtSequenceItem[]): Promise<PvtSequenceItem[]>;
+    /**
+     * Converts the time values in a PvtPartialSequenceItem array from absolute to relative.
+     * Points passed to the Generate functions or sent to devices must have relative time values.
+     * @param sequenceData The sequence data for which to convert times from absolute to relative.
+     * Point times must all be in the same units.
+     * @returns The sequence data with times converted from absolute to relative.
+     */
+    static convertTimeAbsoluteToRelativePartial(sequenceData: PvtPartialSequenceItem[]): Promise<PvtPartialSequenceItem[]>;
+    /**
+     * Converts the time values in a PvtPartialSequenceItem array from relative to absolute.
+     * @param sequenceData The sequence data for which to convert times from relative to absolute.
+     * Point times must all be in the same units.
+     * @returns The sequence data with times converted from relative to absolute.
+     */
+    static convertTimeRelativeToAbsolutePartial(sequenceData: PvtPartialSequenceItem[]): Promise<PvtPartialSequenceItem[]>;
 }
 declare namespace PvtSequence {
     interface WaitUntilIdleOptions {

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

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