@zaber/motion 9.0.0 → 9.1.0

package/dist/lib/ascii/get_setting_result.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.GetSettingResult = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const units_1 = require("../units");

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

@@ -1 +1 @@
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+{"version":3,"file":"get_setting_result.js","sourceRoot":"","sources":["../../../src/ascii/get_setting_result.ts"],"names":[],"mappings":";;;AAAA,wDAAwD;AACxD,wDAAwD;AACxD,+BAA4B;AAC5B,oDAAiD;AACjD,oCAAiC;AAuBpB,QAAA,gBAAgB,GAAG;IAC9B,UAAU,EAAE,CAAC,MAAkB,EAAoB,EAAE,CAAC,wBAAgB,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IAE/H,QAAQ,EAAE,CAAC,KAAuB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,wBAAgB,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IAEnG,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,OAAO,EAAE,EAAE;QACX,MAAM,EAAE,EAAE;QACV,IAAI,EAAE,aAAK,CAAC,MAAM;KACnB,CAA+B;IAEhC,QAAQ,EAAE,CAAC,KAAuB,EAAoB,EAAE;QACtD,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,6DAA6D,CAAC,CAAA;QAAC,CAAC;QACzG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,4CAA4C,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QACnH,OAAO;YACL,OAAO,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC;YAC3D,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,IAAI,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,cAAc,CAAC,IAAI,EAAE,iBAAiB,CAAC,CAAC;YACjG,IAAI,EAAE,qBAAS,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,EAAE,MAAM,CAAC;SAClD,CAAC;IACJ,CAAC;IAED,OAAO,EAAE,CAAC,KAAoB,EAAoB,EAAE,CAAC,CAAC;QACpD,OAAO,EAAE,KAAK,CAAC,OAAO;QACtB,MAAM,EAAE,KAAK,CAAC,MAAM;QACpB,IAAI,EAAE,KAAK,CAAC,IAAI;KACjB,CAAC;IAEF,GAAG,EAAE,CAAC,KAAU,EAA6B,EAAE;QAC7C,MAAM,SAAS,GAAG,KAAyB,CAAC;QAC5C,OAAO,CACL,KAAK,IAAI,IAAI;YACb,OAAO,KAAK,KAAK,QAAQ;YACzB,qBAAS,CAAC,QAAQ,CAAC,SAAS,CAAC,OAAO,CAAC;YACrC,CAAC,CAAC,SAAS,CAAC,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC,qBAAS,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;YAC3D,qBAAS,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,CAClC,CAAC;IACJ,CAAC;CACF,CAAC","sourcesContent":["// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //\n// ============== DO NOT EDIT DIRECTLY ============== //\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { Units } from '../units';\n\n/**\n * The response from a multi-get command.\n */\nexport interface GetSettingResult {\n  /**\n   * The setting read.\n   */\n  setting: string;\n\n  /**\n   * The list of values returned.\n   */\n  values: number[];\n\n  /**\n   * The unit of the values.\n   */\n  unit: Units;\n\n}\n\nexport const GetSettingResult = {\n  fromBinary: (buffer: Uint8Array): GetSettingResult => GetSettingResult.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n\n  toBinary: (value: GetSettingResult): Uint8Array => BSON.serialize(GetSettingResult.sanitize(value)),\n\n  DEFAULT: Object.freeze({\n    setting: '',\n    values: [],\n    unit: Units.NATIVE,\n  }) as Readonly<GetSettingResult>,\n\n  sanitize: (value: GetSettingResult): GetSettingResult => {\n    if (value == null) { throw new TypeError('Expected GetSettingResult object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected GetSettingResult object but got ${typeof value}.`) }\n    return {\n      setting: sanitizer.sanitizeString(value.setting, 'setting'),\n      values: Array.from(value.values ?? [], item => sanitizer.sanitizeNumber(item, 'items of values')),\n      unit: sanitizer.sanitizeUnits(value.unit, 'unit'),\n    };\n  },\n\n  convert: (value: BSON.Document): GetSettingResult => ({\n    setting: value.setting,\n    values: value.values,\n    unit: value.unit,\n  }),\n\n  isA: (value: any): value is GetSettingResult => {\n    const castValue = value as GetSettingResult;\n    return (\n      value != null &&\n      typeof value === 'object' &&\n      sanitizer.isString(castValue.setting) &&\n      !!castValue.values?.every(item => sanitizer.isNumber(item)) &&\n      sanitizer.isUnits(castValue.unit)\n    );\n  },\n};\n"]}

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

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../src/ascii/index.ts"],"names":[],"mappings":"AAEA,cAAc,eAAe,CAAC;AAC9B,cAAc,YAAY,CAAC;AAC3B,cAAc,QAAQ,CAAC;AACvB,cAAc,cAAc,CAAC;AAC7B,cAAc,iBAAiB,CAAC;AAChC,cAAc,iBAAiB,CAAC;AAChC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,aAAa,CAAC;AAC5B,cAAc,+BAA+B,CAAC;AAC9C,cAAc,iCAAiC,CAAC;AAChD,cAAc,cAAc,CAAC;AAC7B,cAAc,qBAAqB,CAAC;AACpC,cAAc,UAAU,CAAC;AACzB,cAAc,mBAAmB,CAAC;AAClC,cAAc,aAAa,CAAC;AAC5B,cAAc,kBAAkB,CAAC;AACjC,cAAc,mBAAmB,CAAC;AAClC,cAAc,kBAAkB,CAAC;AACjC,cAAc,yBAAyB,CAAC;AACxC,cAAc,oBAAoB,CAAC;AACnC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,eAAe,CAAC;AAC9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,iBAAiB,CAAC;AAChC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,YAAY,CAAC;AAC3B,cAAc,wBAAwB,CAAC;AACvC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,eAAe,CAAC;AAC9B,cAAc,mBAAmB,CAAC;AAClC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,mCAAmC,CAAC;AAClD,cAAc,qBAAqB,CAAC;AACpC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,iBAAiB,CAAC;AAChC,cAAc,cAAc,CAAC;AAC7B,cAAc,OAAO,CAAC;AACtB,cAAc,uBAAuB,CAAC;AACtC,cAAc,iBAAiB,CAAC;AAChC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAClC,cAAc,0CAA0C,CAAC;AACzD,cAAc,qCAAqC,CAAC;AACpD,cAAc,gBAAgB,CAAC;AAC/B,cAAc,UAAU,CAAC;AACzB,cAAc,YAAY,CAAC;AAC3B,cAAc,wBAAwB,CAAC;AACvC,cAAc,qBAAqB,CAAC;AACpC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,aAAa,CAAC;AAC5B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,qBAAqB,CAAC;AACpC,cAAc,qCAAqC,CAAC;AACpD,cAAc,sCAAsC,CAAC;AACrD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,iCAAiC,CAAC;AAChD,cAAc,YAAY,CAAC;AAC3B,cAAc,eAAe,CAAC;AAC9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,yBAAyB,CAAC;AACxC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,6BAA6B,CAAC;AAC5C,cAAc,qBAAqB,CAAC;AACpC,cAAc,iBAAiB,CAAC;AAChC,cAAc,kCAAkC,CAAC;AACjD,cAAc,UAAU,CAAC;AACzB,cAAc,0BAA0B,CAAC;AACzC,cAAc,oBAAoB,CAAC;AACnC,cAAc,iBAAiB,CAAC;AAChC,cAAc,aAAa,CAAC;AAC5B,cAAc,eAAe,CAAC;AAC9B,cAAc,WAAW,CAAC;AAC1B,cAAc,aAAa,CAAC;AAC5B,cAAc,WAAW,CAAC;AAC1B,cAAc,kBAAkB,CAAC;AACjC,cAAc,qBAAqB,CAAC;AACpC,cAAc,yBAAyB,CAAC;AACxC,cAAc,qBAAqB,CAAC;AACpC,cAAc,iBAAiB,CAAC;AAChC,cAAc,YAAY,CAAC;AAC3B,cAAc,0BAA0B,CAAC;AACzC,cAAc,iBAAiB,CAAC;AAChC,cAAc,YAAY,CAAC"}

package/dist/lib/ascii/index.js

@@ -14,7 +14,8 @@ var __exportStar = (this && this.__exportStar) || function(m, exports) {
     for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
 };
 Object.defineProperty(exports, "__esModule", { value: true });
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 __exportStar(require("./alert_event"), exports);
 __exportStar(require("./all_axes"), exports);
 __exportStar(require("./axis"), exports);

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

@@ -1 +1 @@
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package/dist/lib/ascii/io_port_label.d.ts.map

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package/dist/lib/ascii/io_port_label.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.IoPortLabel = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const io_port_type_1 = require("../ascii/io_port_type");

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

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

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package/dist/lib/ascii/io_port_type.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.isIoPortType = exports.IoPortType = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 /**
  * Kind of I/O pin to use.
  */

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

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package/dist/lib/ascii/lockstep.js

@@ -1,6 +1,6 @@
 "use strict";
-// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
-// ============= DO NOT EDIT DIRECTLY ============= //
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
     if (k2 === undefined) k2 = k;
     var desc = Object.getOwnPropertyDescriptor(m, k);

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport { Device } from './device';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.LockstepEnableRequest & gateway.Message = {\n      ...requests.LockstepEnableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      axes: axes,\n      toBinary() {\n        return requests.LockstepEnableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.LockstepDisableRequest & gateway.Message = {\n      ...requests.LockstepDisableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepDisableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepHomeRequest & gateway.Message = {\n      ...requests.LockstepHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.ABS,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.REL,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.VEL,\n      arg: velocity,\n      unit: unit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group in a sinusoidal trajectory.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).\n   * @param amplitudeUnits Units of position.\n   * @param period Period of the sinusoidal motion in milliseconds.\n   * @param periodUnits Units of time.\n   * @param [options.count=0] Number of sinusoidal cycles to complete.\n   * Must be a multiple of 0.5\n   * If count is not specified or set to 0, the axis will move indefinitely.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveSin(\n    amplitude: number,\n    amplitudeUnits: Length | Angle | Native,\n    period: number,\n    periodUnits: Time | Native,\n    options: Lockstep.MoveSinOptions = {}\n  ): Promise<void> {\n    const {\n      count = 0,\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepMoveSinRequest & gateway.Message = {\n      ...requests.LockstepMoveSinRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      amplitude: amplitude,\n      amplitudeUnits: amplitudeUnits,\n      period: period,\n      periodUnits: periodUnits,\n      count: count,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepMoveSinRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin', request);\n  }\n\n  /**\n   * Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.\n   * If the sinusoidal motion was started with an integer-plus-half cycle count,\n   * the motion ends at the half-way point of the sinusoidal trajectory.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.\n   */\n  public async moveSinStop(\n    options: Lockstep.MoveSinStopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin_stop', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Lockstep.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.MAX,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Lockstep.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.MIN,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.LockstepWaitUntilIdleRequest & gateway.Message = {\n      ...requests.LockstepWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.LockstepWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      requests.LockstepGetAxisNumbersResponse.fromBinary);\n    return response.axes;\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_twists',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Returns current position of the primary axis.\n   * @param [unit=Units.NATIVE] Units of the position.\n   * @returns Primary axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'device/lockstep_get_pos',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets lockstep twist tolerance.\n   * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n   * @param tolerance Twist tolerance.\n   * @param [unit=Units.NATIVE] Units of the tolerance.\n   * Uses primary axis unit conversion when setting to all axes,\n   * otherwise uses specified secondary axis unit conversion.\n   * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n   * If left empty or set to 0, the tolerance is set to all the secondary axes.\n   */\n  public async setTolerance(\n    tolerance: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.SetToleranceOptions = {}\n  ): Promise<void> {\n    const {\n      axisIndex = 0,\n    } = options;\n    const request: requests.LockstepSetRequest & gateway.Message = {\n      ...requests.LockstepSetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      value: tolerance,\n      unit: unit,\n      axisIndex: axisIndex,\n      toBinary() {\n        return requests.LockstepSetRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_set_tolerance', request);\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Parks lockstep group in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_park', request);\n  }\n\n  /**\n   * Unparks lockstep group. Lockstep group will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @returns True if lockstep group is parked.\n   */\n  public async isParked(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_parked',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Lockstep {\n  export interface StopOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveSinOptions {\n      /**\n       * Number of sinusoidal cycles to complete.\n       * Must be a multiple of 0.5\n       * If count is not specified or set to 0, the axis will move indefinitely.\n       */\n      count?: number;\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveSinStopOptions {\n      /**\n       * Determines whether function should return after the movement is finished.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveMaxOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n  export interface SetToleranceOptions {\n      /**\n       * Optional index of a secondary axis to set the tolerance for.\n       * If left empty or set to 0, the tolerance is set to all the secondary axes.\n       */\n      axisIndex?: number;\n  }\n}\n"]}
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===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //\n// ============== DO NOT EDIT DIRECTLY ============== //\n\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport { Device } from './device';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.LockstepEnableRequest & gateway.Message = {\n      ...requests.LockstepEnableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      axes: axes,\n      toBinary() {\n        return requests.LockstepEnableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.LockstepDisableRequest & gateway.Message = {\n      ...requests.LockstepDisableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepDisableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepHomeRequest & gateway.Message = {\n      ...requests.LockstepHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.ABS,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.REL,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.VEL,\n      arg: velocity,\n      unit: unit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group in a sinusoidal trajectory.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).\n   * @param amplitudeUnits Units of position.\n   * @param period Period of the sinusoidal motion in milliseconds.\n   * @param periodUnits Units of time.\n   * @param [options.count=0] Number of sinusoidal cycles to complete.\n   * Must be a multiple of 0.5\n   * If count is not specified or set to 0, the axis will move indefinitely.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveSin(\n    amplitude: number,\n    amplitudeUnits: Length | Angle | Native,\n    period: number,\n    periodUnits: Time | Native,\n    options: Lockstep.MoveSinOptions = {}\n  ): Promise<void> {\n    const {\n      count = 0,\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepMoveSinRequest & gateway.Message = {\n      ...requests.LockstepMoveSinRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      amplitude: amplitude,\n      amplitudeUnits: amplitudeUnits,\n      period: period,\n      periodUnits: periodUnits,\n      count: count,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepMoveSinRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin', request);\n  }\n\n  /**\n   * Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.\n   * If the sinusoidal motion was started with an integer-plus-half cycle count,\n   * the motion ends at the half-way point of the sinusoidal trajectory.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.\n   */\n  public async moveSinStop(\n    options: Lockstep.MoveSinStopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin_stop', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Lockstep.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.MAX,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Lockstep.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.MIN,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.LockstepWaitUntilIdleRequest & gateway.Message = {\n      ...requests.LockstepWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.LockstepWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      requests.LockstepGetAxisNumbersResponse.fromBinary);\n    return response.axes;\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_twists',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Returns current position of the primary axis.\n   * @param [unit=Units.NATIVE] Units of the position.\n   * @returns Primary axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'device/lockstep_get_pos',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets lockstep twist tolerance.\n   * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n   * @param tolerance Twist tolerance.\n   * @param [unit=Units.NATIVE] Units of the tolerance.\n   * Uses primary axis unit conversion when setting to all axes,\n   * otherwise uses specified secondary axis unit conversion.\n   * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n   * If left empty or set to 0, the tolerance is set to all the secondary axes.\n   */\n  public async setTolerance(\n    tolerance: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.SetToleranceOptions = {}\n  ): Promise<void> {\n    const {\n      axisIndex = 0,\n    } = options;\n    const request: requests.LockstepSetRequest & gateway.Message = {\n      ...requests.LockstepSetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      value: tolerance,\n      unit: unit,\n      axisIndex: axisIndex,\n      toBinary() {\n        return requests.LockstepSetRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_set_tolerance', request);\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Parks lockstep group in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_park', request);\n  }\n\n  /**\n   * Unparks lockstep group. Lockstep group will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @returns True if lockstep group is parked.\n   */\n  public async isParked(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_parked',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Lockstep {\n  export interface StopOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveSinOptions {\n      /**\n       * Number of sinusoidal cycles to complete.\n       * Must be a multiple of 0.5\n       * If count is not specified or set to 0, the axis will move indefinitely.\n       */\n      count?: number;\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveSinStopOptions {\n      /**\n       * Determines whether function should return after the movement is finished.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveMaxOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n  export interface SetToleranceOptions {\n      /**\n       * Optional index of a secondary axis to set the tolerance for.\n       * If left empty or set to 0, the tolerance is set to all the secondary axes.\n       */\n      axisIndex?: number;\n  }\n}\n"]}

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

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package/dist/lib/ascii/measurement_sequence.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.MeasurementSequence = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 exports.MeasurementSequence = {

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

@@ -1 +1 @@
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package/dist/lib/ascii/message_type.d.ts.map

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package/dist/lib/ascii/message_type.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.isMessageType = exports.MessageType = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 /**
  * Denotes type of the response message.
  * For more information refer to:

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

@@ -1 +1 @@
-{"version":3,"file":"message_type.js","sourceRoot":"","sources":["../../../src/ascii/message_type.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD;;;;GAIG;AACH,IAAY,WAOX;AAPD,WAAY,WAAW;IACrB,yDAAyD;IACzD,+CAAS,CAAA;IACT,wDAAwD;IACxD,6CAAQ,CAAA;IACR,wEAAwE;IACxE,+CAAS,CAAA;AACX,CAAC,EAPW,WAAW,2BAAX,WAAW,QAOtB;AAED;;;GAGG;AACH,SAAgB,aAAa,CAAC,KAAU;IACtC,OAAO,MAAM,CAAC,MAAM,CAAC,WAAW,CAAC,CAAC,QAAQ,CAAC,KAAoB,CAAC,CAAC;AACnE,CAAC;AAFD,sCAEC","sourcesContent":["/* This file is generated. Do not modify by hand. */\n/**\n * Denotes type of the response message.\n * For more information refer to:\n * [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_message_format).\n */\nexport enum MessageType {\n  /** A direct response to a command sent to the device. */\n  REPLY = 0,\n  /** An additional data message supplementing a reply. */\n  INFO = 1,\n  /** An unsolicited message from the device reporting a status change. */\n  ALERT = 2,\n}\n\n/**\n * Type guard for MessageType.\n * This only checks if the value is one of the enum keys; it could create a false positive if two enums have the same key.\n */\nexport function isMessageType(value: any): value is MessageType {\n  return Object.values(MessageType).includes(value as MessageType);\n}\n"]}
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package/dist/lib/ascii/mock_device.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.MockDevice = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const firmware_version_1 = require("../firmware_version");

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

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Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { FirmwareVersion } from '../firmware_version';\nimport { MockPeripheral } from '../ascii/mock_peripheral';\n\n/**\n * Definition of a mock device.\n */\nexport interface MockDevice {\n  /**\n   * A valid Zaber device ID.\n   */\n  deviceId: number;\n\n  /**\n   * Version of the firmware. Defaults to device database latest. To omit minor or build version, set them to -1.\n   */\n  firmwareVersion?: (FirmwareVersion | null);\n\n  /**\n   * The device has hardware modifications. Defaults to false.\n   */\n  isModified?: (boolean | null);\n\n  /**\n   * The number of microsteps per full step for integrated devices. Defaults to device database default.\n   */\n  resolution?: (number | null);\n\n  /**\n   * List of mock peripherals connected to the device.\n   */\n  peripherals?: (MockPeripheral[] | null);\n\n}\n\nexport const MockDevice = {\n  fromBinary: (buffer: Uint8Array): MockDevice => MockDevice.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n\n  toBinary: (value: MockDevice): Uint8Array => BSON.serialize(MockDevice.sanitize(value)),\n\n  DEFAULT: Object.freeze({\n    deviceId: 0,\n    firmwareVersion: null,\n    isModified: null,\n    resolution: null,\n    peripherals: null,\n  }) as Readonly<MockDevice>,\n\n  sanitize: (value: MockDevice): MockDevice => {\n    if (value == null) { throw new TypeError('Expected MockDevice object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected MockDevice object but got ${typeof value}.`) }\n    return {\n      deviceId: sanitizer.sanitizeInt(value.deviceId, 'deviceId'),\n      firmwareVersion: value.firmwareVersion != null ? 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Defaults to device database latest. To omit minor or build version, set them to -1.\n   */\n  firmwareVersion?: (FirmwareVersion | null);\n\n  /**\n   * The device has hardware modifications. Defaults to false.\n   */\n  isModified?: (boolean | null);\n\n  /**\n   * The number of microsteps per full step for integrated devices. 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FirmwareVersion.sanitize(value.firmwareVersion) : null,\n      isModified: value.isModified != null ? sanitizer.sanitizeBool(value.isModified, 'isModified') : null,\n      resolution: value.resolution != null ? sanitizer.sanitizeInt(value.resolution, 'resolution') : null,\n      peripherals: Array.from(value.peripherals ?? [], item => MockPeripheral.sanitize(item)),\n    };\n  },\n\n  convert: (value: BSON.Document): MockDevice => ({\n    deviceId: value.deviceId,\n    firmwareVersion: value.firmwareVersion,\n    isModified: value.isModified,\n    resolution: value.resolution,\n    peripherals: value.peripherals,\n  }),\n\n  isA: (value: any): value is MockDevice => {\n    const castValue = value as MockDevice;\n    return (\n      value != null &&\n      typeof value === 'object' &&\n      sanitizer.isInt(castValue.deviceId) &&\n      (castValue.firmwareVersion == null || FirmwareVersion.isA(castValue.firmwareVersion)) &&\n      (castValue.isModified == null || sanitizer.isBool(castValue.isModified)) &&\n      (castValue.resolution == null || sanitizer.isInt(castValue.resolution)) &&\n      (castValue.peripherals == null || !!castValue.peripherals?.every(item => MockPeripheral.isA(item)))\n    );\n  },\n};\n"]}

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

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package/dist/lib/ascii/mock_peripheral.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.MockPeripheral = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 exports.MockPeripheral = {

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

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package/dist/lib/ascii/oscilloscope.js

@@ -1,6 +1,6 @@
 "use strict";
-// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
-// ============= DO NOT EDIT DIRECTLY ============= //
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
     if (k2 === undefined) k2 = k;
     var desc = Object.getOwnPropertyDescriptor(m, k);