zaber-motion 7.13.0__py3-none-win32.whl → 7.14.0__py3-none-win32.whl

zaber_motion/ascii/pvt_sequence.py

@@ -1,1530 +1,1530 @@
-# pylint: disable=too-many-arguments, too-many-lines
-
-# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
-# ============== DO NOT EDIT DIRECTLY ============== #
-from typing import TYPE_CHECKING, List, Optional
-from ..dto import requests as dto
-from ..call import call, call_async, call_sync
-from ..dto.measurement import Measurement
-from .pvt_buffer import PvtBuffer
-from ..dto.ascii.pvt_mode import PvtMode
-from ..dto.ascii.pvt_axis_definition import PvtAxisDefinition
-from ..dto.ascii.pvt_sequence_data import PvtSequenceData
-from ..dto.ascii.pvt_csv_data import PvtCsvData
-from ..dto.ascii.measurement_sequence import MeasurementSequence
-from ..dto.ascii.optional_measurement_sequence import OptionalMeasurementSequence
-
-from .pvt_io import PvtIo
-from ..dto.ascii.digital_output_action import DigitalOutputAction
-
-if TYPE_CHECKING:
-    from .device import Device
-
-
-class PvtSequence:
-    """
-    A handle for a PVT sequence with this number on the device.
-    PVT sequences provide a way execute or store trajectory
-    consisting of points with defined position, velocity, and time.
-    PVT sequence methods append actions to a queue which executes
-    or stores actions in a first in, first out order.
-    """
-
-    @property
-    def device(self) -> 'Device':
-        """
-        Device that controls this PVT sequence.
-        """
-        return self._device
-
-    @property
-    def pvt_id(self) -> int:
-        """
-        The number that identifies the PVT sequence on the device.
-        """
-        return self._pvt_id
-
-    @property
-    def mode(self) -> PvtMode:
-        """
-        Current mode of the PVT sequence.
-        """
-        return self.__retrieve_mode()
-
-    @property
-    def axes(self) -> List[PvtAxisDefinition]:
-        """
-        An array of axes definitions the PVT sequence is set up to control.
-        """
-        return self.__retrieve_axes()
-
-    @property
-    def io(self) -> PvtIo:
-        """
-        Gets an object that provides access to I/O for this sequence.
-        """
-        return self._io
-
-    def __init__(self, device: 'Device', pvt_id: int):
-        self._device: 'Device' = device
-        self._pvt_id: int = pvt_id
-        self._io: PvtIo = PvtIo(device, pvt_id)
-
-    def setup_live_composite(
-            self,
-            *pvt_axes: PvtAxisDefinition
-    ) -> None:
-        """
-        Setup the PVT sequence to control the specified axes and to queue actions on the device.
-        Allows use of lockstep axes in a PVT sequence.
-
-        Args:
-            pvt_axes: Definition of the PVT sequence axes.
-        """
-        request = dto.StreamSetupLiveCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_axes=list(pvt_axes),
-        )
-        call("device/stream_setup_live_composite", request)
-
-    async def setup_live_composite_async(
-            self,
-            *pvt_axes: PvtAxisDefinition
-    ) -> None:
-        """
-        Setup the PVT sequence to control the specified axes and to queue actions on the device.
-        Allows use of lockstep axes in a PVT sequence.
-
-        Args:
-            pvt_axes: Definition of the PVT sequence axes.
-        """
-        request = dto.StreamSetupLiveCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_axes=list(pvt_axes),
-        )
-        await call_async("device/stream_setup_live_composite", request)
-
-    def setup_live(
-            self,
-            *axes: int
-    ) -> None:
-        """
-        Setup the PVT sequence to control the specified axes and to queue actions on the device.
-
-        Args:
-            axes: Numbers of physical axes to setup the PVT sequence on.
-        """
-        request = dto.StreamSetupLiveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            axes=list(axes),
-        )
-        call("device/stream_setup_live", request)
-
-    async def setup_live_async(
-            self,
-            *axes: int
-    ) -> None:
-        """
-        Setup the PVT sequence to control the specified axes and to queue actions on the device.
-
-        Args:
-            axes: Numbers of physical axes to setup the PVT sequence on.
-        """
-        request = dto.StreamSetupLiveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            axes=list(axes),
-        )
-        await call_async("device/stream_setup_live", request)
-
-    def setup_store_composite(
-            self,
-            pvt_buffer: PvtBuffer,
-            *pvt_axes: PvtAxisDefinition
-    ) -> None:
-        """
-        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
-        Allows use of lockstep axes in a PVT sequence.
-
-        Args:
-            pvt_buffer: The PVT buffer to queue actions in.
-            pvt_axes: Definition of the PVT sequence axes.
-        """
-        request = dto.StreamSetupStoreCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_buffer=pvt_buffer.buffer_id,
-            pvt_axes=list(pvt_axes),
-        )
-        call("device/stream_setup_store_composite", request)
-
-    async def setup_store_composite_async(
-            self,
-            pvt_buffer: PvtBuffer,
-            *pvt_axes: PvtAxisDefinition
-    ) -> None:
-        """
-        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
-        Allows use of lockstep axes in a PVT sequence.
-
-        Args:
-            pvt_buffer: The PVT buffer to queue actions in.
-            pvt_axes: Definition of the PVT sequence axes.
-        """
-        request = dto.StreamSetupStoreCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_buffer=pvt_buffer.buffer_id,
-            pvt_axes=list(pvt_axes),
-        )
-        await call_async("device/stream_setup_store_composite", request)
-
-    def setup_store(
-            self,
-            pvt_buffer: PvtBuffer,
-            *axes: int
-    ) -> None:
-        """
-        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
-
-        Args:
-            pvt_buffer: The PVT buffer to queue actions in.
-            axes: Numbers of physical axes to setup the PVT sequence on.
-        """
-        request = dto.StreamSetupStoreRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_buffer=pvt_buffer.buffer_id,
-            axes=list(axes),
-        )
-        call("device/stream_setup_store", request)
-
-    async def setup_store_async(
-            self,
-            pvt_buffer: PvtBuffer,
-            *axes: int
-    ) -> None:
-        """
-        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
-
-        Args:
-            pvt_buffer: The PVT buffer to queue actions in.
-            axes: Numbers of physical axes to setup the PVT sequence on.
-        """
-        request = dto.StreamSetupStoreRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_buffer=pvt_buffer.buffer_id,
-            axes=list(axes),
-        )
-        await call_async("device/stream_setup_store", request)
-
-    def call(
-            self,
-            pvt_buffer: PvtBuffer
-    ) -> None:
-        """
-        Append the actions in a PVT buffer to the sequence's queue.
-
-        Args:
-            pvt_buffer: The PVT buffer to call.
-        """
-        request = dto.StreamCallRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_buffer=pvt_buffer.buffer_id,
-        )
-        call("device/stream_call", request)
-
-    async def call_async(
-            self,
-            pvt_buffer: PvtBuffer
-    ) -> None:
-        """
-        Append the actions in a PVT buffer to the sequence's queue.
-
-        Args:
-            pvt_buffer: The PVT buffer to call.
-        """
-        request = dto.StreamCallRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            pvt_buffer=pvt_buffer.buffer_id,
-        )
-        await call_async("device/stream_call", request)
-
-    def point(
-            self,
-            positions: List[Measurement],
-            velocities: List[Optional[Measurement]],
-            time: Measurement
-    ) -> None:
-        """
-        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.
-        The last point of the sequence must have defined velocity (likely zero).
-
-        Args:
-            positions: Positions for the axes to move through, relative to their home positions.
-            velocities: The axes velocities at the given point.
-                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
-            time: The duration between the previous point in the sequence and this one.
-        """
-        request = dto.PvtPointRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.ABS,
-            positions=positions,
-            velocities=velocities,
-            time=time,
-        )
-        call("device/stream_point", request)
-
-    async def point_async(
-            self,
-            positions: List[Measurement],
-            velocities: List[Optional[Measurement]],
-            time: Measurement
-    ) -> None:
-        """
-        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.
-        The last point of the sequence must have defined velocity (likely zero).
-
-        Args:
-            positions: Positions for the axes to move through, relative to their home positions.
-            velocities: The axes velocities at the given point.
-                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
-            time: The duration between the previous point in the sequence and this one.
-        """
-        request = dto.PvtPointRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.ABS,
-            positions=positions,
-            velocities=velocities,
-            time=time,
-        )
-        await call_async("device/stream_point", request)
-
-    def points(
-            self,
-            positions: List[MeasurementSequence],
-            velocities: List[MeasurementSequence],
-            times: MeasurementSequence
-    ) -> None:
-        """
-        Queues points with absolute coordinates in the PVT sequence.
-
-        Args:
-            positions: Per-axis sequences of positions.
-            velocities: Per-axis sequences of velocities.
-                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
-            times: Segment times from one point to another.
-                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
-        """
-        request = dto.PvtPointsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.ABS,
-            positions=positions,
-            velocities=velocities,
-            times=times,
-        )
-        call("device/stream_points", request)
-
-    async def points_async(
-            self,
-            positions: List[MeasurementSequence],
-            velocities: List[MeasurementSequence],
-            times: MeasurementSequence
-    ) -> None:
-        """
-        Queues points with absolute coordinates in the PVT sequence.
-
-        Args:
-            positions: Per-axis sequences of positions.
-            velocities: Per-axis sequences of velocities.
-                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
-            times: Segment times from one point to another.
-                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
-        """
-        request = dto.PvtPointsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.ABS,
-            positions=positions,
-            velocities=velocities,
-            times=times,
-        )
-        await call_async("device/stream_points", request)
-
-    def point_relative(
-            self,
-            positions: List[Measurement],
-            velocities: List[Optional[Measurement]],
-            time: Measurement
-    ) -> None:
-        """
-        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 last point of the sequence must have defined velocity (likely zero).
-
-        Args:
-            positions: Positions for the axes to move through, relative to the previous point.
-            velocities: The axes velocities at the given point.
-                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
-            time: The duration between the previous point in the sequence and this one.
-        """
-        request = dto.PvtPointRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.REL,
-            positions=positions,
-            velocities=velocities,
-            time=time,
-        )
-        call("device/stream_point", request)
-
-    async def point_relative_async(
-            self,
-            positions: List[Measurement],
-            velocities: List[Optional[Measurement]],
-            time: Measurement
-    ) -> None:
-        """
-        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 last point of the sequence must have defined velocity (likely zero).
-
-        Args:
-            positions: Positions for the axes to move through, relative to the previous point.
-            velocities: The axes velocities at the given point.
-                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
-            time: The duration between the previous point in the sequence and this one.
-        """
-        request = dto.PvtPointRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.REL,
-            positions=positions,
-            velocities=velocities,
-            time=time,
-        )
-        await call_async("device/stream_point", request)
-
-    def points_relative(
-            self,
-            positions: List[MeasurementSequence],
-            velocities: List[MeasurementSequence],
-            times: MeasurementSequence
-    ) -> None:
-        """
-        Queues points with coordinates relative to the previous point in the PVT sequence.
-
-        Args:
-            positions: Per-axis sequences of positions.
-            velocities: Per-axis sequences of velocities.
-                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
-            times: Segment times from one point to another.
-                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
-        """
-        request = dto.PvtPointsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.REL,
-            positions=positions,
-            velocities=velocities,
-            times=times,
-        )
-        call("device/stream_points", request)
-
-    async def points_relative_async(
-            self,
-            positions: List[MeasurementSequence],
-            velocities: List[MeasurementSequence],
-            times: MeasurementSequence
-    ) -> None:
-        """
-        Queues points with coordinates relative to the previous point in the PVT sequence.
-
-        Args:
-            positions: Per-axis sequences of positions.
-            velocities: Per-axis sequences of velocities.
-                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
-            times: Segment times from one point to another.
-                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
-        """
-        request = dto.PvtPointsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            type=dto.StreamSegmentType.REL,
-            positions=positions,
-            velocities=velocities,
-            times=times,
-        )
-        await call_async("device/stream_points", request)
-
-    @staticmethod
-    def generate_velocities(
-            positions: List[MeasurementSequence],
-            times: MeasurementSequence,
-            velocities: Optional[List[OptionalMeasurementSequence]] = None,
-            times_relative: bool = True
-    ) -> PvtSequenceData:
-        """
-        Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence
-        of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.
-        If all velocities are defined, the solver will simply return the same velocities.
-        This function calculates velocities by enforcing that acceleration be continuous at each segment transition.
-
-        Also note that if generating a path for multiple axes, the user must provide a position measurement sequence
-        per axis, And the values arrays for each sequence must be equal in length to each other and also to the
-        times sequence.
-
-        Does not support native units.
-
-        Args:
-            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.
-            times: The relative or absolute time of each position in the PVT sequence.
-            velocities: Optional velocities corresponding to each point in the position sequences.
-            times_relative: 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.
-        """
-        request = dto.PvtGenerateVelocitiesRequest(
-            positions=positions,
-            times=times,
-            velocities=velocities,
-            times_relative=times_relative,
-        )
-        response = call(
-            "device/pvt_generate_velocities",
-            request,
-            PvtSequenceData.from_binary)
-        return response
-
-    @staticmethod
-    async def generate_velocities_async(
-            positions: List[MeasurementSequence],
-            times: MeasurementSequence,
-            velocities: Optional[List[OptionalMeasurementSequence]] = None,
-            times_relative: bool = True
-    ) -> PvtSequenceData:
-        """
-        Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence
-        of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.
-        If all velocities are defined, the solver will simply return the same velocities.
-        This function calculates velocities by enforcing that acceleration be continuous at each segment transition.
-
-        Also note that if generating a path for multiple axes, the user must provide a position measurement sequence
-        per axis, And the values arrays for each sequence must be equal in length to each other and also to the
-        times sequence.
-
-        Does not support native units.
-
-        Args:
-            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.
-            times: The relative or absolute time of each position in the PVT sequence.
-            velocities: Optional velocities corresponding to each point in the position sequences.
-            times_relative: 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.
-        """
-        request = dto.PvtGenerateVelocitiesRequest(
-            positions=positions,
-            times=times,
-            velocities=velocities,
-            times_relative=times_relative,
-        )
-        response = await call_async(
-            "device/pvt_generate_velocities",
-            request,
-            PvtSequenceData.from_binary)
-        return response
-
-    @staticmethod
-    def generate_positions(
-            velocities: List[MeasurementSequence],
-            times: MeasurementSequence,
-            times_relative: bool = True
-    ) -> PvtSequenceData:
-        """
-        Generates positions for a sequence of velocities and times. This function calculates
-        positions by enforcing that acceleration be continuous at each segment transition.
-
-        Note that if generating a path for multiple axes, the user must provide a
-        velocity measurement sequence per axis, and the values arrays for each sequence
-        must be equal in length to each other and also to the times sequence.
-
-        Does not support native units.
-
-        Args:
-            velocities: The sequence of velocities for each axis.
-                Each MeasurementSequence represents a sequence of velocities along particular dimension.
-            times: The relative or absolute time of each position in the PVT sequence.
-            times_relative: 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.
-        """
-        request = dto.PvtGeneratePositionsRequest(
-            velocities=velocities,
-            times=times,
-            times_relative=times_relative,
-        )
-        response = call(
-            "device/pvt_generate_positions",
-            request,
-            PvtSequenceData.from_binary)
-        return response
-
-    @staticmethod
-    async def generate_positions_async(
-            velocities: List[MeasurementSequence],
-            times: MeasurementSequence,
-            times_relative: bool = True
-    ) -> PvtSequenceData:
-        """
-        Generates positions for a sequence of velocities and times. This function calculates
-        positions by enforcing that acceleration be continuous at each segment transition.
-
-        Note that if generating a path for multiple axes, the user must provide a
-        velocity measurement sequence per axis, and the values arrays for each sequence
-        must be equal in length to each other and also to the times sequence.
-
-        Does not support native units.
-
-        Args:
-            velocities: The sequence of velocities for each axis.
-                Each MeasurementSequence represents a sequence of velocities along particular dimension.
-            times: The relative or absolute time of each position in the PVT sequence.
-            times_relative: 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.
-        """
-        request = dto.PvtGeneratePositionsRequest(
-            velocities=velocities,
-            times=times,
-            times_relative=times_relative,
-        )
-        response = await call_async(
-            "device/pvt_generate_positions",
-            request,
-            PvtSequenceData.from_binary)
-        return response
-
-    @staticmethod
-    def generate_velocities_and_times(
-            positions: List[MeasurementSequence],
-            target_speed: Measurement,
-            target_acceleration: Measurement,
-            resample_number: Optional[int] = None
-    ) -> PvtSequenceData:
-        """
-        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,
-        natural cubic for 3, and a straight line for 2) over the position sequence
-        and then calculates the velocity and time information by traversing it using a
-        trapezoidal motion profile.
-
-        This generation scheme attempts to keep speed and acceleration less than the
-        specified target values, but does not guarantee it. Generally speaking, a higher
-        resample number will bring the generated trajectory closer to respecting these
-        limits.
-
-        Note that consecutive duplicate points will be automatically removed as they
-        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.
-
-        Does not support native units.
-
-        Args:
-            positions: Positions for the axes to move through, relative to their home positions.
-            target_speed: The target speed used to generate positions and times.
-            target_acceleration: The target acceleration used to generate positions and times.
-            resample_number: 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.
-        """
-        if target_speed.value <= 0 or target_acceleration.value <= 0:
-            raise ValueError('Target speed and acceleration values must be greater than zero.')
-
-        request = dto.PvtGenerateVelocitiesAndTimesRequest(
-            positions=positions,
-            target_speed=target_speed,
-            target_acceleration=target_acceleration,
-            resample_number=resample_number,
-        )
-        response = call(
-            "device/pvt_generate_velocities_and_times",
-            request,
-            PvtSequenceData.from_binary)
-        return response
-
-    @staticmethod
-    async def generate_velocities_and_times_async(
-            positions: List[MeasurementSequence],
-            target_speed: Measurement,
-            target_acceleration: Measurement,
-            resample_number: Optional[int] = None
-    ) -> PvtSequenceData:
-        """
-        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,
-        natural cubic for 3, and a straight line for 2) over the position sequence
-        and then calculates the velocity and time information by traversing it using a
-        trapezoidal motion profile.
-
-        This generation scheme attempts to keep speed and acceleration less than the
-        specified target values, but does not guarantee it. Generally speaking, a higher
-        resample number will bring the generated trajectory closer to respecting these
-        limits.
-
-        Note that consecutive duplicate points will be automatically removed as they
-        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.
-
-        Does not support native units.
-
-        Args:
-            positions: Positions for the axes to move through, relative to their home positions.
-            target_speed: The target speed used to generate positions and times.
-            target_acceleration: The target acceleration used to generate positions and times.
-            resample_number: 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.
-        """
-        if target_speed.value <= 0 or target_acceleration.value <= 0:
-            raise ValueError('Target speed and acceleration values must be greater than zero.')
-
-        request = dto.PvtGenerateVelocitiesAndTimesRequest(
-            positions=positions,
-            target_speed=target_speed,
-            target_acceleration=target_acceleration,
-            resample_number=resample_number,
-        )
-        response = await call_async(
-            "device/pvt_generate_velocities_and_times",
-            request,
-            PvtSequenceData.from_binary)
-        return response
-
-    def wait_until_idle(
-            self,
-            throw_error_on_fault: bool = True
-    ) -> None:
-        """
-        Waits until the live PVT sequence executes all queued actions.
-
-        Args:
-            throw_error_on_fault: Determines whether to throw error when fault is observed.
-        """
-        request = dto.StreamWaitUntilIdleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            throw_error_on_fault=throw_error_on_fault,
-        )
-        call("device/stream_wait_until_idle", request)
-
-    async def wait_until_idle_async(
-            self,
-            throw_error_on_fault: bool = True
-    ) -> None:
-        """
-        Waits until the live PVT sequence executes all queued actions.
-
-        Args:
-            throw_error_on_fault: Determines whether to throw error when fault is observed.
-        """
-        request = dto.StreamWaitUntilIdleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            throw_error_on_fault=throw_error_on_fault,
-        )
-        await call_async("device/stream_wait_until_idle", request)
-
-    def cork(
-            self
-    ) -> None:
-        """
-        Cork the front of the PVT sequences's action queue, blocking execution.
-        Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.
-        Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.
-        You can only cork an idle live PVT sequence.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        call("device/stream_cork", request)
-
-    async def cork_async(
-            self
-    ) -> None:
-        """
-        Cork the front of the PVT sequences's action queue, blocking execution.
-        Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.
-        Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.
-        You can only cork an idle live PVT sequence.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        await call_async("device/stream_cork", request)
-
-    def uncork(
-            self
-    ) -> None:
-        """
-        Uncork the front of the queue, unblocking command execution.
-        You can only uncork an idle live PVT sequence that is corked.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        call("device/stream_uncork", request)
-
-    async def uncork_async(
-            self
-    ) -> None:
-        """
-        Uncork the front of the queue, unblocking command execution.
-        You can only uncork an idle live PVT sequence that is corked.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        await call_async("device/stream_uncork", request)
-
-    def is_busy(
-            self
-    ) -> bool:
-        """
-        Returns a boolean value indicating whether the live PVT sequence is executing a queued action.
-
-        Returns:
-            True if the PVT sequence is executing a queued action.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        response = call(
-            "device/stream_is_busy",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def is_busy_async(
-            self
-    ) -> bool:
-        """
-        Returns a boolean value indicating whether the live PVT sequence is executing a queued action.
-
-        Returns:
-            True if the PVT sequence is executing a queued action.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        response = await call_async(
-            "device/stream_is_busy",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def __repr__(
-            self
-    ) -> str:
-        """
-        Returns a string which represents the PVT sequence.
-
-        Returns:
-            String which represents the PVT sequence.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        response = call_sync(
-            "device/stream_to_string",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def disable(
-            self
-    ) -> None:
-        """
-        Disables the PVT sequence.
-        If the PVT sequence is not setup, this command does nothing.
-        Once disabled, the PVT sequence will no longer accept PVT commands.
-        The PVT sequence will process the rest of the commands in the queue until it is empty.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        call("device/stream_disable", request)
-
-    async def disable_async(
-            self
-    ) -> None:
-        """
-        Disables the PVT sequence.
-        If the PVT sequence is not setup, this command does nothing.
-        Once disabled, the PVT sequence will no longer accept PVT commands.
-        The PVT sequence will process the rest of the commands in the queue until it is empty.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        await call_async("device/stream_disable", request)
-
-    def generic_command(
-            self,
-            command: str
-    ) -> None:
-        """
-        Sends a generic ASCII command to the PVT sequence.
-        Keeps resending the command while the device rejects with AGAIN reason.
-
-        Args:
-            command: Command and its parameters.
-        """
-        request = dto.StreamGenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            command=command,
-        )
-        call("device/stream_generic_command", request)
-
-    async def generic_command_async(
-            self,
-            command: str
-    ) -> None:
-        """
-        Sends a generic ASCII command to the PVT sequence.
-        Keeps resending the command while the device rejects with AGAIN reason.
-
-        Args:
-            command: Command and its parameters.
-        """
-        request = dto.StreamGenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            command=command,
-        )
-        await call_async("device/stream_generic_command", request)
-
-    def generic_command_batch(
-            self,
-            batch: List[str]
-    ) -> None:
-        """
-        Sends a batch of generic ASCII commands to the PVT sequence.
-        Keeps resending command while the device rejects with AGAIN reason.
-        The batch is atomic in terms of thread safety.
-
-        Args:
-            batch: Array of commands.
-        """
-        request = dto.StreamGenericCommandBatchRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            batch=batch,
-        )
-        call("device/stream_generic_command_batch", request)
-
-    async def generic_command_batch_async(
-            self,
-            batch: List[str]
-    ) -> None:
-        """
-        Sends a batch of generic ASCII commands to the PVT sequence.
-        Keeps resending command while the device rejects with AGAIN reason.
-        The batch is atomic in terms of thread safety.
-
-        Args:
-            batch: Array of commands.
-        """
-        request = dto.StreamGenericCommandBatchRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            batch=batch,
-        )
-        await call_async("device/stream_generic_command_batch", request)
-
-    def check_disabled(
-            self
-    ) -> bool:
-        """
-        Queries the PVT sequence status from the device
-        and returns boolean indicating whether the PVT sequence is disabled.
-        Useful to determine if execution was interrupted by other movements.
-
-        Returns:
-            True if the PVT sequence is disabled.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        response = call(
-            "device/stream_check_disabled",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def check_disabled_async(
-            self
-    ) -> bool:
-        """
-        Queries the PVT sequence status from the device
-        and returns boolean indicating whether the PVT sequence is disabled.
-        Useful to determine if execution was interrupted by other movements.
-
-        Returns:
-            True if the PVT sequence is disabled.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        response = await call_async(
-            "device/stream_check_disabled",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def treat_discontinuities_as_error(
-            self
-    ) -> None:
-        """
-        Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        call_sync("device/stream_treat_discontinuities", request)
-
-    def ignore_current_discontinuity(
-            self
-    ) -> None:
-        """
-        Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        call_sync("device/stream_ignore_discontinuity", request)
-
-    def __retrieve_axes(
-            self
-    ) -> List[PvtAxisDefinition]:
-        """
-        Gets the axes of the PVT sequence.
-
-        Returns:
-            An array of axis numbers of the axes the PVT sequence is set up to control.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        response = call_sync(
-            "device/stream_get_axes",
-            request,
-            dto.StreamGetAxesResponse.from_binary)
-        return response.pvt_axes
-
-    def __retrieve_mode(
-            self
-    ) -> PvtMode:
-        """
-        Get the mode of the PVT sequence.
-
-        Returns:
-            Mode of the PVT sequence.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-        )
-        response = call_sync(
-            "device/stream_get_mode",
-            request,
-            dto.StreamModeResponse.from_binary)
-        return response.pvt_mode
-
-    @staticmethod
-    def save_sequence_data(
-            sequence_data: PvtSequenceData,
-            path: str,
-            dimension_names: Optional[List[str]] = None
-    ) -> None:
-        """
-        Saves PvtSequenceData object as csv file.
-        Save format is compatible with Zaber Launcher PVT Editor App.
-
-        Throws InvalidArgumentException if fields are undefined or inconsistent.
-        For example, position and velocity arrays must have the same dimensions.
-        Sequence lengths must be consistent for positions, velocities and times.
-
-        Args:
-            sequence_data: The PVT sequence data to save.
-            path: The path to save the file to.
-            dimension_names: Optional csv column names for each series.
-                If not provided, the default names will be used: Series 1, Series 2, etc..
-                Length of this array must be equal to number of dimensions in sequence data.
-        """
-        request = dto.PvtSaveCsvRequest(
-            sequence_data=sequence_data,
-            path=path,
-            dimension_names=dimension_names,
-        )
-        call("device/stream_pvt_save_csv", request)
-
-    @staticmethod
-    async def save_sequence_data_async(
-            sequence_data: PvtSequenceData,
-            path: str,
-            dimension_names: Optional[List[str]] = None
-    ) -> None:
-        """
-        Saves PvtSequenceData object as csv file.
-        Save format is compatible with Zaber Launcher PVT Editor App.
-
-        Throws InvalidArgumentException if fields are undefined or inconsistent.
-        For example, position and velocity arrays must have the same dimensions.
-        Sequence lengths must be consistent for positions, velocities and times.
-
-        Args:
-            sequence_data: The PVT sequence data to save.
-            path: The path to save the file to.
-            dimension_names: Optional csv column names for each series.
-                If not provided, the default names will be used: Series 1, Series 2, etc..
-                Length of this array must be equal to number of dimensions in sequence data.
-        """
-        request = dto.PvtSaveCsvRequest(
-            sequence_data=sequence_data,
-            path=path,
-            dimension_names=dimension_names,
-        )
-        await call_async("device/stream_pvt_save_csv", request)
-
-    @staticmethod
-    def load_sequence_data(
-            path: str
-    ) -> PvtCsvData:
-        """
-        Load PVT Sequence data from CSV file.
-        The CSV data can include a header (recommended).
-        There are two possible header formats:
-
-        1. A time column with named position and velocity columns.
-        For example, "Time (ms),X Position (cm),X Velocity (cm/s),...".
-        In this case, position, velocity and time columns are all optional.
-        Also, order does not matter, but position and velocity names must be consistent.
-        This is our recommended CSV format.
-
-        2. A time column with alternating position and velocity columns.
-        For example, "Time (ms),Position (cm),Velocity (cm/s),...".
-        In this case, only the time column is optional and order does matter.
-
-        Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
-        Additionally, native units are the default if no units are specified.
-        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.
-
-        Args:
-            path: The path to the csv file to load.
-
-        Returns:
-            The PVT csv data loaded from the file.
-        """
-        request = dto.PvtLoadCsvRequest(
-            path=path,
-        )
-        response = call(
-            "device/stream_pvt_load_csv",
-            request,
-            PvtCsvData.from_binary)
-        return response
-
-    @staticmethod
-    async def load_sequence_data_async(
-            path: str
-    ) -> PvtCsvData:
-        """
-        Load PVT Sequence data from CSV file.
-        The CSV data can include a header (recommended).
-        There are two possible header formats:
-
-        1. A time column with named position and velocity columns.
-        For example, "Time (ms),X Position (cm),X Velocity (cm/s),...".
-        In this case, position, velocity and time columns are all optional.
-        Also, order does not matter, but position and velocity names must be consistent.
-        This is our recommended CSV format.
-
-        2. A time column with alternating position and velocity columns.
-        For example, "Time (ms),Position (cm),Velocity (cm/s),...".
-        In this case, only the time column is optional and order does matter.
-
-        Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
-        Additionally, native units are the default if no units are specified.
-        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.
-
-        Args:
-            path: The path to the csv file to load.
-
-        Returns:
-            The PVT csv data loaded from the file.
-        """
-        request = dto.PvtLoadCsvRequest(
-            path=path,
-        )
-        response = await call_async(
-            "device/stream_pvt_load_csv",
-            request,
-            PvtCsvData.from_binary)
-        return response
-
-    def submit_sequence_data(
-            self,
-            sequence_data: PvtSequenceData
-    ) -> None:
-        """
-        Writes the contents of a PvtSequenceData object to the sequence.
-
-        Args:
-            sequence_data: The PVT sequence data to submit.
-        """
-        request = dto.PvtSubmitSequenceDataRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            sequence_data=sequence_data,
-        )
-        call("device/stream_pvt_submit_data", request)
-
-    async def submit_sequence_data_async(
-            self,
-            sequence_data: PvtSequenceData
-    ) -> None:
-        """
-        Writes the contents of a PvtSequenceData object to the sequence.
-
-        Args:
-            sequence_data: The PVT sequence data to submit.
-        """
-        request = dto.PvtSubmitSequenceDataRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            sequence_data=sequence_data,
-        )
-        await call_async("device/stream_pvt_submit_data", request)
-
-    def set_digital_output(
-            self,
-            channel_number: int,
-            value: DigitalOutputAction
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetDigitalOutput instead.
-
-        Sets value for the specified digital output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetDigitalOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_set_digital_output", request)
-
-    async def set_digital_output_async(
-            self,
-            channel_number: int,
-            value: DigitalOutputAction
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetDigitalOutput instead.
-
-        Sets value for the specified digital output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetDigitalOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_set_digital_output", request)
-
-    def set_all_digital_outputs(
-            self,
-            values: List[DigitalOutputAction]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllDigitalOutputs instead.
-
-        Sets values for all digital output channels.
-
-        Args:
-            values: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetAllDigitalOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        call("device/stream_set_all_digital_outputs", request)
-
-    async def set_all_digital_outputs_async(
-            self,
-            values: List[DigitalOutputAction]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllDigitalOutputs instead.
-
-        Sets values for all digital output channels.
-
-        Args:
-            values: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetAllDigitalOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        await call_async("device/stream_set_all_digital_outputs", request)
-
-    def set_analog_output(
-            self,
-            channel_number: int,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAnalogOutput instead.
-
-        Sets value for the specified analog output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: Value to set the output channel voltage to.
-        """
-        request = dto.StreamSetAnalogOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_set_analog_output", request)
-
-    async def set_analog_output_async(
-            self,
-            channel_number: int,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAnalogOutput instead.
-
-        Sets value for the specified analog output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: Value to set the output channel voltage to.
-        """
-        request = dto.StreamSetAnalogOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_set_analog_output", request)
-
-    def set_all_analog_outputs(
-            self,
-            values: List[float]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllAnalogOutputs instead.
-
-        Sets values for all analog output channels.
-
-        Args:
-            values: Voltage values to set the output channels to.
-        """
-        request = dto.StreamSetAllAnalogOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        call("device/stream_set_all_analog_outputs", request)
-
-    async def set_all_analog_outputs_async(
-            self,
-            values: List[float]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllAnalogOutputs instead.
-
-        Sets values for all analog output channels.
-
-        Args:
-            values: Voltage values to set the output channels to.
-        """
-        request = dto.StreamSetAllAnalogOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        await call_async("device/stream_set_all_analog_outputs", request)
+# pylint: disable=too-many-arguments, too-many-lines
+
+# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
+# ============== DO NOT EDIT DIRECTLY ============== #
+from typing import TYPE_CHECKING, List, Optional
+from ..dto import requests as dto
+from ..call import call, call_async, call_sync
+from ..dto.measurement import Measurement
+from .pvt_buffer import PvtBuffer
+from ..dto.ascii.pvt_mode import PvtMode
+from ..dto.ascii.pvt_axis_definition import PvtAxisDefinition
+from ..dto.ascii.pvt_sequence_data import PvtSequenceData
+from ..dto.ascii.pvt_csv_data import PvtCsvData
+from ..dto.ascii.measurement_sequence import MeasurementSequence
+from ..dto.ascii.optional_measurement_sequence import OptionalMeasurementSequence
+
+from .pvt_io import PvtIo
+from ..dto.ascii.digital_output_action import DigitalOutputAction
+
+if TYPE_CHECKING:
+    from .device import Device
+
+
+class PvtSequence:
+    """
+    A handle for a PVT sequence with this number on the device.
+    PVT sequences provide a way execute or store trajectory
+    consisting of points with defined position, velocity, and time.
+    PVT sequence methods append actions to a queue which executes
+    or stores actions in a first in, first out order.
+    """
+
+    @property
+    def device(self) -> 'Device':
+        """
+        Device that controls this PVT sequence.
+        """
+        return self._device
+
+    @property
+    def pvt_id(self) -> int:
+        """
+        The number that identifies the PVT sequence on the device.
+        """
+        return self._pvt_id
+
+    @property
+    def mode(self) -> PvtMode:
+        """
+        Current mode of the PVT sequence.
+        """
+        return self.__retrieve_mode()
+
+    @property
+    def axes(self) -> List[PvtAxisDefinition]:
+        """
+        An array of axes definitions the PVT sequence is set up to control.
+        """
+        return self.__retrieve_axes()
+
+    @property
+    def io(self) -> PvtIo:
+        """
+        Gets an object that provides access to I/O for this sequence.
+        """
+        return self._io
+
+    def __init__(self, device: 'Device', pvt_id: int):
+        self._device: 'Device' = device
+        self._pvt_id: int = pvt_id
+        self._io: PvtIo = PvtIo(device, pvt_id)
+
+    def setup_live_composite(
+            self,
+            *pvt_axes: PvtAxisDefinition
+    ) -> None:
+        """
+        Setup the PVT sequence to control the specified axes and to queue actions on the device.
+        Allows use of lockstep axes in a PVT sequence.
+
+        Args:
+            pvt_axes: Definition of the PVT sequence axes.
+        """
+        request = dto.StreamSetupLiveCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_axes=list(pvt_axes),
+        )
+        call("device/stream_setup_live_composite", request)
+
+    async def setup_live_composite_async(
+            self,
+            *pvt_axes: PvtAxisDefinition
+    ) -> None:
+        """
+        Setup the PVT sequence to control the specified axes and to queue actions on the device.
+        Allows use of lockstep axes in a PVT sequence.
+
+        Args:
+            pvt_axes: Definition of the PVT sequence axes.
+        """
+        request = dto.StreamSetupLiveCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_axes=list(pvt_axes),
+        )
+        await call_async("device/stream_setup_live_composite", request)
+
+    def setup_live(
+            self,
+            *axes: int
+    ) -> None:
+        """
+        Setup the PVT sequence to control the specified axes and to queue actions on the device.
+
+        Args:
+            axes: Numbers of physical axes to setup the PVT sequence on.
+        """
+        request = dto.StreamSetupLiveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            axes=list(axes),
+        )
+        call("device/stream_setup_live", request)
+
+    async def setup_live_async(
+            self,
+            *axes: int
+    ) -> None:
+        """
+        Setup the PVT sequence to control the specified axes and to queue actions on the device.
+
+        Args:
+            axes: Numbers of physical axes to setup the PVT sequence on.
+        """
+        request = dto.StreamSetupLiveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            axes=list(axes),
+        )
+        await call_async("device/stream_setup_live", request)
+
+    def setup_store_composite(
+            self,
+            pvt_buffer: PvtBuffer,
+            *pvt_axes: PvtAxisDefinition
+    ) -> None:
+        """
+        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
+        Allows use of lockstep axes in a PVT sequence.
+
+        Args:
+            pvt_buffer: The PVT buffer to queue actions in.
+            pvt_axes: Definition of the PVT sequence axes.
+        """
+        request = dto.StreamSetupStoreCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_buffer=pvt_buffer.buffer_id,
+            pvt_axes=list(pvt_axes),
+        )
+        call("device/stream_setup_store_composite", request)
+
+    async def setup_store_composite_async(
+            self,
+            pvt_buffer: PvtBuffer,
+            *pvt_axes: PvtAxisDefinition
+    ) -> None:
+        """
+        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
+        Allows use of lockstep axes in a PVT sequence.
+
+        Args:
+            pvt_buffer: The PVT buffer to queue actions in.
+            pvt_axes: Definition of the PVT sequence axes.
+        """
+        request = dto.StreamSetupStoreCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_buffer=pvt_buffer.buffer_id,
+            pvt_axes=list(pvt_axes),
+        )
+        await call_async("device/stream_setup_store_composite", request)
+
+    def setup_store(
+            self,
+            pvt_buffer: PvtBuffer,
+            *axes: int
+    ) -> None:
+        """
+        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
+
+        Args:
+            pvt_buffer: The PVT buffer to queue actions in.
+            axes: Numbers of physical axes to setup the PVT sequence on.
+        """
+        request = dto.StreamSetupStoreRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_buffer=pvt_buffer.buffer_id,
+            axes=list(axes),
+        )
+        call("device/stream_setup_store", request)
+
+    async def setup_store_async(
+            self,
+            pvt_buffer: PvtBuffer,
+            *axes: int
+    ) -> None:
+        """
+        Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.
+
+        Args:
+            pvt_buffer: The PVT buffer to queue actions in.
+            axes: Numbers of physical axes to setup the PVT sequence on.
+        """
+        request = dto.StreamSetupStoreRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_buffer=pvt_buffer.buffer_id,
+            axes=list(axes),
+        )
+        await call_async("device/stream_setup_store", request)
+
+    def call(
+            self,
+            pvt_buffer: PvtBuffer
+    ) -> None:
+        """
+        Append the actions in a PVT buffer to the sequence's queue.
+
+        Args:
+            pvt_buffer: The PVT buffer to call.
+        """
+        request = dto.StreamCallRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_buffer=pvt_buffer.buffer_id,
+        )
+        call("device/stream_call", request)
+
+    async def call_async(
+            self,
+            pvt_buffer: PvtBuffer
+    ) -> None:
+        """
+        Append the actions in a PVT buffer to the sequence's queue.
+
+        Args:
+            pvt_buffer: The PVT buffer to call.
+        """
+        request = dto.StreamCallRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            pvt_buffer=pvt_buffer.buffer_id,
+        )
+        await call_async("device/stream_call", request)
+
+    def point(
+            self,
+            positions: List[Measurement],
+            velocities: List[Optional[Measurement]],
+            time: Measurement
+    ) -> None:
+        """
+        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.
+        The last point of the sequence must have defined velocity (likely zero).
+
+        Args:
+            positions: Positions for the axes to move through, relative to their home positions.
+            velocities: The axes velocities at the given point.
+                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
+            time: The duration between the previous point in the sequence and this one.
+        """
+        request = dto.PvtPointRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.ABS,
+            positions=positions,
+            velocities=velocities,
+            time=time,
+        )
+        call("device/stream_point", request)
+
+    async def point_async(
+            self,
+            positions: List[Measurement],
+            velocities: List[Optional[Measurement]],
+            time: Measurement
+    ) -> None:
+        """
+        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.
+        The last point of the sequence must have defined velocity (likely zero).
+
+        Args:
+            positions: Positions for the axes to move through, relative to their home positions.
+            velocities: The axes velocities at the given point.
+                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
+            time: The duration between the previous point in the sequence and this one.
+        """
+        request = dto.PvtPointRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.ABS,
+            positions=positions,
+            velocities=velocities,
+            time=time,
+        )
+        await call_async("device/stream_point", request)
+
+    def points(
+            self,
+            positions: List[MeasurementSequence],
+            velocities: List[MeasurementSequence],
+            times: MeasurementSequence
+    ) -> None:
+        """
+        Queues points with absolute coordinates in the PVT sequence.
+
+        Args:
+            positions: Per-axis sequences of positions.
+            velocities: Per-axis sequences of velocities.
+                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+            times: Segment times from one point to another.
+                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+        """
+        request = dto.PvtPointsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.ABS,
+            positions=positions,
+            velocities=velocities,
+            times=times,
+        )
+        call("device/stream_points", request)
+
+    async def points_async(
+            self,
+            positions: List[MeasurementSequence],
+            velocities: List[MeasurementSequence],
+            times: MeasurementSequence
+    ) -> None:
+        """
+        Queues points with absolute coordinates in the PVT sequence.
+
+        Args:
+            positions: Per-axis sequences of positions.
+            velocities: Per-axis sequences of velocities.
+                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+            times: Segment times from one point to another.
+                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+        """
+        request = dto.PvtPointsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.ABS,
+            positions=positions,
+            velocities=velocities,
+            times=times,
+        )
+        await call_async("device/stream_points", request)
+
+    def point_relative(
+            self,
+            positions: List[Measurement],
+            velocities: List[Optional[Measurement]],
+            time: Measurement
+    ) -> None:
+        """
+        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 last point of the sequence must have defined velocity (likely zero).
+
+        Args:
+            positions: Positions for the axes to move through, relative to the previous point.
+            velocities: The axes velocities at the given point.
+                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
+            time: The duration between the previous point in the sequence and this one.
+        """
+        request = dto.PvtPointRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.REL,
+            positions=positions,
+            velocities=velocities,
+            time=time,
+        )
+        call("device/stream_point", request)
+
+    async def point_relative_async(
+            self,
+            positions: List[Measurement],
+            velocities: List[Optional[Measurement]],
+            time: Measurement
+    ) -> None:
+        """
+        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 last point of the sequence must have defined velocity (likely zero).
+
+        Args:
+            positions: Positions for the axes to move through, relative to the previous point.
+            velocities: The axes velocities at the given point.
+                Specify an empty array or null for specific axes to make the sequence calculate the velocity.
+            time: The duration between the previous point in the sequence and this one.
+        """
+        request = dto.PvtPointRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.REL,
+            positions=positions,
+            velocities=velocities,
+            time=time,
+        )
+        await call_async("device/stream_point", request)
+
+    def points_relative(
+            self,
+            positions: List[MeasurementSequence],
+            velocities: List[MeasurementSequence],
+            times: MeasurementSequence
+    ) -> None:
+        """
+        Queues points with coordinates relative to the previous point in the PVT sequence.
+
+        Args:
+            positions: Per-axis sequences of positions.
+            velocities: Per-axis sequences of velocities.
+                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+            times: Segment times from one point to another.
+                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+        """
+        request = dto.PvtPointsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.REL,
+            positions=positions,
+            velocities=velocities,
+            times=times,
+        )
+        call("device/stream_points", request)
+
+    async def points_relative_async(
+            self,
+            positions: List[MeasurementSequence],
+            velocities: List[MeasurementSequence],
+            times: MeasurementSequence
+    ) -> None:
+        """
+        Queues points with coordinates relative to the previous point in the PVT sequence.
+
+        Args:
+            positions: Per-axis sequences of positions.
+            velocities: Per-axis sequences of velocities.
+                For velocities [v0, v1, ...] and positions [p0, p1, ...], v1 is the target velocity at point p1.
+            times: Segment times from one point to another.
+                For times [t0, t1, ...] and positions [p0, p1, ...], t1 is the time it takes to move from p0 to p1.
+        """
+        request = dto.PvtPointsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            type=dto.StreamSegmentType.REL,
+            positions=positions,
+            velocities=velocities,
+            times=times,
+        )
+        await call_async("device/stream_points", request)
+
+    @staticmethod
+    def generate_velocities(
+            positions: List[MeasurementSequence],
+            times: MeasurementSequence,
+            velocities: Optional[List[OptionalMeasurementSequence]] = None,
+            times_relative: bool = True
+    ) -> PvtSequenceData:
+        """
+        Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence
+        of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.
+        If all velocities are defined, the solver will simply return the same velocities.
+        This function calculates velocities by enforcing that acceleration be continuous at each segment transition.
+
+        Also note that if generating a path for multiple axes, the user must provide a position measurement sequence
+        per axis, And the values arrays for each sequence must be equal in length to each other and also to the
+        times sequence.
+
+        Does not support native units.
+
+        Args:
+            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.
+            times: The relative or absolute time of each position in the PVT sequence.
+            velocities: Optional velocities corresponding to each point in the position sequences.
+            times_relative: 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.
+        """
+        request = dto.PvtGenerateVelocitiesRequest(
+            positions=positions,
+            times=times,
+            velocities=velocities,
+            times_relative=times_relative,
+        )
+        response = call(
+            "device/pvt_generate_velocities",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    @staticmethod
+    async def generate_velocities_async(
+            positions: List[MeasurementSequence],
+            times: MeasurementSequence,
+            velocities: Optional[List[OptionalMeasurementSequence]] = None,
+            times_relative: bool = True
+    ) -> PvtSequenceData:
+        """
+        Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence
+        of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way.
+        If all velocities are defined, the solver will simply return the same velocities.
+        This function calculates velocities by enforcing that acceleration be continuous at each segment transition.
+
+        Also note that if generating a path for multiple axes, the user must provide a position measurement sequence
+        per axis, And the values arrays for each sequence must be equal in length to each other and also to the
+        times sequence.
+
+        Does not support native units.
+
+        Args:
+            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.
+            times: The relative or absolute time of each position in the PVT sequence.
+            velocities: Optional velocities corresponding to each point in the position sequences.
+            times_relative: 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.
+        """
+        request = dto.PvtGenerateVelocitiesRequest(
+            positions=positions,
+            times=times,
+            velocities=velocities,
+            times_relative=times_relative,
+        )
+        response = await call_async(
+            "device/pvt_generate_velocities",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    @staticmethod
+    def generate_positions(
+            velocities: List[MeasurementSequence],
+            times: MeasurementSequence,
+            times_relative: bool = True
+    ) -> PvtSequenceData:
+        """
+        Generates positions for a sequence of velocities and times. This function calculates
+        positions by enforcing that acceleration be continuous at each segment transition.
+
+        Note that if generating a path for multiple axes, the user must provide a
+        velocity measurement sequence per axis, and the values arrays for each sequence
+        must be equal in length to each other and also to the times sequence.
+
+        Does not support native units.
+
+        Args:
+            velocities: The sequence of velocities for each axis.
+                Each MeasurementSequence represents a sequence of velocities along particular dimension.
+            times: The relative or absolute time of each position in the PVT sequence.
+            times_relative: 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.
+        """
+        request = dto.PvtGeneratePositionsRequest(
+            velocities=velocities,
+            times=times,
+            times_relative=times_relative,
+        )
+        response = call(
+            "device/pvt_generate_positions",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    @staticmethod
+    async def generate_positions_async(
+            velocities: List[MeasurementSequence],
+            times: MeasurementSequence,
+            times_relative: bool = True
+    ) -> PvtSequenceData:
+        """
+        Generates positions for a sequence of velocities and times. This function calculates
+        positions by enforcing that acceleration be continuous at each segment transition.
+
+        Note that if generating a path for multiple axes, the user must provide a
+        velocity measurement sequence per axis, and the values arrays for each sequence
+        must be equal in length to each other and also to the times sequence.
+
+        Does not support native units.
+
+        Args:
+            velocities: The sequence of velocities for each axis.
+                Each MeasurementSequence represents a sequence of velocities along particular dimension.
+            times: The relative or absolute time of each position in the PVT sequence.
+            times_relative: 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.
+        """
+        request = dto.PvtGeneratePositionsRequest(
+            velocities=velocities,
+            times=times,
+            times_relative=times_relative,
+        )
+        response = await call_async(
+            "device/pvt_generate_positions",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    @staticmethod
+    def generate_velocities_and_times(
+            positions: List[MeasurementSequence],
+            target_speed: Measurement,
+            target_acceleration: Measurement,
+            resample_number: Optional[int] = None
+    ) -> PvtSequenceData:
+        """
+        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,
+        natural cubic for 3, and a straight line for 2) over the position sequence
+        and then calculates the velocity and time information by traversing it using a
+        trapezoidal motion profile.
+
+        This generation scheme attempts to keep speed and acceleration less than the
+        specified target values, but does not guarantee it. Generally speaking, a higher
+        resample number will bring the generated trajectory closer to respecting these
+        limits.
+
+        Note that consecutive duplicate points will be automatically removed as they
+        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.
+
+        Does not support native units.
+
+        Args:
+            positions: Positions for the axes to move through, relative to their home positions.
+            target_speed: The target speed used to generate positions and times.
+            target_acceleration: The target acceleration used to generate positions and times.
+            resample_number: 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.
+        """
+        if target_speed.value <= 0 or target_acceleration.value <= 0:
+            raise ValueError('Target speed and acceleration values must be greater than zero.')
+
+        request = dto.PvtGenerateVelocitiesAndTimesRequest(
+            positions=positions,
+            target_speed=target_speed,
+            target_acceleration=target_acceleration,
+            resample_number=resample_number,
+        )
+        response = call(
+            "device/pvt_generate_velocities_and_times",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    @staticmethod
+    async def generate_velocities_and_times_async(
+            positions: List[MeasurementSequence],
+            target_speed: Measurement,
+            target_acceleration: Measurement,
+            resample_number: Optional[int] = None
+    ) -> PvtSequenceData:
+        """
+        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,
+        natural cubic for 3, and a straight line for 2) over the position sequence
+        and then calculates the velocity and time information by traversing it using a
+        trapezoidal motion profile.
+
+        This generation scheme attempts to keep speed and acceleration less than the
+        specified target values, but does not guarantee it. Generally speaking, a higher
+        resample number will bring the generated trajectory closer to respecting these
+        limits.
+
+        Note that consecutive duplicate points will be automatically removed as they
+        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.
+
+        Does not support native units.
+
+        Args:
+            positions: Positions for the axes to move through, relative to their home positions.
+            target_speed: The target speed used to generate positions and times.
+            target_acceleration: The target acceleration used to generate positions and times.
+            resample_number: 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.
+        """
+        if target_speed.value <= 0 or target_acceleration.value <= 0:
+            raise ValueError('Target speed and acceleration values must be greater than zero.')
+
+        request = dto.PvtGenerateVelocitiesAndTimesRequest(
+            positions=positions,
+            target_speed=target_speed,
+            target_acceleration=target_acceleration,
+            resample_number=resample_number,
+        )
+        response = await call_async(
+            "device/pvt_generate_velocities_and_times",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    def wait_until_idle(
+            self,
+            throw_error_on_fault: bool = True
+    ) -> None:
+        """
+        Waits until the live PVT sequence executes all queued actions.
+
+        Args:
+            throw_error_on_fault: Determines whether to throw error when fault is observed.
+        """
+        request = dto.StreamWaitUntilIdleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            throw_error_on_fault=throw_error_on_fault,
+        )
+        call("device/stream_wait_until_idle", request)
+
+    async def wait_until_idle_async(
+            self,
+            throw_error_on_fault: bool = True
+    ) -> None:
+        """
+        Waits until the live PVT sequence executes all queued actions.
+
+        Args:
+            throw_error_on_fault: Determines whether to throw error when fault is observed.
+        """
+        request = dto.StreamWaitUntilIdleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            throw_error_on_fault=throw_error_on_fault,
+        )
+        await call_async("device/stream_wait_until_idle", request)
+
+    def cork(
+            self
+    ) -> None:
+        """
+        Cork the front of the PVT sequences's action queue, blocking execution.
+        Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.
+        Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.
+        You can only cork an idle live PVT sequence.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        call("device/stream_cork", request)
+
+    async def cork_async(
+            self
+    ) -> None:
+        """
+        Cork the front of the PVT sequences's action queue, blocking execution.
+        Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.
+        Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.
+        You can only cork an idle live PVT sequence.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        await call_async("device/stream_cork", request)
+
+    def uncork(
+            self
+    ) -> None:
+        """
+        Uncork the front of the queue, unblocking command execution.
+        You can only uncork an idle live PVT sequence that is corked.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        call("device/stream_uncork", request)
+
+    async def uncork_async(
+            self
+    ) -> None:
+        """
+        Uncork the front of the queue, unblocking command execution.
+        You can only uncork an idle live PVT sequence that is corked.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        await call_async("device/stream_uncork", request)
+
+    def is_busy(
+            self
+    ) -> bool:
+        """
+        Returns a boolean value indicating whether the live PVT sequence is executing a queued action.
+
+        Returns:
+            True if the PVT sequence is executing a queued action.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        response = call(
+            "device/stream_is_busy",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def is_busy_async(
+            self
+    ) -> bool:
+        """
+        Returns a boolean value indicating whether the live PVT sequence is executing a queued action.
+
+        Returns:
+            True if the PVT sequence is executing a queued action.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        response = await call_async(
+            "device/stream_is_busy",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def __repr__(
+            self
+    ) -> str:
+        """
+        Returns a string which represents the PVT sequence.
+
+        Returns:
+            String which represents the PVT sequence.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        response = call_sync(
+            "device/stream_to_string",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def disable(
+            self
+    ) -> None:
+        """
+        Disables the PVT sequence.
+        If the PVT sequence is not setup, this command does nothing.
+        Once disabled, the PVT sequence will no longer accept PVT commands.
+        The PVT sequence will process the rest of the commands in the queue until it is empty.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        call("device/stream_disable", request)
+
+    async def disable_async(
+            self
+    ) -> None:
+        """
+        Disables the PVT sequence.
+        If the PVT sequence is not setup, this command does nothing.
+        Once disabled, the PVT sequence will no longer accept PVT commands.
+        The PVT sequence will process the rest of the commands in the queue until it is empty.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        await call_async("device/stream_disable", request)
+
+    def generic_command(
+            self,
+            command: str
+    ) -> None:
+        """
+        Sends a generic ASCII command to the PVT sequence.
+        Keeps resending the command while the device rejects with AGAIN reason.
+
+        Args:
+            command: Command and its parameters.
+        """
+        request = dto.StreamGenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            command=command,
+        )
+        call("device/stream_generic_command", request)
+
+    async def generic_command_async(
+            self,
+            command: str
+    ) -> None:
+        """
+        Sends a generic ASCII command to the PVT sequence.
+        Keeps resending the command while the device rejects with AGAIN reason.
+
+        Args:
+            command: Command and its parameters.
+        """
+        request = dto.StreamGenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            command=command,
+        )
+        await call_async("device/stream_generic_command", request)
+
+    def generic_command_batch(
+            self,
+            batch: List[str]
+    ) -> None:
+        """
+        Sends a batch of generic ASCII commands to the PVT sequence.
+        Keeps resending command while the device rejects with AGAIN reason.
+        The batch is atomic in terms of thread safety.
+
+        Args:
+            batch: Array of commands.
+        """
+        request = dto.StreamGenericCommandBatchRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            batch=batch,
+        )
+        call("device/stream_generic_command_batch", request)
+
+    async def generic_command_batch_async(
+            self,
+            batch: List[str]
+    ) -> None:
+        """
+        Sends a batch of generic ASCII commands to the PVT sequence.
+        Keeps resending command while the device rejects with AGAIN reason.
+        The batch is atomic in terms of thread safety.
+
+        Args:
+            batch: Array of commands.
+        """
+        request = dto.StreamGenericCommandBatchRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            batch=batch,
+        )
+        await call_async("device/stream_generic_command_batch", request)
+
+    def check_disabled(
+            self
+    ) -> bool:
+        """
+        Queries the PVT sequence status from the device
+        and returns boolean indicating whether the PVT sequence is disabled.
+        Useful to determine if execution was interrupted by other movements.
+
+        Returns:
+            True if the PVT sequence is disabled.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        response = call(
+            "device/stream_check_disabled",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def check_disabled_async(
+            self
+    ) -> bool:
+        """
+        Queries the PVT sequence status from the device
+        and returns boolean indicating whether the PVT sequence is disabled.
+        Useful to determine if execution was interrupted by other movements.
+
+        Returns:
+            True if the PVT sequence is disabled.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        response = await call_async(
+            "device/stream_check_disabled",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def treat_discontinuities_as_error(
+            self
+    ) -> None:
+        """
+        Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        call_sync("device/stream_treat_discontinuities", request)
+
+    def ignore_current_discontinuity(
+            self
+    ) -> None:
+        """
+        Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        call_sync("device/stream_ignore_discontinuity", request)
+
+    def __retrieve_axes(
+            self
+    ) -> List[PvtAxisDefinition]:
+        """
+        Gets the axes of the PVT sequence.
+
+        Returns:
+            An array of axis numbers of the axes the PVT sequence is set up to control.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        response = call_sync(
+            "device/stream_get_axes",
+            request,
+            dto.StreamGetAxesResponse.from_binary)
+        return response.pvt_axes
+
+    def __retrieve_mode(
+            self
+    ) -> PvtMode:
+        """
+        Get the mode of the PVT sequence.
+
+        Returns:
+            Mode of the PVT sequence.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+        )
+        response = call_sync(
+            "device/stream_get_mode",
+            request,
+            dto.StreamModeResponse.from_binary)
+        return response.pvt_mode
+
+    @staticmethod
+    def save_sequence_data(
+            sequence_data: PvtSequenceData,
+            path: str,
+            dimension_names: Optional[List[str]] = None
+    ) -> None:
+        """
+        Saves PvtSequenceData object as csv file.
+        Save format is compatible with Zaber Launcher PVT Editor App.
+
+        Throws InvalidArgumentException if fields are undefined or inconsistent.
+        For example, position and velocity arrays must have the same dimensions.
+        Sequence lengths must be consistent for positions, velocities and times.
+
+        Args:
+            sequence_data: The PVT sequence data to save.
+            path: The path to save the file to.
+            dimension_names: Optional csv column names for each series.
+                If not provided, the default names will be used: Series 1, Series 2, etc..
+                Length of this array must be equal to number of dimensions in sequence data.
+        """
+        request = dto.PvtSaveCsvRequest(
+            sequence_data=sequence_data,
+            path=path,
+            dimension_names=dimension_names,
+        )
+        call("device/stream_pvt_save_csv", request)
+
+    @staticmethod
+    async def save_sequence_data_async(
+            sequence_data: PvtSequenceData,
+            path: str,
+            dimension_names: Optional[List[str]] = None
+    ) -> None:
+        """
+        Saves PvtSequenceData object as csv file.
+        Save format is compatible with Zaber Launcher PVT Editor App.
+
+        Throws InvalidArgumentException if fields are undefined or inconsistent.
+        For example, position and velocity arrays must have the same dimensions.
+        Sequence lengths must be consistent for positions, velocities and times.
+
+        Args:
+            sequence_data: The PVT sequence data to save.
+            path: The path to save the file to.
+            dimension_names: Optional csv column names for each series.
+                If not provided, the default names will be used: Series 1, Series 2, etc..
+                Length of this array must be equal to number of dimensions in sequence data.
+        """
+        request = dto.PvtSaveCsvRequest(
+            sequence_data=sequence_data,
+            path=path,
+            dimension_names=dimension_names,
+        )
+        await call_async("device/stream_pvt_save_csv", request)
+
+    @staticmethod
+    def load_sequence_data(
+            path: str
+    ) -> PvtCsvData:
+        """
+        Load PVT Sequence data from CSV file.
+        The CSV data can include a header (recommended).
+        There are two possible header formats:
+
+        1. A time column with named position and velocity columns.
+        For example, "Time (ms),X Position (cm),X Velocity (cm/s),...".
+        In this case, position, velocity and time columns are all optional.
+        Also, order does not matter, but position and velocity names must be consistent.
+        This is our recommended CSV format.
+
+        2. A time column with alternating position and velocity columns.
+        For example, "Time (ms),Position (cm),Velocity (cm/s),...".
+        In this case, only the time column is optional and order does matter.
+
+        Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
+        Additionally, native units are the default if no units are specified.
+        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.
+
+        Args:
+            path: The path to the csv file to load.
+
+        Returns:
+            The PVT csv data loaded from the file.
+        """
+        request = dto.PvtLoadCsvRequest(
+            path=path,
+        )
+        response = call(
+            "device/stream_pvt_load_csv",
+            request,
+            PvtCsvData.from_binary)
+        return response
+
+    @staticmethod
+    async def load_sequence_data_async(
+            path: str
+    ) -> PvtCsvData:
+        """
+        Load PVT Sequence data from CSV file.
+        The CSV data can include a header (recommended).
+        There are two possible header formats:
+
+        1. A time column with named position and velocity columns.
+        For example, "Time (ms),X Position (cm),X Velocity (cm/s),...".
+        In this case, position, velocity and time columns are all optional.
+        Also, order does not matter, but position and velocity names must be consistent.
+        This is our recommended CSV format.
+
+        2. A time column with alternating position and velocity columns.
+        For example, "Time (ms),Position (cm),Velocity (cm/s),...".
+        In this case, only the time column is optional and order does matter.
+
+        Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
+        Additionally, native units are the default if no units are specified.
+        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.
+
+        Args:
+            path: The path to the csv file to load.
+
+        Returns:
+            The PVT csv data loaded from the file.
+        """
+        request = dto.PvtLoadCsvRequest(
+            path=path,
+        )
+        response = await call_async(
+            "device/stream_pvt_load_csv",
+            request,
+            PvtCsvData.from_binary)
+        return response
+
+    def submit_sequence_data(
+            self,
+            sequence_data: PvtSequenceData
+    ) -> None:
+        """
+        Writes the contents of a PvtSequenceData object to the sequence.
+
+        Args:
+            sequence_data: The PVT sequence data to submit.
+        """
+        request = dto.PvtSubmitSequenceDataRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            sequence_data=sequence_data,
+        )
+        call("device/stream_pvt_submit_data", request)
+
+    async def submit_sequence_data_async(
+            self,
+            sequence_data: PvtSequenceData
+    ) -> None:
+        """
+        Writes the contents of a PvtSequenceData object to the sequence.
+
+        Args:
+            sequence_data: The PVT sequence data to submit.
+        """
+        request = dto.PvtSubmitSequenceDataRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            sequence_data=sequence_data,
+        )
+        await call_async("device/stream_pvt_submit_data", request)
+
+    def set_digital_output(
+            self,
+            channel_number: int,
+            value: DigitalOutputAction
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetDigitalOutput instead.
+
+        Sets value for the specified digital output channel.
+
+        Args:
+            channel_number: Channel number starting at 1.
+            value: The type of action to perform on the channel.
+        """
+        request = dto.StreamSetDigitalOutputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            channel_number=channel_number,
+            value=value,
+        )
+        call("device/stream_set_digital_output", request)
+
+    async def set_digital_output_async(
+            self,
+            channel_number: int,
+            value: DigitalOutputAction
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetDigitalOutput instead.
+
+        Sets value for the specified digital output channel.
+
+        Args:
+            channel_number: Channel number starting at 1.
+            value: The type of action to perform on the channel.
+        """
+        request = dto.StreamSetDigitalOutputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            channel_number=channel_number,
+            value=value,
+        )
+        await call_async("device/stream_set_digital_output", request)
+
+    def set_all_digital_outputs(
+            self,
+            values: List[DigitalOutputAction]
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetAllDigitalOutputs instead.
+
+        Sets values for all digital output channels.
+
+        Args:
+            values: The type of action to perform on the channel.
+        """
+        request = dto.StreamSetAllDigitalOutputsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            values=values,
+        )
+        call("device/stream_set_all_digital_outputs", request)
+
+    async def set_all_digital_outputs_async(
+            self,
+            values: List[DigitalOutputAction]
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetAllDigitalOutputs instead.
+
+        Sets values for all digital output channels.
+
+        Args:
+            values: The type of action to perform on the channel.
+        """
+        request = dto.StreamSetAllDigitalOutputsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            values=values,
+        )
+        await call_async("device/stream_set_all_digital_outputs", request)
+
+    def set_analog_output(
+            self,
+            channel_number: int,
+            value: float
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetAnalogOutput instead.
+
+        Sets value for the specified analog output channel.
+
+        Args:
+            channel_number: Channel number starting at 1.
+            value: Value to set the output channel voltage to.
+        """
+        request = dto.StreamSetAnalogOutputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            channel_number=channel_number,
+            value=value,
+        )
+        call("device/stream_set_analog_output", request)
+
+    async def set_analog_output_async(
+            self,
+            channel_number: int,
+            value: float
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetAnalogOutput instead.
+
+        Sets value for the specified analog output channel.
+
+        Args:
+            channel_number: Channel number starting at 1.
+            value: Value to set the output channel voltage to.
+        """
+        request = dto.StreamSetAnalogOutputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            channel_number=channel_number,
+            value=value,
+        )
+        await call_async("device/stream_set_analog_output", request)
+
+    def set_all_analog_outputs(
+            self,
+            values: List[float]
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetAllAnalogOutputs instead.
+
+        Sets values for all analog output channels.
+
+        Args:
+            values: Voltage values to set the output channels to.
+        """
+        request = dto.StreamSetAllAnalogOutputsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            values=values,
+        )
+        call("device/stream_set_all_analog_outputs", request)
+
+    async def set_all_analog_outputs_async(
+            self,
+            values: List[float]
+    ) -> None:
+        """
+        Deprecated: Use PvtSequence.Io.SetAllAnalogOutputs instead.
+
+        Sets values for all analog output channels.
+
+        Args:
+            values: Voltage values to set the output channels to.
+        """
+        request = dto.StreamSetAllAnalogOutputsRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            pvt=True,
+            values=values,
+        )
+        await call_async("device/stream_set_all_analog_outputs", request)