zaber-motion 7.13.0__py3-none-win_amd64.whl → 7.14.0__py3-none-win_amd64.whl

zaber_motion/ascii/stream.py

@@ -1,2182 +1,2182 @@
-# 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
-from ..dto import requests as dto
-from ..units import Units, VelocityUnits, AccelerationUnits, TimeUnits
-from ..call import call, call_async, call_sync
-from ..dto.measurement import Measurement
-from ..dto.rotation_direction import RotationDirection
-from .stream_buffer import StreamBuffer
-from ..dto.ascii.stream_mode import StreamMode
-from ..dto.ascii.stream_axis_definition import StreamAxisDefinition
-from .stream_io import StreamIo
-from ..dto.ascii.digital_output_action import DigitalOutputAction
-
-if TYPE_CHECKING:
-    from .device import Device
-
-
-class Stream:
-    """
-    A handle for a stream with this number on the device.
-    Streams provide a way to execute or store a sequence of actions.
-    Stream 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 stream.
-        """
-        return self._device
-
-    @property
-    def stream_id(self) -> int:
-        """
-        The number that identifies the stream on the device.
-        """
-        return self._stream_id
-
-    @property
-    def mode(self) -> StreamMode:
-        """
-        Current mode of the stream.
-        """
-        return self.__retrieve_mode()
-
-    @property
-    def axes(self) -> List[StreamAxisDefinition]:
-        """
-        An array of axes definitions the stream is set up to control.
-        """
-        return self.__retrieve_axes()
-
-    @property
-    def io(self) -> StreamIo:
-        """
-        Gets an object that provides access to I/O for this stream.
-        """
-        return self._io
-
-    def __init__(self, device: 'Device', stream_id: int):
-        self._device: 'Device' = device
-        self._stream_id: int = stream_id
-        self._io: StreamIo = StreamIo(device, stream_id)
-
-    def setup_live_composite(
-            self,
-            *axes: StreamAxisDefinition
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and to queue actions on the device.
-        Allows use of lockstep axes in a stream.
-
-        Args:
-            axes: Definition of the stream axes.
-        """
-        request = dto.StreamSetupLiveCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            axes=list(axes),
-        )
-        call("device/stream_setup_live_composite", request)
-
-    async def setup_live_composite_async(
-            self,
-            *axes: StreamAxisDefinition
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and to queue actions on the device.
-        Allows use of lockstep axes in a stream.
-
-        Args:
-            axes: Definition of the stream axes.
-        """
-        request = dto.StreamSetupLiveCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            axes=list(axes),
-        )
-        await call_async("device/stream_setup_live_composite", request)
-
-    def setup_live(
-            self,
-            *axes: int
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and to queue actions on the device.
-
-        Args:
-            axes: Numbers of physical axes to setup the stream on.
-        """
-        request = dto.StreamSetupLiveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            axes=list(axes),
-        )
-        call("device/stream_setup_live", request)
-
-    async def setup_live_async(
-            self,
-            *axes: int
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and to queue actions on the device.
-
-        Args:
-            axes: Numbers of physical axes to setup the stream on.
-        """
-        request = dto.StreamSetupLiveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            axes=list(axes),
-        )
-        await call_async("device/stream_setup_live", request)
-
-    def setup_store_composite(
-            self,
-            stream_buffer: StreamBuffer,
-            *axes: StreamAxisDefinition
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and queue actions into a stream buffer.
-        Allows use of lockstep axes in a stream.
-
-        Args:
-            stream_buffer: The stream buffer to queue actions in.
-            axes: Definition of the stream axes.
-        """
-        request = dto.StreamSetupStoreCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-            axes=list(axes),
-        )
-        call("device/stream_setup_store_composite", request)
-
-    async def setup_store_composite_async(
-            self,
-            stream_buffer: StreamBuffer,
-            *axes: StreamAxisDefinition
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and queue actions into a stream buffer.
-        Allows use of lockstep axes in a stream.
-
-        Args:
-            stream_buffer: The stream buffer to queue actions in.
-            axes: Definition of the stream axes.
-        """
-        request = dto.StreamSetupStoreCompositeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-            axes=list(axes),
-        )
-        await call_async("device/stream_setup_store_composite", request)
-
-    def setup_store(
-            self,
-            stream_buffer: StreamBuffer,
-            *axes: int
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and queue actions into a stream buffer.
-
-        Args:
-            stream_buffer: The stream buffer to queue actions in.
-            axes: Numbers of physical axes to setup the stream on.
-        """
-        request = dto.StreamSetupStoreRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-            axes=list(axes),
-        )
-        call("device/stream_setup_store", request)
-
-    async def setup_store_async(
-            self,
-            stream_buffer: StreamBuffer,
-            *axes: int
-    ) -> None:
-        """
-        Setup the stream to control the specified axes and queue actions into a stream buffer.
-
-        Args:
-            stream_buffer: The stream buffer to queue actions in.
-            axes: Numbers of physical axes to setup the stream on.
-        """
-        request = dto.StreamSetupStoreRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-            axes=list(axes),
-        )
-        await call_async("device/stream_setup_store", request)
-
-    def setup_store_arbitrary_axes(
-            self,
-            stream_buffer: StreamBuffer,
-            axes_count: int
-    ) -> None:
-        """
-        Setup the stream to use a specified number of axes, and to queue actions in a stream buffer.
-        Afterwards, you may call the resulting stream buffer on arbitrary axes.
-        This mode does not allow for unit conversions.
-
-        Args:
-            stream_buffer: The stream buffer to queue actions in.
-            axes_count: The number of axes in the stream.
-        """
-        request = dto.StreamSetupStoreArbitraryAxesRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-            axes_count=axes_count,
-        )
-        call("device/stream_setup_store_arbitrary_axes", request)
-
-    async def setup_store_arbitrary_axes_async(
-            self,
-            stream_buffer: StreamBuffer,
-            axes_count: int
-    ) -> None:
-        """
-        Setup the stream to use a specified number of axes, and to queue actions in a stream buffer.
-        Afterwards, you may call the resulting stream buffer on arbitrary axes.
-        This mode does not allow for unit conversions.
-
-        Args:
-            stream_buffer: The stream buffer to queue actions in.
-            axes_count: The number of axes in the stream.
-        """
-        request = dto.StreamSetupStoreArbitraryAxesRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-            axes_count=axes_count,
-        )
-        await call_async("device/stream_setup_store_arbitrary_axes", request)
-
-    def call(
-            self,
-            stream_buffer: StreamBuffer
-    ) -> None:
-        """
-        Append the actions in a stream buffer to the queue.
-
-        Args:
-            stream_buffer: The stream buffer to call.
-        """
-        request = dto.StreamCallRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-        )
-        call("device/stream_call", request)
-
-    async def call_async(
-            self,
-            stream_buffer: StreamBuffer
-    ) -> None:
-        """
-        Append the actions in a stream buffer to the queue.
-
-        Args:
-            stream_buffer: The stream buffer to call.
-        """
-        request = dto.StreamCallRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            stream_buffer=stream_buffer.buffer_id,
-        )
-        await call_async("device/stream_call", request)
-
-    def line_absolute(
-            self,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue an absolute line movement in the stream.
-
-        Args:
-            endpoint: Positions for the axes to move to, relative to their home positions.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            endpoint=list(endpoint),
-        )
-        call("device/stream_line", request)
-
-    async def line_absolute_async(
-            self,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue an absolute line movement in the stream.
-
-        Args:
-            endpoint: Positions for the axes to move to, relative to their home positions.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            endpoint=list(endpoint),
-        )
-        await call_async("device/stream_line", request)
-
-    def line_relative(
-            self,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue a relative line movement in the stream.
-
-        Args:
-            endpoint: Positions for the axes to move to, relative to their positions before movement.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            endpoint=list(endpoint),
-        )
-        call("device/stream_line", request)
-
-    async def line_relative_async(
-            self,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue a relative line movement in the stream.
-
-        Args:
-            endpoint: Positions for the axes to move to, relative to their positions before movement.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            endpoint=list(endpoint),
-        )
-        await call_async("device/stream_line", request)
-
-    def line_absolute_on(
-            self,
-            target_axes_indices: List[int],
-            endpoint: List[Measurement]
-    ) -> None:
-        """
-        Queue an absolute line movement in the stream, targeting a subset of the stream axes.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            endpoint: Positions for the axes to move to, relative to their home positions.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            endpoint=endpoint,
-        )
-        call("device/stream_line", request)
-
-    async def line_absolute_on_async(
-            self,
-            target_axes_indices: List[int],
-            endpoint: List[Measurement]
-    ) -> None:
-        """
-        Queue an absolute line movement in the stream, targeting a subset of the stream axes.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            endpoint: Positions for the axes to move to, relative to their home positions.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            endpoint=endpoint,
-        )
-        await call_async("device/stream_line", request)
-
-    def line_relative_on(
-            self,
-            target_axes_indices: List[int],
-            endpoint: List[Measurement]
-    ) -> None:
-        """
-        Queue a relative line movement in the stream, targeting a subset of the stream axes.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            endpoint: Positions for the axes to move to, relative to their positions before movement.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            endpoint=endpoint,
-        )
-        call("device/stream_line", request)
-
-    async def line_relative_on_async(
-            self,
-            target_axes_indices: List[int],
-            endpoint: List[Measurement]
-    ) -> None:
-        """
-        Queue a relative line movement in the stream, targeting a subset of the stream axes.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            endpoint: Positions for the axes to move to, relative to their positions before movement.
-        """
-        request = dto.StreamLineRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            endpoint=endpoint,
-        )
-        await call_async("device/stream_line", request)
-
-    def arc_absolute(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute arc movement on the first two axes of the stream.
-        Absolute meaning that the home positions of the axes is treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        call("device/stream_arc", request)
-
-    async def arc_absolute_async(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute arc movement on the first two axes of the stream.
-        Absolute meaning that the home positions of the axes is treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        await call_async("device/stream_arc", request)
-
-    def arc_relative(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue a relative arc movement on the first two axes of the stream.
-        Relative meaning that the current position of the axes is treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        call("device/stream_arc", request)
-
-    async def arc_relative_async(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue a relative arc movement on the first two axes of the stream.
-        Relative meaning that the current position of the axes is treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        await call_async("device/stream_arc", request)
-
-    def arc_absolute_on(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute arc movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        call("device/stream_arc", request)
-
-    async def arc_absolute_on_async(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute arc movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        await call_async("device/stream_arc", request)
-
-    def arc_relative_on(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue a relative arc movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        call("device/stream_arc", request)
-
-    async def arc_relative_on_async(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement
-    ) -> None:
-        """
-        Queue a relative arc movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the arc exists.
-            center_y: The second dimension of the position of the center of the circle on which the arc exists.
-            end_x: The first dimension of the end position of the arc.
-            end_y: The second dimension of the end position of the arc.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-        )
-        await call_async("device/stream_arc", request)
-
-    def helix_absolute_on(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue an absolute helix movement in the stream.
-        Requires at least Firmware 7.28.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-                The first two axes refer to the helix's arc component,
-                while the rest refers to the helix's line component.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the helix projects.
-            center_y: The second dimension of the position of the center of the circle on which the helix projects.
-            end_x: The first dimension of the end position of the helix's arc component.
-            end_y: The second dimension of the end position of the helix's arc component.
-            endpoint: Positions for the helix's line component axes, relative to their home positions.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-            endpoint=list(endpoint),
-        )
-        call("device/stream_helix", request)
-
-    async def helix_absolute_on_async(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue an absolute helix movement in the stream.
-        Requires at least Firmware 7.28.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-                The first two axes refer to the helix's arc component,
-                while the rest refers to the helix's line component.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the helix projects.
-            center_y: The second dimension of the position of the center of the circle on which the helix projects.
-            end_x: The first dimension of the end position of the helix's arc component.
-            end_y: The second dimension of the end position of the helix's arc component.
-            endpoint: Positions for the helix's line component axes, relative to their home positions.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-            endpoint=list(endpoint),
-        )
-        await call_async("device/stream_helix", request)
-
-    def helix_relative_on(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue a relative helix movement in the stream.
-        Requires at least Firmware 7.28.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-                The first two axes refer to the helix's arc component,
-                while the rest refers to the helix's line component.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the helix projects.
-            center_y: The second dimension of the position of the center of the circle on which the helix projects.
-            end_x: The first dimension of the end position of the helix's arc component.
-            end_y: The second dimension of the end position of the helix's arc component.
-            endpoint: Positions for the helix's line component axes, relative to their positions before movement.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-            endpoint=list(endpoint),
-        )
-        call("device/stream_helix", request)
-
-    async def helix_relative_on_async(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement,
-            end_x: Measurement,
-            end_y: Measurement,
-            *endpoint: Measurement
-    ) -> None:
-        """
-        Queue a relative helix movement in the stream.
-        Requires at least Firmware 7.28.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-                The first two axes refer to the helix's arc component,
-                while the rest refers to the helix's line component.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle on which the helix projects.
-            center_y: The second dimension of the position of the center of the circle on which the helix projects.
-            end_x: The first dimension of the end position of the helix's arc component.
-            end_y: The second dimension of the end position of the helix's arc component.
-            endpoint: Positions for the helix's line component axes, relative to their positions before movement.
-        """
-        request = dto.StreamArcRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-            end_x=end_x,
-            end_y=end_y,
-            endpoint=list(endpoint),
-        )
-        await call_async("device/stream_helix", request)
-
-    def circle_absolute(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute circle movement on the first two axes of the stream.
-        Absolute meaning that the home positions of the axes are treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        call("device/stream_circle", request)
-
-    async def circle_absolute_async(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute circle movement on the first two axes of the stream.
-        Absolute meaning that the home positions of the axes are treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        await call_async("device/stream_circle", request)
-
-    def circle_relative(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue a relative circle movement on the first two axes of the stream.
-        Relative meaning that the current position of the axes is treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        call("device/stream_circle", request)
-
-    async def circle_relative_async(
-            self,
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue a relative circle movement on the first two axes of the stream.
-        Relative meaning that the current position of the axes is treated as the origin.
-
-        Args:
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        await call_async("device/stream_circle", request)
-
-    def circle_absolute_on(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute circle movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        call("device/stream_circle", request)
-
-    async def circle_absolute_on_async(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue an absolute circle movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.ABS,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        await call_async("device/stream_circle", request)
-
-    def circle_relative_on(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue a relative circle movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        call("device/stream_circle", request)
-
-    async def circle_relative_on_async(
-            self,
-            target_axes_indices: List[int],
-            rotation_direction: RotationDirection,
-            center_x: Measurement,
-            center_y: Measurement
-    ) -> None:
-        """
-        Queue a relative circle movement in the stream.
-        The movement will only target the specified subset of axes in the stream.
-        Requires at least Firmware 7.11.
-
-        Args:
-            target_axes_indices: Indices of the axes in the stream the movement targets.
-                Refers to the axes provided during the stream setup or further execution.
-                Indices are zero-based.
-            rotation_direction: The direction of the rotation.
-            center_x: The first dimension of the position of the center of the circle.
-            center_y: The second dimension of the position of the center of the circle.
-        """
-        request = dto.StreamCircleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            type=dto.StreamSegmentType.REL,
-            target_axes_indices=target_axes_indices,
-            rotation_direction=rotation_direction,
-            center_x=center_x,
-            center_y=center_y,
-        )
-        await call_async("device/stream_circle", request)
-
-    def wait(
-            self,
-            time: float,
-            unit: TimeUnits = Units.NATIVE
-    ) -> None:
-        """
-        Wait a specified time.
-
-        Args:
-            time: Amount of time to wait.
-            unit: Units of time.
-        """
-        request = dto.StreamWaitRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            time=time,
-            unit=unit,
-        )
-        call("device/stream_wait", request)
-
-    async def wait_async(
-            self,
-            time: float,
-            unit: TimeUnits = Units.NATIVE
-    ) -> None:
-        """
-        Wait a specified time.
-
-        Args:
-            time: Amount of time to wait.
-            unit: Units of time.
-        """
-        request = dto.StreamWaitRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            time=time,
-            unit=unit,
-        )
-        await call_async("device/stream_wait", request)
-
-    def wait_until_idle(
-            self,
-            throw_error_on_fault: bool = True
-    ) -> None:
-        """
-        Waits until the live stream 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.stream_id,
-            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 stream 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.stream_id,
-            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 stream'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 stream commands reaching the device late.
-        You can only cork an idle live stream.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        call("device/stream_cork", request)
-
-    async def cork_async(
-            self
-    ) -> None:
-        """
-        Cork the front of the stream'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 stream commands reaching the device late.
-        You can only cork an idle live stream.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        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 stream that is corked.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        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 stream that is corked.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        await call_async("device/stream_uncork", request)
-
-    def set_hold(
-            self,
-            hold: bool
-    ) -> None:
-        """
-        Pauses or resumes execution of the stream in live mode.
-        The hold only takes effect during execution of motion segments.
-
-        Args:
-            hold: True to pause execution, false to resume.
-        """
-        request = dto.StreamSetHoldRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            hold=hold,
-        )
-        call("device/stream_set_hold", request)
-
-    async def set_hold_async(
-            self,
-            hold: bool
-    ) -> None:
-        """
-        Pauses or resumes execution of the stream in live mode.
-        The hold only takes effect during execution of motion segments.
-
-        Args:
-            hold: True to pause execution, false to resume.
-        """
-        request = dto.StreamSetHoldRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            hold=hold,
-        )
-        await call_async("device/stream_set_hold", request)
-
-    def is_busy(
-            self
-    ) -> bool:
-        """
-        Returns a boolean value indicating whether the live stream is executing a queued action.
-
-        Returns:
-            True if the stream is executing a queued action.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        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 stream is executing a queued action.
-
-        Returns:
-            True if the stream is executing a queued action.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        response = await call_async(
-            "device/stream_is_busy",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def get_max_speed(
-            self,
-            unit: VelocityUnits = Units.NATIVE
-    ) -> float:
-        """
-        Gets the maximum speed of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            unit: Units of velocity.
-
-        Returns:
-            The maximum speed of the stream.
-        """
-        request = dto.StreamGetMaxSpeedRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            unit=unit,
-        )
-        response = call(
-            "device/stream_get_max_speed",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    async def get_max_speed_async(
-            self,
-            unit: VelocityUnits = Units.NATIVE
-    ) -> float:
-        """
-        Gets the maximum speed of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            unit: Units of velocity.
-
-        Returns:
-            The maximum speed of the stream.
-        """
-        request = dto.StreamGetMaxSpeedRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            unit=unit,
-        )
-        response = await call_async(
-            "device/stream_get_max_speed",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    def set_max_speed(
-            self,
-            max_speed: float,
-            unit: VelocityUnits = Units.NATIVE
-    ) -> None:
-        """
-        Sets the maximum speed of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            max_speed: Maximum speed at which any stream action is executed.
-            unit: Units of velocity.
-        """
-        request = dto.StreamSetMaxSpeedRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            max_speed=max_speed,
-            unit=unit,
-        )
-        call("device/stream_set_max_speed", request)
-
-    async def set_max_speed_async(
-            self,
-            max_speed: float,
-            unit: VelocityUnits = Units.NATIVE
-    ) -> None:
-        """
-        Sets the maximum speed of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            max_speed: Maximum speed at which any stream action is executed.
-            unit: Units of velocity.
-        """
-        request = dto.StreamSetMaxSpeedRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            max_speed=max_speed,
-            unit=unit,
-        )
-        await call_async("device/stream_set_max_speed", request)
-
-    def get_max_tangential_acceleration(
-            self,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> float:
-        """
-        Gets the maximum tangential acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            unit: Units of acceleration.
-
-        Returns:
-            The maximum tangential acceleration of the live stream.
-        """
-        request = dto.StreamGetMaxTangentialAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            unit=unit,
-        )
-        response = call(
-            "device/stream_get_max_tangential_acceleration",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    async def get_max_tangential_acceleration_async(
-            self,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> float:
-        """
-        Gets the maximum tangential acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            unit: Units of acceleration.
-
-        Returns:
-            The maximum tangential acceleration of the live stream.
-        """
-        request = dto.StreamGetMaxTangentialAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            unit=unit,
-        )
-        response = await call_async(
-            "device/stream_get_max_tangential_acceleration",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    def set_max_tangential_acceleration(
-            self,
-            max_tangential_acceleration: float,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Sets the maximum tangential acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            max_tangential_acceleration: Maximum tangential acceleration at which any stream action is executed.
-            unit: Units of acceleration.
-        """
-        request = dto.StreamSetMaxTangentialAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            max_tangential_acceleration=max_tangential_acceleration,
-            unit=unit,
-        )
-        call("device/stream_set_max_tangential_acceleration", request)
-
-    async def set_max_tangential_acceleration_async(
-            self,
-            max_tangential_acceleration: float,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Sets the maximum tangential acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            max_tangential_acceleration: Maximum tangential acceleration at which any stream action is executed.
-            unit: Units of acceleration.
-        """
-        request = dto.StreamSetMaxTangentialAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            max_tangential_acceleration=max_tangential_acceleration,
-            unit=unit,
-        )
-        await call_async("device/stream_set_max_tangential_acceleration", request)
-
-    def get_max_centripetal_acceleration(
-            self,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> float:
-        """
-        Gets the maximum centripetal acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            unit: Units of acceleration.
-
-        Returns:
-            The maximum centripetal acceleration of the live stream.
-        """
-        request = dto.StreamGetMaxCentripetalAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            unit=unit,
-        )
-        response = call(
-            "device/stream_get_max_centripetal_acceleration",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    async def get_max_centripetal_acceleration_async(
-            self,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> float:
-        """
-        Gets the maximum centripetal acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            unit: Units of acceleration.
-
-        Returns:
-            The maximum centripetal acceleration of the live stream.
-        """
-        request = dto.StreamGetMaxCentripetalAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            unit=unit,
-        )
-        response = await call_async(
-            "device/stream_get_max_centripetal_acceleration",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    def set_max_centripetal_acceleration(
-            self,
-            max_centripetal_acceleration: float,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Sets the maximum centripetal acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            max_centripetal_acceleration: Maximum centripetal acceleration at which any stream action is executed.
-            unit: Units of acceleration.
-        """
-        request = dto.StreamSetMaxCentripetalAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            max_centripetal_acceleration=max_centripetal_acceleration,
-            unit=unit,
-        )
-        call("device/stream_set_max_centripetal_acceleration", request)
-
-    async def set_max_centripetal_acceleration_async(
-            self,
-            max_centripetal_acceleration: float,
-            unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Sets the maximum centripetal acceleration of the live stream.
-        Converts the units using the first axis of the stream.
-
-        Args:
-            max_centripetal_acceleration: Maximum centripetal acceleration at which any stream action is executed.
-            unit: Units of acceleration.
-        """
-        request = dto.StreamSetMaxCentripetalAccelerationRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            max_centripetal_acceleration=max_centripetal_acceleration,
-            unit=unit,
-        )
-        await call_async("device/stream_set_max_centripetal_acceleration", request)
-
-    def __repr__(
-            self
-    ) -> str:
-        """
-        Returns a string which represents the stream.
-
-        Returns:
-            String which represents the stream.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        response = call_sync(
-            "device/stream_to_string",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def disable(
-            self
-    ) -> None:
-        """
-        Disables the stream.
-        If the stream is not setup, this command does nothing.
-        Once disabled, the stream will no longer accept stream commands.
-        The stream 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.stream_id,
-        )
-        call("device/stream_disable", request)
-
-    async def disable_async(
-            self
-    ) -> None:
-        """
-        Disables the stream.
-        If the stream is not setup, this command does nothing.
-        Once disabled, the stream will no longer accept stream commands.
-        The stream 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.stream_id,
-        )
-        await call_async("device/stream_disable", request)
-
-    def generic_command(
-            self,
-            command: str
-    ) -> None:
-        """
-        Sends a generic ASCII command to the stream.
-        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.stream_id,
-            command=command,
-        )
-        call("device/stream_generic_command", request)
-
-    async def generic_command_async(
-            self,
-            command: str
-    ) -> None:
-        """
-        Sends a generic ASCII command to the stream.
-        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.stream_id,
-            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 stream.
-        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.stream_id,
-            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 stream.
-        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.stream_id,
-            batch=batch,
-        )
-        await call_async("device/stream_generic_command_batch", request)
-
-    def check_disabled(
-            self
-    ) -> bool:
-        """
-        Queries the stream status from the device
-        and returns boolean indicating whether the stream is disabled.
-        Useful to determine if streaming was interrupted by other movements.
-
-        Returns:
-            True if the stream is disabled.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        response = call(
-            "device/stream_check_disabled",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def check_disabled_async(
-            self
-    ) -> bool:
-        """
-        Queries the stream status from the device
-        and returns boolean indicating whether the stream is disabled.
-        Useful to determine if streaming was interrupted by other movements.
-
-        Returns:
-            True if the stream is disabled.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        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 stream throw StreamDiscontinuityException 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.stream_id,
-        )
-        call_sync("device/stream_treat_discontinuities", request)
-
-    def ignore_current_discontinuity(
-            self
-    ) -> None:
-        """
-        Prevents StreamDiscontinuityException as a result of expected discontinuity when resuming streaming.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        call_sync("device/stream_ignore_discontinuity", request)
-
-    def __retrieve_axes(
-            self
-    ) -> List[StreamAxisDefinition]:
-        """
-        Gets the axes of the stream.
-
-        Returns:
-            An array of axis numbers of the axes the stream is set up to control.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        response = call_sync(
-            "device/stream_get_axes",
-            request,
-            dto.StreamGetAxesResponse.from_binary)
-        return response.axes
-
-    def __retrieve_mode(
-            self
-    ) -> StreamMode:
-        """
-        Get the mode of the stream.
-
-        Returns:
-            Mode of the stream.
-        """
-        request = dto.StreamEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-        )
-        response = call_sync(
-            "device/stream_get_mode",
-            request,
-            dto.StreamModeResponse.from_binary)
-        return response.stream_mode
-
-    def wait_digital_input(
-            self,
-            channel_number: int,
-            value: bool
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitDigitalInput instead.
-
-        Wait for a digital input channel to reach a given value.
-
-        Args:
-            channel_number: The number of the digital input channel.
-                Channel numbers are numbered from one.
-            value: The value that the stream should wait for.
-        """
-        request = dto.StreamWaitDigitalInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_wait_digital_input", request)
-
-    async def wait_digital_input_async(
-            self,
-            channel_number: int,
-            value: bool
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitDigitalInput instead.
-
-        Wait for a digital input channel to reach a given value.
-
-        Args:
-            channel_number: The number of the digital input channel.
-                Channel numbers are numbered from one.
-            value: The value that the stream should wait for.
-        """
-        request = dto.StreamWaitDigitalInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_wait_digital_input", request)
-
-    def wait_analog_input(
-            self,
-            channel_number: int,
-            condition: str,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitAnalogInput instead.
-
-        Wait for the value of a analog input channel to reach a condition concerning a given value.
-
-        Args:
-            channel_number: The number of the analog input channel.
-                Channel numbers are numbered from one.
-            condition: A condition (e.g. <, <=, ==, !=).
-            value: The value that the condition concerns, in Volts.
-        """
-        request = dto.StreamWaitAnalogInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            condition=condition,
-            value=value,
-        )
-        call("device/stream_wait_analog_input", request)
-
-    async def wait_analog_input_async(
-            self,
-            channel_number: int,
-            condition: str,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitAnalogInput instead.
-
-        Wait for the value of a analog input channel to reach a condition concerning a given value.
-
-        Args:
-            channel_number: The number of the analog input channel.
-                Channel numbers are numbered from one.
-            condition: A condition (e.g. <, <=, ==, !=).
-            value: The value that the condition concerns, in Volts.
-        """
-        request = dto.StreamWaitAnalogInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            condition=condition,
-            value=value,
-        )
-        await call_async("device/stream_wait_analog_input", request)
-
-    def set_digital_output(
-            self,
-            channel_number: int,
-            value: DigitalOutputAction
-    ) -> None:
-        """
-        Deprecated: Use Stream.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.stream_id,
-            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 Stream.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.stream_id,
-            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 Stream.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.stream_id,
-            values=values,
-        )
-        call("device/stream_set_all_digital_outputs", request)
-
-    async def set_all_digital_outputs_async(
-            self,
-            values: List[DigitalOutputAction]
-    ) -> None:
-        """
-        Deprecated: Use Stream.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.stream_id,
-            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 Stream.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.stream_id,
-            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 Stream.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.stream_id,
-            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 Stream.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.stream_id,
-            values=values,
-        )
-        call("device/stream_set_all_analog_outputs", request)
-
-    async def set_all_analog_outputs_async(
-            self,
-            values: List[float]
-    ) -> None:
-        """
-        Deprecated: Use Stream.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.stream_id,
-            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
+from ..dto import requests as dto
+from ..units import Units, VelocityUnits, AccelerationUnits, TimeUnits
+from ..call import call, call_async, call_sync
+from ..dto.measurement import Measurement
+from ..dto.rotation_direction import RotationDirection
+from .stream_buffer import StreamBuffer
+from ..dto.ascii.stream_mode import StreamMode
+from ..dto.ascii.stream_axis_definition import StreamAxisDefinition
+from .stream_io import StreamIo
+from ..dto.ascii.digital_output_action import DigitalOutputAction
+
+if TYPE_CHECKING:
+    from .device import Device
+
+
+class Stream:
+    """
+    A handle for a stream with this number on the device.
+    Streams provide a way to execute or store a sequence of actions.
+    Stream 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 stream.
+        """
+        return self._device
+
+    @property
+    def stream_id(self) -> int:
+        """
+        The number that identifies the stream on the device.
+        """
+        return self._stream_id
+
+    @property
+    def mode(self) -> StreamMode:
+        """
+        Current mode of the stream.
+        """
+        return self.__retrieve_mode()
+
+    @property
+    def axes(self) -> List[StreamAxisDefinition]:
+        """
+        An array of axes definitions the stream is set up to control.
+        """
+        return self.__retrieve_axes()
+
+    @property
+    def io(self) -> StreamIo:
+        """
+        Gets an object that provides access to I/O for this stream.
+        """
+        return self._io
+
+    def __init__(self, device: 'Device', stream_id: int):
+        self._device: 'Device' = device
+        self._stream_id: int = stream_id
+        self._io: StreamIo = StreamIo(device, stream_id)
+
+    def setup_live_composite(
+            self,
+            *axes: StreamAxisDefinition
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and to queue actions on the device.
+        Allows use of lockstep axes in a stream.
+
+        Args:
+            axes: Definition of the stream axes.
+        """
+        request = dto.StreamSetupLiveCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            axes=list(axes),
+        )
+        call("device/stream_setup_live_composite", request)
+
+    async def setup_live_composite_async(
+            self,
+            *axes: StreamAxisDefinition
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and to queue actions on the device.
+        Allows use of lockstep axes in a stream.
+
+        Args:
+            axes: Definition of the stream axes.
+        """
+        request = dto.StreamSetupLiveCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            axes=list(axes),
+        )
+        await call_async("device/stream_setup_live_composite", request)
+
+    def setup_live(
+            self,
+            *axes: int
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and to queue actions on the device.
+
+        Args:
+            axes: Numbers of physical axes to setup the stream on.
+        """
+        request = dto.StreamSetupLiveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            axes=list(axes),
+        )
+        call("device/stream_setup_live", request)
+
+    async def setup_live_async(
+            self,
+            *axes: int
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and to queue actions on the device.
+
+        Args:
+            axes: Numbers of physical axes to setup the stream on.
+        """
+        request = dto.StreamSetupLiveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            axes=list(axes),
+        )
+        await call_async("device/stream_setup_live", request)
+
+    def setup_store_composite(
+            self,
+            stream_buffer: StreamBuffer,
+            *axes: StreamAxisDefinition
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and queue actions into a stream buffer.
+        Allows use of lockstep axes in a stream.
+
+        Args:
+            stream_buffer: The stream buffer to queue actions in.
+            axes: Definition of the stream axes.
+        """
+        request = dto.StreamSetupStoreCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+            axes=list(axes),
+        )
+        call("device/stream_setup_store_composite", request)
+
+    async def setup_store_composite_async(
+            self,
+            stream_buffer: StreamBuffer,
+            *axes: StreamAxisDefinition
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and queue actions into a stream buffer.
+        Allows use of lockstep axes in a stream.
+
+        Args:
+            stream_buffer: The stream buffer to queue actions in.
+            axes: Definition of the stream axes.
+        """
+        request = dto.StreamSetupStoreCompositeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+            axes=list(axes),
+        )
+        await call_async("device/stream_setup_store_composite", request)
+
+    def setup_store(
+            self,
+            stream_buffer: StreamBuffer,
+            *axes: int
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and queue actions into a stream buffer.
+
+        Args:
+            stream_buffer: The stream buffer to queue actions in.
+            axes: Numbers of physical axes to setup the stream on.
+        """
+        request = dto.StreamSetupStoreRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+            axes=list(axes),
+        )
+        call("device/stream_setup_store", request)
+
+    async def setup_store_async(
+            self,
+            stream_buffer: StreamBuffer,
+            *axes: int
+    ) -> None:
+        """
+        Setup the stream to control the specified axes and queue actions into a stream buffer.
+
+        Args:
+            stream_buffer: The stream buffer to queue actions in.
+            axes: Numbers of physical axes to setup the stream on.
+        """
+        request = dto.StreamSetupStoreRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+            axes=list(axes),
+        )
+        await call_async("device/stream_setup_store", request)
+
+    def setup_store_arbitrary_axes(
+            self,
+            stream_buffer: StreamBuffer,
+            axes_count: int
+    ) -> None:
+        """
+        Setup the stream to use a specified number of axes, and to queue actions in a stream buffer.
+        Afterwards, you may call the resulting stream buffer on arbitrary axes.
+        This mode does not allow for unit conversions.
+
+        Args:
+            stream_buffer: The stream buffer to queue actions in.
+            axes_count: The number of axes in the stream.
+        """
+        request = dto.StreamSetupStoreArbitraryAxesRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+            axes_count=axes_count,
+        )
+        call("device/stream_setup_store_arbitrary_axes", request)
+
+    async def setup_store_arbitrary_axes_async(
+            self,
+            stream_buffer: StreamBuffer,
+            axes_count: int
+    ) -> None:
+        """
+        Setup the stream to use a specified number of axes, and to queue actions in a stream buffer.
+        Afterwards, you may call the resulting stream buffer on arbitrary axes.
+        This mode does not allow for unit conversions.
+
+        Args:
+            stream_buffer: The stream buffer to queue actions in.
+            axes_count: The number of axes in the stream.
+        """
+        request = dto.StreamSetupStoreArbitraryAxesRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+            axes_count=axes_count,
+        )
+        await call_async("device/stream_setup_store_arbitrary_axes", request)
+
+    def call(
+            self,
+            stream_buffer: StreamBuffer
+    ) -> None:
+        """
+        Append the actions in a stream buffer to the queue.
+
+        Args:
+            stream_buffer: The stream buffer to call.
+        """
+        request = dto.StreamCallRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+        )
+        call("device/stream_call", request)
+
+    async def call_async(
+            self,
+            stream_buffer: StreamBuffer
+    ) -> None:
+        """
+        Append the actions in a stream buffer to the queue.
+
+        Args:
+            stream_buffer: The stream buffer to call.
+        """
+        request = dto.StreamCallRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            stream_buffer=stream_buffer.buffer_id,
+        )
+        await call_async("device/stream_call", request)
+
+    def line_absolute(
+            self,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue an absolute line movement in the stream.
+
+        Args:
+            endpoint: Positions for the axes to move to, relative to their home positions.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            endpoint=list(endpoint),
+        )
+        call("device/stream_line", request)
+
+    async def line_absolute_async(
+            self,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue an absolute line movement in the stream.
+
+        Args:
+            endpoint: Positions for the axes to move to, relative to their home positions.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            endpoint=list(endpoint),
+        )
+        await call_async("device/stream_line", request)
+
+    def line_relative(
+            self,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue a relative line movement in the stream.
+
+        Args:
+            endpoint: Positions for the axes to move to, relative to their positions before movement.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            endpoint=list(endpoint),
+        )
+        call("device/stream_line", request)
+
+    async def line_relative_async(
+            self,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue a relative line movement in the stream.
+
+        Args:
+            endpoint: Positions for the axes to move to, relative to their positions before movement.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            endpoint=list(endpoint),
+        )
+        await call_async("device/stream_line", request)
+
+    def line_absolute_on(
+            self,
+            target_axes_indices: List[int],
+            endpoint: List[Measurement]
+    ) -> None:
+        """
+        Queue an absolute line movement in the stream, targeting a subset of the stream axes.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            endpoint: Positions for the axes to move to, relative to their home positions.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            endpoint=endpoint,
+        )
+        call("device/stream_line", request)
+
+    async def line_absolute_on_async(
+            self,
+            target_axes_indices: List[int],
+            endpoint: List[Measurement]
+    ) -> None:
+        """
+        Queue an absolute line movement in the stream, targeting a subset of the stream axes.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            endpoint: Positions for the axes to move to, relative to their home positions.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            endpoint=endpoint,
+        )
+        await call_async("device/stream_line", request)
+
+    def line_relative_on(
+            self,
+            target_axes_indices: List[int],
+            endpoint: List[Measurement]
+    ) -> None:
+        """
+        Queue a relative line movement in the stream, targeting a subset of the stream axes.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            endpoint: Positions for the axes to move to, relative to their positions before movement.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            endpoint=endpoint,
+        )
+        call("device/stream_line", request)
+
+    async def line_relative_on_async(
+            self,
+            target_axes_indices: List[int],
+            endpoint: List[Measurement]
+    ) -> None:
+        """
+        Queue a relative line movement in the stream, targeting a subset of the stream axes.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            endpoint: Positions for the axes to move to, relative to their positions before movement.
+        """
+        request = dto.StreamLineRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            endpoint=endpoint,
+        )
+        await call_async("device/stream_line", request)
+
+    def arc_absolute(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute arc movement on the first two axes of the stream.
+        Absolute meaning that the home positions of the axes is treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        call("device/stream_arc", request)
+
+    async def arc_absolute_async(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute arc movement on the first two axes of the stream.
+        Absolute meaning that the home positions of the axes is treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        await call_async("device/stream_arc", request)
+
+    def arc_relative(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue a relative arc movement on the first two axes of the stream.
+        Relative meaning that the current position of the axes is treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        call("device/stream_arc", request)
+
+    async def arc_relative_async(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue a relative arc movement on the first two axes of the stream.
+        Relative meaning that the current position of the axes is treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        await call_async("device/stream_arc", request)
+
+    def arc_absolute_on(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute arc movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        call("device/stream_arc", request)
+
+    async def arc_absolute_on_async(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute arc movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        await call_async("device/stream_arc", request)
+
+    def arc_relative_on(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue a relative arc movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        call("device/stream_arc", request)
+
+    async def arc_relative_on_async(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement
+    ) -> None:
+        """
+        Queue a relative arc movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the arc exists.
+            center_y: The second dimension of the position of the center of the circle on which the arc exists.
+            end_x: The first dimension of the end position of the arc.
+            end_y: The second dimension of the end position of the arc.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+        )
+        await call_async("device/stream_arc", request)
+
+    def helix_absolute_on(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue an absolute helix movement in the stream.
+        Requires at least Firmware 7.28.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+                The first two axes refer to the helix's arc component,
+                while the rest refers to the helix's line component.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the helix projects.
+            center_y: The second dimension of the position of the center of the circle on which the helix projects.
+            end_x: The first dimension of the end position of the helix's arc component.
+            end_y: The second dimension of the end position of the helix's arc component.
+            endpoint: Positions for the helix's line component axes, relative to their home positions.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+            endpoint=list(endpoint),
+        )
+        call("device/stream_helix", request)
+
+    async def helix_absolute_on_async(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue an absolute helix movement in the stream.
+        Requires at least Firmware 7.28.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+                The first two axes refer to the helix's arc component,
+                while the rest refers to the helix's line component.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the helix projects.
+            center_y: The second dimension of the position of the center of the circle on which the helix projects.
+            end_x: The first dimension of the end position of the helix's arc component.
+            end_y: The second dimension of the end position of the helix's arc component.
+            endpoint: Positions for the helix's line component axes, relative to their home positions.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+            endpoint=list(endpoint),
+        )
+        await call_async("device/stream_helix", request)
+
+    def helix_relative_on(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue a relative helix movement in the stream.
+        Requires at least Firmware 7.28.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+                The first two axes refer to the helix's arc component,
+                while the rest refers to the helix's line component.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the helix projects.
+            center_y: The second dimension of the position of the center of the circle on which the helix projects.
+            end_x: The first dimension of the end position of the helix's arc component.
+            end_y: The second dimension of the end position of the helix's arc component.
+            endpoint: Positions for the helix's line component axes, relative to their positions before movement.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+            endpoint=list(endpoint),
+        )
+        call("device/stream_helix", request)
+
+    async def helix_relative_on_async(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement,
+            end_x: Measurement,
+            end_y: Measurement,
+            *endpoint: Measurement
+    ) -> None:
+        """
+        Queue a relative helix movement in the stream.
+        Requires at least Firmware 7.28.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+                The first two axes refer to the helix's arc component,
+                while the rest refers to the helix's line component.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle on which the helix projects.
+            center_y: The second dimension of the position of the center of the circle on which the helix projects.
+            end_x: The first dimension of the end position of the helix's arc component.
+            end_y: The second dimension of the end position of the helix's arc component.
+            endpoint: Positions for the helix's line component axes, relative to their positions before movement.
+        """
+        request = dto.StreamArcRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+            end_x=end_x,
+            end_y=end_y,
+            endpoint=list(endpoint),
+        )
+        await call_async("device/stream_helix", request)
+
+    def circle_absolute(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute circle movement on the first two axes of the stream.
+        Absolute meaning that the home positions of the axes are treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        call("device/stream_circle", request)
+
+    async def circle_absolute_async(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute circle movement on the first two axes of the stream.
+        Absolute meaning that the home positions of the axes are treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        await call_async("device/stream_circle", request)
+
+    def circle_relative(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue a relative circle movement on the first two axes of the stream.
+        Relative meaning that the current position of the axes is treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        call("device/stream_circle", request)
+
+    async def circle_relative_async(
+            self,
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue a relative circle movement on the first two axes of the stream.
+        Relative meaning that the current position of the axes is treated as the origin.
+
+        Args:
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        await call_async("device/stream_circle", request)
+
+    def circle_absolute_on(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute circle movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        call("device/stream_circle", request)
+
+    async def circle_absolute_on_async(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue an absolute circle movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.ABS,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        await call_async("device/stream_circle", request)
+
+    def circle_relative_on(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue a relative circle movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        call("device/stream_circle", request)
+
+    async def circle_relative_on_async(
+            self,
+            target_axes_indices: List[int],
+            rotation_direction: RotationDirection,
+            center_x: Measurement,
+            center_y: Measurement
+    ) -> None:
+        """
+        Queue a relative circle movement in the stream.
+        The movement will only target the specified subset of axes in the stream.
+        Requires at least Firmware 7.11.
+
+        Args:
+            target_axes_indices: Indices of the axes in the stream the movement targets.
+                Refers to the axes provided during the stream setup or further execution.
+                Indices are zero-based.
+            rotation_direction: The direction of the rotation.
+            center_x: The first dimension of the position of the center of the circle.
+            center_y: The second dimension of the position of the center of the circle.
+        """
+        request = dto.StreamCircleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            type=dto.StreamSegmentType.REL,
+            target_axes_indices=target_axes_indices,
+            rotation_direction=rotation_direction,
+            center_x=center_x,
+            center_y=center_y,
+        )
+        await call_async("device/stream_circle", request)
+
+    def wait(
+            self,
+            time: float,
+            unit: TimeUnits = Units.NATIVE
+    ) -> None:
+        """
+        Wait a specified time.
+
+        Args:
+            time: Amount of time to wait.
+            unit: Units of time.
+        """
+        request = dto.StreamWaitRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            time=time,
+            unit=unit,
+        )
+        call("device/stream_wait", request)
+
+    async def wait_async(
+            self,
+            time: float,
+            unit: TimeUnits = Units.NATIVE
+    ) -> None:
+        """
+        Wait a specified time.
+
+        Args:
+            time: Amount of time to wait.
+            unit: Units of time.
+        """
+        request = dto.StreamWaitRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            time=time,
+            unit=unit,
+        )
+        await call_async("device/stream_wait", request)
+
+    def wait_until_idle(
+            self,
+            throw_error_on_fault: bool = True
+    ) -> None:
+        """
+        Waits until the live stream 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.stream_id,
+            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 stream 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.stream_id,
+            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 stream'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 stream commands reaching the device late.
+        You can only cork an idle live stream.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        call("device/stream_cork", request)
+
+    async def cork_async(
+            self
+    ) -> None:
+        """
+        Cork the front of the stream'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 stream commands reaching the device late.
+        You can only cork an idle live stream.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        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 stream that is corked.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        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 stream that is corked.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        await call_async("device/stream_uncork", request)
+
+    def set_hold(
+            self,
+            hold: bool
+    ) -> None:
+        """
+        Pauses or resumes execution of the stream in live mode.
+        The hold only takes effect during execution of motion segments.
+
+        Args:
+            hold: True to pause execution, false to resume.
+        """
+        request = dto.StreamSetHoldRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            hold=hold,
+        )
+        call("device/stream_set_hold", request)
+
+    async def set_hold_async(
+            self,
+            hold: bool
+    ) -> None:
+        """
+        Pauses or resumes execution of the stream in live mode.
+        The hold only takes effect during execution of motion segments.
+
+        Args:
+            hold: True to pause execution, false to resume.
+        """
+        request = dto.StreamSetHoldRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            hold=hold,
+        )
+        await call_async("device/stream_set_hold", request)
+
+    def is_busy(
+            self
+    ) -> bool:
+        """
+        Returns a boolean value indicating whether the live stream is executing a queued action.
+
+        Returns:
+            True if the stream is executing a queued action.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        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 stream is executing a queued action.
+
+        Returns:
+            True if the stream is executing a queued action.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        response = await call_async(
+            "device/stream_is_busy",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def get_max_speed(
+            self,
+            unit: VelocityUnits = Units.NATIVE
+    ) -> float:
+        """
+        Gets the maximum speed of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            unit: Units of velocity.
+
+        Returns:
+            The maximum speed of the stream.
+        """
+        request = dto.StreamGetMaxSpeedRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            unit=unit,
+        )
+        response = call(
+            "device/stream_get_max_speed",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    async def get_max_speed_async(
+            self,
+            unit: VelocityUnits = Units.NATIVE
+    ) -> float:
+        """
+        Gets the maximum speed of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            unit: Units of velocity.
+
+        Returns:
+            The maximum speed of the stream.
+        """
+        request = dto.StreamGetMaxSpeedRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            unit=unit,
+        )
+        response = await call_async(
+            "device/stream_get_max_speed",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    def set_max_speed(
+            self,
+            max_speed: float,
+            unit: VelocityUnits = Units.NATIVE
+    ) -> None:
+        """
+        Sets the maximum speed of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            max_speed: Maximum speed at which any stream action is executed.
+            unit: Units of velocity.
+        """
+        request = dto.StreamSetMaxSpeedRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            max_speed=max_speed,
+            unit=unit,
+        )
+        call("device/stream_set_max_speed", request)
+
+    async def set_max_speed_async(
+            self,
+            max_speed: float,
+            unit: VelocityUnits = Units.NATIVE
+    ) -> None:
+        """
+        Sets the maximum speed of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            max_speed: Maximum speed at which any stream action is executed.
+            unit: Units of velocity.
+        """
+        request = dto.StreamSetMaxSpeedRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            max_speed=max_speed,
+            unit=unit,
+        )
+        await call_async("device/stream_set_max_speed", request)
+
+    def get_max_tangential_acceleration(
+            self,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> float:
+        """
+        Gets the maximum tangential acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            unit: Units of acceleration.
+
+        Returns:
+            The maximum tangential acceleration of the live stream.
+        """
+        request = dto.StreamGetMaxTangentialAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            unit=unit,
+        )
+        response = call(
+            "device/stream_get_max_tangential_acceleration",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    async def get_max_tangential_acceleration_async(
+            self,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> float:
+        """
+        Gets the maximum tangential acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            unit: Units of acceleration.
+
+        Returns:
+            The maximum tangential acceleration of the live stream.
+        """
+        request = dto.StreamGetMaxTangentialAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            unit=unit,
+        )
+        response = await call_async(
+            "device/stream_get_max_tangential_acceleration",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    def set_max_tangential_acceleration(
+            self,
+            max_tangential_acceleration: float,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Sets the maximum tangential acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            max_tangential_acceleration: Maximum tangential acceleration at which any stream action is executed.
+            unit: Units of acceleration.
+        """
+        request = dto.StreamSetMaxTangentialAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            max_tangential_acceleration=max_tangential_acceleration,
+            unit=unit,
+        )
+        call("device/stream_set_max_tangential_acceleration", request)
+
+    async def set_max_tangential_acceleration_async(
+            self,
+            max_tangential_acceleration: float,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Sets the maximum tangential acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            max_tangential_acceleration: Maximum tangential acceleration at which any stream action is executed.
+            unit: Units of acceleration.
+        """
+        request = dto.StreamSetMaxTangentialAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            max_tangential_acceleration=max_tangential_acceleration,
+            unit=unit,
+        )
+        await call_async("device/stream_set_max_tangential_acceleration", request)
+
+    def get_max_centripetal_acceleration(
+            self,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> float:
+        """
+        Gets the maximum centripetal acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            unit: Units of acceleration.
+
+        Returns:
+            The maximum centripetal acceleration of the live stream.
+        """
+        request = dto.StreamGetMaxCentripetalAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            unit=unit,
+        )
+        response = call(
+            "device/stream_get_max_centripetal_acceleration",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    async def get_max_centripetal_acceleration_async(
+            self,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> float:
+        """
+        Gets the maximum centripetal acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            unit: Units of acceleration.
+
+        Returns:
+            The maximum centripetal acceleration of the live stream.
+        """
+        request = dto.StreamGetMaxCentripetalAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            unit=unit,
+        )
+        response = await call_async(
+            "device/stream_get_max_centripetal_acceleration",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    def set_max_centripetal_acceleration(
+            self,
+            max_centripetal_acceleration: float,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Sets the maximum centripetal acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            max_centripetal_acceleration: Maximum centripetal acceleration at which any stream action is executed.
+            unit: Units of acceleration.
+        """
+        request = dto.StreamSetMaxCentripetalAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            max_centripetal_acceleration=max_centripetal_acceleration,
+            unit=unit,
+        )
+        call("device/stream_set_max_centripetal_acceleration", request)
+
+    async def set_max_centripetal_acceleration_async(
+            self,
+            max_centripetal_acceleration: float,
+            unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Sets the maximum centripetal acceleration of the live stream.
+        Converts the units using the first axis of the stream.
+
+        Args:
+            max_centripetal_acceleration: Maximum centripetal acceleration at which any stream action is executed.
+            unit: Units of acceleration.
+        """
+        request = dto.StreamSetMaxCentripetalAccelerationRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            max_centripetal_acceleration=max_centripetal_acceleration,
+            unit=unit,
+        )
+        await call_async("device/stream_set_max_centripetal_acceleration", request)
+
+    def __repr__(
+            self
+    ) -> str:
+        """
+        Returns a string which represents the stream.
+
+        Returns:
+            String which represents the stream.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        response = call_sync(
+            "device/stream_to_string",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def disable(
+            self
+    ) -> None:
+        """
+        Disables the stream.
+        If the stream is not setup, this command does nothing.
+        Once disabled, the stream will no longer accept stream commands.
+        The stream 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.stream_id,
+        )
+        call("device/stream_disable", request)
+
+    async def disable_async(
+            self
+    ) -> None:
+        """
+        Disables the stream.
+        If the stream is not setup, this command does nothing.
+        Once disabled, the stream will no longer accept stream commands.
+        The stream 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.stream_id,
+        )
+        await call_async("device/stream_disable", request)
+
+    def generic_command(
+            self,
+            command: str
+    ) -> None:
+        """
+        Sends a generic ASCII command to the stream.
+        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.stream_id,
+            command=command,
+        )
+        call("device/stream_generic_command", request)
+
+    async def generic_command_async(
+            self,
+            command: str
+    ) -> None:
+        """
+        Sends a generic ASCII command to the stream.
+        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.stream_id,
+            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 stream.
+        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.stream_id,
+            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 stream.
+        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.stream_id,
+            batch=batch,
+        )
+        await call_async("device/stream_generic_command_batch", request)
+
+    def check_disabled(
+            self
+    ) -> bool:
+        """
+        Queries the stream status from the device
+        and returns boolean indicating whether the stream is disabled.
+        Useful to determine if streaming was interrupted by other movements.
+
+        Returns:
+            True if the stream is disabled.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        response = call(
+            "device/stream_check_disabled",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def check_disabled_async(
+            self
+    ) -> bool:
+        """
+        Queries the stream status from the device
+        and returns boolean indicating whether the stream is disabled.
+        Useful to determine if streaming was interrupted by other movements.
+
+        Returns:
+            True if the stream is disabled.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        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 stream throw StreamDiscontinuityException 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.stream_id,
+        )
+        call_sync("device/stream_treat_discontinuities", request)
+
+    def ignore_current_discontinuity(
+            self
+    ) -> None:
+        """
+        Prevents StreamDiscontinuityException as a result of expected discontinuity when resuming streaming.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        call_sync("device/stream_ignore_discontinuity", request)
+
+    def __retrieve_axes(
+            self
+    ) -> List[StreamAxisDefinition]:
+        """
+        Gets the axes of the stream.
+
+        Returns:
+            An array of axis numbers of the axes the stream is set up to control.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        response = call_sync(
+            "device/stream_get_axes",
+            request,
+            dto.StreamGetAxesResponse.from_binary)
+        return response.axes
+
+    def __retrieve_mode(
+            self
+    ) -> StreamMode:
+        """
+        Get the mode of the stream.
+
+        Returns:
+            Mode of the stream.
+        """
+        request = dto.StreamEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+        )
+        response = call_sync(
+            "device/stream_get_mode",
+            request,
+            dto.StreamModeResponse.from_binary)
+        return response.stream_mode
+
+    def wait_digital_input(
+            self,
+            channel_number: int,
+            value: bool
+    ) -> None:
+        """
+        Deprecated: Use Stream.Io.WaitDigitalInput instead.
+
+        Wait for a digital input channel to reach a given value.
+
+        Args:
+            channel_number: The number of the digital input channel.
+                Channel numbers are numbered from one.
+            value: The value that the stream should wait for.
+        """
+        request = dto.StreamWaitDigitalInputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            channel_number=channel_number,
+            value=value,
+        )
+        call("device/stream_wait_digital_input", request)
+
+    async def wait_digital_input_async(
+            self,
+            channel_number: int,
+            value: bool
+    ) -> None:
+        """
+        Deprecated: Use Stream.Io.WaitDigitalInput instead.
+
+        Wait for a digital input channel to reach a given value.
+
+        Args:
+            channel_number: The number of the digital input channel.
+                Channel numbers are numbered from one.
+            value: The value that the stream should wait for.
+        """
+        request = dto.StreamWaitDigitalInputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            channel_number=channel_number,
+            value=value,
+        )
+        await call_async("device/stream_wait_digital_input", request)
+
+    def wait_analog_input(
+            self,
+            channel_number: int,
+            condition: str,
+            value: float
+    ) -> None:
+        """
+        Deprecated: Use Stream.Io.WaitAnalogInput instead.
+
+        Wait for the value of a analog input channel to reach a condition concerning a given value.
+
+        Args:
+            channel_number: The number of the analog input channel.
+                Channel numbers are numbered from one.
+            condition: A condition (e.g. <, <=, ==, !=).
+            value: The value that the condition concerns, in Volts.
+        """
+        request = dto.StreamWaitAnalogInputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            channel_number=channel_number,
+            condition=condition,
+            value=value,
+        )
+        call("device/stream_wait_analog_input", request)
+
+    async def wait_analog_input_async(
+            self,
+            channel_number: int,
+            condition: str,
+            value: float
+    ) -> None:
+        """
+        Deprecated: Use Stream.Io.WaitAnalogInput instead.
+
+        Wait for the value of a analog input channel to reach a condition concerning a given value.
+
+        Args:
+            channel_number: The number of the analog input channel.
+                Channel numbers are numbered from one.
+            condition: A condition (e.g. <, <=, ==, !=).
+            value: The value that the condition concerns, in Volts.
+        """
+        request = dto.StreamWaitAnalogInputRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.stream_id,
+            channel_number=channel_number,
+            condition=condition,
+            value=value,
+        )
+        await call_async("device/stream_wait_analog_input", request)
+
+    def set_digital_output(
+            self,
+            channel_number: int,
+            value: DigitalOutputAction
+    ) -> None:
+        """
+        Deprecated: Use Stream.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.stream_id,
+            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 Stream.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.stream_id,
+            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 Stream.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.stream_id,
+            values=values,
+        )
+        call("device/stream_set_all_digital_outputs", request)
+
+    async def set_all_digital_outputs_async(
+            self,
+            values: List[DigitalOutputAction]
+    ) -> None:
+        """
+        Deprecated: Use Stream.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.stream_id,
+            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 Stream.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.stream_id,
+            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 Stream.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.stream_id,
+            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 Stream.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.stream_id,
+            values=values,
+        )
+        call("device/stream_set_all_analog_outputs", request)
+
+    async def set_all_analog_outputs_async(
+            self,
+            values: List[float]
+    ) -> None:
+        """
+        Deprecated: Use Stream.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.stream_id,
+            values=values,
+        )
+        await call_async("device/stream_set_all_analog_outputs", request)