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A library that aims to provide easy-to-use API for communication with Zaber devices using Zaber ASCII Protocol.
// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
// ============== DO NOT EDIT DIRECTLY ============== //
package zaber.motion.ascii;
import zaber.motion.Units;
import zaber.motion.protobufs.Main;
import zaber.motion.gateway.Call;
import zaber.motion.exceptions.MotionLibException;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutionException;
/**
* Class providing access to various axis settings and properties.
*/
public class AxisSettings {
private Axis axis;
public AxisSettings(
Axis axis) {
this.axis = axis;
}
/**
* Returns any axis setting or property.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @param unit Units of setting.
* @return A CompletableFuture that can be completed to get the result:
* Setting value.
*/
public CompletableFuture getAsync(
String setting, Units unit) {
Main.DeviceGetSettingRequest.Builder builder = Main.DeviceGetSettingRequest.newBuilder();
builder = builder.setInterfaceId(this.axis.getDevice().getConnection().getInterfaceId());
builder = builder.setDevice(this.axis.getDevice().getDeviceAddress());
builder = builder.setAxis(this.axis.getAxisNumber());
builder = builder.setSetting(setting);
builder = builder.setUnit(unit.getName());
CompletableFuture response = Call.callAsync(
"device/get_setting",
builder.build(),
Main.DeviceGetSettingResponse.parser());
return response
.thenApply(r -> r.getValue());
}
/**
* Returns any axis setting or property.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @return A CompletableFuture that can be completed to get the result:
* Setting value.
*/
public CompletableFuture getAsync(
String setting) {
return getAsync(setting, Units.NATIVE);
}
/**
* Returns any axis setting or property.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @param unit Units of setting.
* @return Setting value.
*/
public double get(
String setting, Units unit) {
try {
return getAsync(setting, unit).get();
} catch (ExecutionException e) {
if (e.getCause() instanceof MotionLibException) {
throw (MotionLibException) e.getCause();
} else {
throw new MotionLibException(e.getCause());
}
} catch (InterruptedException e) {
throw new MotionLibException(e);
}
}
/**
* Returns any axis setting or property.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @return Setting value.
*/
public double get(
String setting) {
return get(setting, Units.NATIVE);
}
/**
* Sets any axis setting.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @param value Value of the setting.
* @param unit Units of setting.
* @return A CompletableFuture that can be completed to know when the work is complete.
*/
public CompletableFuture setAsync(
String setting, double value, Units unit) {
Main.DeviceSetSettingRequest.Builder builder = Main.DeviceSetSettingRequest.newBuilder();
builder = builder.setInterfaceId(this.axis.getDevice().getConnection().getInterfaceId());
builder = builder.setDevice(this.axis.getDevice().getDeviceAddress());
builder = builder.setAxis(this.axis.getAxisNumber());
builder = builder.setSetting(setting);
builder = builder.setValue(value);
builder = builder.setUnit(unit.getName());
return Call.callAsync("device/set_setting", builder.build(), null)
.thenApply(r -> (Void) null);
}
/**
* Sets any axis setting.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @param value Value of the setting.
* @return A CompletableFuture that can be completed to know when the work is complete.
*/
public CompletableFuture setAsync(
String setting, double value) {
return setAsync(setting, value, Units.NATIVE);
}
/**
* Sets any axis setting.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @param value Value of the setting.
* @param unit Units of setting.
*/
public void set(
String setting, double value, Units unit) {
try {
setAsync(setting, value, unit).get();
} catch (ExecutionException e) {
if (e.getCause() instanceof MotionLibException) {
throw (MotionLibException) e.getCause();
} else {
throw new MotionLibException(e.getCause());
}
} catch (InterruptedException e) {
throw new MotionLibException(e);
}
}
/**
* Sets any axis setting.
* For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
* @param setting Name of the setting.
* @param value Value of the setting.
*/
public void set(
String setting, double value) {
set(setting, value, Units.NATIVE);
}
/**
* Convert arbitrary setting value to Zaber native units.
* @param setting Name of the setting.
* @param value Value of the setting in units specified by following argument.
* @param unit Units of the value.
* @return Setting value.
*/
public double convertToNativeUnits(
String setting, double value, Units unit) {
Main.DeviceConvertSettingRequest.Builder builder = Main.DeviceConvertSettingRequest.newBuilder();
builder = builder.setInterfaceId(this.axis.getDevice().getConnection().getInterfaceId());
builder = builder.setDevice(this.axis.getDevice().getDeviceAddress());
builder = builder.setAxis(this.axis.getAxisNumber());
builder = builder.setSetting(setting);
builder = builder.setValue(value);
builder = builder.setUnit(unit.getName());
Main.DeviceConvertSettingResponse response = Call.callSync(
"device/convert_setting",
builder.build(),
Main.DeviceConvertSettingResponse.parser());
return response.getValue();
}
/**
* Convert arbitrary setting value from Zaber native units.
* @param setting Name of the setting.
* @param value Value of the setting in Zaber native units.
* @param unit Units to convert value to.
* @return Setting value.
*/
public double convertFromNativeUnits(
String setting, double value, Units unit) {
Main.DeviceConvertSettingRequest.Builder builder = Main.DeviceConvertSettingRequest.newBuilder();
builder = builder.setInterfaceId(this.axis.getDevice().getConnection().getInterfaceId());
builder = builder.setDevice(this.axis.getDevice().getDeviceAddress());
builder = builder.setAxis(this.axis.getAxisNumber());
builder = builder.setFromNative(true);
builder = builder.setSetting(setting);
builder = builder.setValue(value);
builder = builder.setUnit(unit.getName());
Main.DeviceConvertSettingResponse response = Call.callSync(
"device/convert_setting",
builder.build(),
Main.DeviceConvertSettingResponse.parser());
return response.getValue();
}
}