Zaber Motion Library Changelog

2023-03-03 Version 3.1.1

• Bug fixes and Improvements
  • C++ - removing global using clauses
  • Js - initialization improvements
  • Js - exception module export
  • C# - ServoTuner constructor is now public
  • Python - explicit exports that satisfies mypy
  • CanSetState(Device|Axis)Response classes moved to ascii namespace.
  • Documentation improvements

2023-02-14 Version 3.1.0

• New features
  • enable_alerts (and disable counterpart) methods added to Connection class.
    • Documentation is updated with recommendations of using alerts.
• Bug fixes and Improvements
  • Alerts are used to improve consistency of movements of all axes.
  • Some C++ arguments changed from passing by const references to passing by value and vice versa.
  • Adding logging of opening of connection through message router.

2023-02-07 Version 3.0.1

• Bug fixes and Improvements
  • Fixing compatibility with Ubuntu 18 and 22.
  • C++ data-classes have noexcept in their constructors.

2023-02-01 Version 3.0.0

• Breaking changes
  • Major C++ improvements
    • Classes no longer contain hidden pointers to their parents in hierarchy.
      • Instances can be easily copied around without any pitfalls.
    • Connection class is split to a copyable parent BaseConnection and move-only Connection (RAII).
  • Option objects for C++ and Typescript (as alternative to named arguments).
    • In C++, option objects are an additional overloads of existing methods.
    • In Typescript, the positional arguments are removed resulting in many breaking changes.
  • Binary Connection method open_tcp no longer has a default value for the TCP port.
  • ASCII Connection method open_tcp now has a default value for the TCP port (chain port of X-MCC).
  • The C# type of the SerialNumber device property has changed from uint to long for CLS compliance.
  • The setting name constant for the FW6 deviceid setting has been renamed from Deviceid to DeviceIdLegacy.
  • Device Database Store functionality is enabled by default.
  • open_serial_port_directly removed and replaced by argument of open_serial_port.
  • open_iot_unauthenticated removed and replaced by argument of open_iot.
• Bug fixes and Improvements
  • The C# library has been marked CLS compliant to enable interoperability with more .NET languages.
  • In-code documentation now contains minimal required firmware version.
  • Acceleration argument of movement methods now accepts Infinity making the device ignore acceleration limits.
  • Movement methods query device for maxspeed when acceleration is specified without velocity.
  • Lockstep achieves the same functionality with less messages (communication pattern change)

2022-01-20 Version 2.15.4

• Bug fixes and Improvements
  • Fixing bug preventing G-Code translator working with stream buffers
  • Improving error for stream setup
  • Improving error for unit conversions
  • Improving documentation of compatibility
  • Fixing C++ freezing if the library was called from an event handler

2022-12-12 Version 2.15.3

• New features
  • New hidden GetDbServicePipePath method to get the location of the pipe serving a local device database
• Bug fixes and Improvements
  • Downloads device DB from appropriate source (not "current")
  • Prevents interface IDs from wrapping

2022-11-25 Version 2.15.2

• Bug fixes and Improvements
  • Upgrading protobuf libraries to 21.9
  • Allowing range for Python protobuf library protobuf>=3.20.0,<4.22.0

2022-11-14 Version 2.15.1

• Bug fixes and Improvements
  • Fixing copy assignment operator in C++ (Credit: Dr. -Ing. Franz-Georg Ulmer)
  • Extending support for Binary Protocol
  • Save/Load state - support for axis storage on integrated devices

2022-11-08 Version 2.15.0

• New features
  • The Oscilloscope class now exposes the FW 7.29 numchannels, scope.channel.size and scope.channel.size.max settings, with default values for older Firmware versions.
  • The Oscilloscope Start() method now has an optional parameter for the FW 7.29 capture length parameter.
  • Adding Storage API methods listKeys and keyExists.
• Bug fixes and Improvements
  • Save/Load state support stored positions.
  • Support for Message Router 1.6.0
  • Documentation fixes
  • Device DB upgrade

2022-10-07 Version 2.14.7

• Bug fixes and Improvements
  • Save/Load state bug fixes and support of FW 7.29
  • Support for the latest Device DB

2022-08-12 Version 2.14.6

• Bug fixes and Improvements
  • Fixed error when using the Oscilloscope to record device-scope settings.
  • Corrected some dead links and typos in the documentation.

2022-07-27 Version 2.14.5

• Bug fixes and Improvements
  • Fixing concurrency issues with Binary Protocol
  • Fixing ASCII message ID leakage during protocol errors
  • Redoing and updating Getting Started guide
  • Support for multiple v8 context for JS library
  • Fixing package size limit exceeding when sending to unknown device
  • Fixing parking not supported error
  • Updating warning flags enum

2022-07-08 Version 2.14.4

• Bug fixes and Improvements
  • Fixing G-Code exact stop (G9, G61.1)
  • Fixing occasional stalling at sharp corners

2022-07-06 Version 2.14.3

• Bug fixes and Improvements
  • G-Code optimization introduced in FW 7.28

2022-06-20 Version 2.14.2

• New features
  • Adds field version to paramset info
  • A new method check_disabled of the Stream class

2022-06-09 Version 2.14.1

• New features
  • New method to create an offline G-Code translator from a device
• Bug fixes and Improvements
  • erase_key method of Storage class returns false instead of throwing exception when the key does not exist.
  • Concurrency improvements of G-Code translator

2022-06-03 Version 2.14.0

• New features
  • Custom unit conversions of hardware modified devices
  • Method to erase storage with a particular key
  • is_homed method to indicate if device was homed and has reference
• Bug fixes and Improvements
  • Enhancing device database failed exception.
  • Reserving maximum space for message IDs in case they get remapped.
  • Fixing an issue with servo-tuner error handling
  • Renaming PeripheralErrors to AxisErrors in CanSetStateDeviceResponse class
  • Documenting matlab array behavior in streams documentation
  • Improving order of setting of settings when setting a state
  • Cleanup of Python package classifiers

2022-05-18 Version 2.13.2

• Bug fixes and Improvements
  • Fixing Python license field
  • Protobuf 3.20.1

2022-05-16 Version 2.13.1

• Bug fixes and Improvements
  • Compatibility with the new database

2022-04-28 Version 2.13.0

• New features
  • Additional arguments (speed, velocity) for movement methods.
  • New dimensions for current tuning settings.
  • A method for verification of simple tuning.

2022-04-18 Version 2.12.0

• New features
  • Storage API allows adding arbitrary key-value data to a device
  • Line continuations allow sending commands that are too long to fit on a single line
  • Add virtual device connection howto.

2022-04-05 Version 2.11.2

• Bug fixes and Improvements
  • Fixing G-Code compatibility with older versions of firmware.

2022-03-31 Version 2.11.1

• Bug fixes and Improvements
  • Fixing exception when setting multiple G-Code translators on one controller
  • Sets storage associated with peripherals on a state restore

2022-03-21 Version 2.11.0

• New features
  • Servo Tuner API
  • Save/Load supports values stored with the key value store
  • API to get the expected location of message router pipe
• Bug fixes and Improvements
  • Fixing port sharing with Zaber Launcher for multiple OS users

2022-03-03 Version 2.10.1

• Bug fixes and Improvements
  • Adding G-Codes (G30, G30.1, M64, M65, M66, M68, G92, M700)
  • Improvements to TCP/IP documentation.

2022-02-16 Version 2.10.0

• New features
  • Scope API
  • GCode API
• Bug fixes and Improvements
  • Adding compatibility with Mono
  • Improvements of save/restore behavior.

2022-01-26 Version 2.9.1

• New features
  • Add isIntegrated field to device identity
  • set_all_digital/analog_outputs method for streams
• Bug fixes and Improvements
  • Ensure unique titles between ASCII and Binary protocol
  • Better unit conversion errors
  • Fix bug where device restore could fail to set certain settings

2022-01-05 Version 2.9.0

• New features
  • Experimental G-Code translator (unstable)

2021-12-31 Version 2.8.1

• Bug fixes and Improvements
  • Fixes an error that occurs when setting the state of a device with an unset stream buffer
  • Amends the changelog with correct date for the 2.8.0 release

2021-12-22 Version 2.8.0

• New features
  • GetState returns a string representing a device or axis' current state. This may include:
    • Settings
    • Servo Tuning
    • Stream Buffers
    • Triggers
  • SetState takes a state returned by GetState and applies it to a device, setting its state to match the save
  • CanSetState will check if a supplied state is compatible with a device or axis, and return an error explaining why not if it isn't.

2021-11-30 Version 2.7.2

• Bug fixes and Improvements
  • Removing protobuf header files from C++

2021-11-15 Version 2.7.1

• Bug fixes and Improvements
  • JS library does not work in Windows when path contains unicode characters

2021-10-22 Version 2.7.0

• New features
  • GetString and SetString methods for accessing string-based device/axis settings
• Bug fixes and Improvements
  • Fixing digital output method on streams
  • Fixing rare python warning message when script ends
  • Documentation improvements

2021-08-23 Version 2.6.1

• Bug fixes and Improvements
  • Identification resets all stored device information
  • N-API upgrade to version 4 (Node.js library)
  • Unifying web and Node.js library

2021-07-30 Version 2.6.0

• Bug fixes and Improvements
  • Adding support for communicating with Zaber Launcher remotely (Network Sharing)

2021-07-27 Version 2.5.1

• Bug fixes and Improvements
  • Fixing Device DB local file compatibility

2021-07-26 Version 2.5.0

• New features
  • Support for hardware modified devices

2021-07-16 Version 2.4.2

• Bug fixes and Improvements
  • Upgraded all external dependencies
  • Allowing setting of unknown setting without unit conversion

2021-06-28 Version 2.4.1

• Bug fixes and Improvements
  • Improved compatibility with Zaber Launcher

2021-06-17 Version 2.4.0

• New features
  • Support for port sharing with Zaber Launcher
  • Support for upcoming IoT services
• Bug fixes and Improvements
  • Logging to file will append to the file instead of overwriting the content.
  • GetChannelsInfo will return zeros when device does not support io at all (instead of error).

2021-06-01 Version 2.3.2

• Bug fixes and Improvements
  • Fixing compatibility with Firmware 6.04

2021-04-07 Version 2.3.1

• New features
  • Custom transport feature allowing to use the library with different means of communication.
  • WebAssembly support for JS library.
• Bug fixes and Improvements
  • Fixing description of park/unpark to be consistent across FW versions.

2021-03-10 Version 2.2.0

• Bug fixes and Improvements
  • Adding GetAxisNumbers method to Lockstep class that returns array of axis numbers (GexAxes marked obsolete).

2021-03-01 Version 2.1.3

• Bug fixes and Improvements
  • Ensuring offline Device Database file compatibility. (New database file download required)

2021-02-09 Version 2.1.2

• Bug fixes and Improvements
  • Adding empty constructor for some C++ classes (Device, Axis, Stream)

2021-02-01 Version 2.1.1

• Bug fixes and Improvements
  • Support for FW 7.17

2021-01-15 Version 2.1.0

• New features
  • StopAll and HomeAll methods on Connection class to simplify homing and stopping across the entire device chain
• Bug fixes and Improvements
  • Introduction of peripheral.id constant (FW 7) and distinction from peripheralid constant (FW 6)
  • Fixing naming in DeviceAddressConflictExceptionData renaming DeviceIds property to DeviceAddresses
  • Adding py.typed to the python library to allow mypy to type check code against the library types

2020-11-09 Version 2.0.1

• Bug fixes and Improvements
  • Support for multi-axes integrated products (requires refreshing data from api.zaber.io)
  • Error handling tutorial improvements
  • Improvements of JavaDoc
  • Removing mistaken constant encoder.counth

2020-10-15 Version 2.0.0

• New features
  • New exception system providing more information on cause of exceptions
    • e.g. CommandFailedException contains parsed reply from the device
    • new exception SerialPortBusyException
• Breaking changes
  • Removal of obsolete methods
    • Lockstep.getOffset
    • Lockstep.getTwist
    • Library.toggleDeviceDbStore
  • Change of library default caching directory for Linux, MacOS
    • On Linux $XDG_CACHE_HOME/zaber-motion-lib (or ~/.cache/zaber-motion-lib if not set)
    • On MacOS ~/Library/Caches/zaber-motion-lib
  • C++ MotionLibException's method message() renamed to getMessage() to conform to library conventions

2020-09-23 Version 1.6.1

• Bug fixes and Improvements
  • Binary device with FW 5 is not asked for FW build

2020-09-18 Version 1.6.0

• Bug fixes and Improvements
  • Strong-named assemblies for .NET as well as digital signature
  • Unit conversions for controllers
  • Protobufs 3.13.0
  • Go 1.15

2020-09-15 Version 1.5.1

• Bug fixes and Improvements
  • Fixing that waitForIdle throws CommandPreemptedException upon receiving unexpected response (Binary protocol)
  • Adding isIdentified property on Device class
  • Improvements to the documentation

2020-08-19 Version 1.5.0

• New features
  • Allowing to disable checksums for a connection
• Bug fixes and Improvements
  • Improvements to C++ and Python documentation
  • Js library is compiled to ES2018 standard and contain inline source maps

2020-07-24 Version 1.4.4

• Bug fixes and Improvements
  • Making asyncio Python methods for opening port cancel-proof in sense that the port is closed when canceled
  • Improving update instructions for Matlab library
  • Adding newly introduced ASCII protocol warning flags

2020-07-08 Version 1.4.3

• Bug fixes and Improvements
  • Fixing segmentation fault when Python asyncio task is cancelled
  • JavaScript library no longer uses eval in generated protobuf code
  • Dropping support for Node.js 8

2020-06-17 Version 1.4.2

• Bug fixes and Improvements
  • Critical: Invalidation of Device DB store after temporary caching issue on api.zaber.io

2020-06-05, Version 1.4.1

• Bug fixes and Improvements
  • Protobufs 3.12.3
  • Documentation improvements

2020-06-02, Version 1.4.0

• New features
  • move_min and move_max methods
• Bug fixes and Improvements
  • Fixing missing DeviceSettings class in API documentation
  • Fixing compatibility with Matlab 2020
  • Fixing JS library being broken when packed in asar archive by electron

2020-05-20, Version 1.3.1

• Bug fixes and Improvements
  • Fixing ArgumentNullException when C# Connection gets disposed by finalizer

2020-05-14, Version 1.3.0

• New features
  • Parking API
• Bug fixes and Improvements
  • Fixing handling of signals on Windows (https://gitlab.com/ZaberTech/zaber-motion-lib/-/issues/5)
  • Empty constructor for C++ Connection class
  • Making toggleDeviceDBStore method obsolete in favor of enableDeviceDBStore
  • Checking axis number in reply in genericCommand

2020-04-29, Version 1.2.2

• New features
  • Win32 support
  • On UNIX platforms library uses flock in addition to TIOCEXCL
• Bug fixes and Improvements
  • toString methods for Java and C++ classes
  • Specific exception is thrown when used with incompatible devices
  • C++ documentation for Qt and MinGW

2020-04-21, Version 1.2.1

• New features
  • Octave support (installation and tutorials)
• Bug fixes and Improvements
  • Adding mathematical rounding to unit conversions
    • Previously the number was cut at needed precision
  • Fixing that stream commands get stuck on a stream FB error
  • Error is thrown when rounding and unit conversion of non-zero acceleration results into a zero value
  • Adding missing namespaces to C++ enums
  • Improved compatibility with old versions of firmware
  • Updating the go protobuf library
  • Little documentation improvements

2020-04-07, Version 1.2.0

• New features
  • Adding custom timeouts for ASCII generic command methods
  • Adding get/set of default request timeout of ASCII connection
• Bug fixes and Improvements
  • Adding documentation of events
  • Adding description of exceptions
  • Hiding internal classes of C# implementation
  • Adding numbering information to API doc

2020-04-02, Version 1.1.1

• Bug fixes and Improvements
  • Fixing name of reply_only event in Python Binary Connection (mistakenly called alert)

2020-03-30, Version 1.1.0

• New features
  • Stream API
    • Provides streaming of movement commands and synchronized multi-axis movement
  • Analog output support
• Bug fixes and Improvements
  • Improvement of lockstep documentation.

2020-03-23, Version 1.0.13

• Bug fixes and Improvements
  • Fixing that copying of Device and Axis classes in C++ makes the properties (e.g. setting, all axes) of instances unusable.
  • Adding code documentation to C++ properties
  • Improving C++ installation documentation
  • Making getters of C++ classes constant (rest of the classes)
  • Improving compatibility with X-JOY3 product
  • Adding lockstep support for more that two axes

2020-03-04, Version 1.0.12

• Bug fixes and Improvements
  • Fixing Binary Protocol and TCP (Python)
  • Adding const to getters (C++)

2020-03-03, Version 1.0.11

• Bug fixes and Improvements
  • Providing a default path for Device DB store
• Documentation changes
  • Turning on Device DB store in tutorials
  • Making library's need for internet connection more apparent

2020-02-26, Version 1.0.10

• Bug fixes and Improvements
  • Updating dependencies across the library
    • Protobuf 3.11.2
    • RxPy 3.0.1 (Python)
  • Adding ARM64 (aarch64) platform for Linux

2019-12-13, Version 1.0.8

• Bug fixes and Improvements
  • Making NuGet package work with MSBuild older than 15.3

2019-11-21, Version 1.0.7

• Bug fixes and Improvements
  • Improving prepareCommand capabilities allowing numbers to be place directly to template.

2019-11-04, Version 1.0.6

• Bug fixes and Improvements
  • Fixing compatibility issues with products predating Firmware 5.34 (Auto-Reply setting missing)

2019-11-04, Version 1.0.5

• Bug fixes and Improvements
  • Improved the error message when the Device Database service is not reachable
  • Ensured compatibility with upcoming Firmware 7 products

2019-10-23, Version 1.0.4

• Bug fixes and Improvements
  • Added support for Binary Protocol with Firmware version lower than 6.06

2019-10-21, Version 1.0.3

• Bug fixes and Improvements

  • Improved Firmware 7 support (commands and settings formatting).
  • Added unit conversions and command formatting to Device class.
  • Fixed failure of GenericCommandMultiResponse for more than 1k replies.
  • Fixed JavaSript initialization when importing directly from dist folder

• Documentation changes

  • Adding enum values to the API reference

2019-10-04, Version 1.0.2

• Bug fixes and Improvements

  • Improved performance of GenericCommandMultiResponse (no waiting when targeting particular device).
  • Removing unused dependencies of the JS library.
  • Fixing protobuf dependency version of the Python library.

• Documentation changes

  • General improvements of the texts.

2019-09-23, Version 1.0.1

• Bug fixes

  • Fixing typescript compilation errors due to empty namespaces.
  • Fixed behavior: Binary connection was getting closed due to unmatched error. Now it emits unknownResponse.
  • Fixed behavior: Commands are now preempted even without matching requests.

• Documentation changes

  • Adding C++ examples and installation instructions.

• API changes

  • C++ API
  • Reordering genericCommand arguments in binary Device and Communication class (Unreleased)

2019-08-30, Version 1.0.0

• Documentation changes
  • Fixing couple of mistakes in example codes
  • Improving texts and instructions

2019-08-27, Version 0.0.27

• Documentation changes

  • Fixing couple of mistakes in example codes

• Bug fixes

  • Fixing missing types in Typescript namespaces
  • Fixing harmless error that occasionally pops up in Python on Mac OS
  • Fixing prepareCommand in Python

2019-08-19, Version 0.0.26

• API changes

  • Breaking change: Unit of measure names in JavaScript and Python have been changed to match common standards
  • Breaking change: Some method names have changed to improve clarity and consistency
  • Connection.Device() and Lockstep() are now GetDevice() and GetLockstep()
  • Device.Axis() and Lockstep() are now GetAxis() and GetLockstep()
  • Warnings.Get() and Clear() are now GetFlags() and ClearFlags()

• Documentation changes

  • Many updates to reflect reviewer contributions
  • Docs about finding the right serial port amended to cover direct USB connections
  • Some site navigation controls have been altered
  • Binary protocol support is now fully documented
  • A temporary banner has been added stating this library is in early development and subject to change

• Bug fixes

  • Fixed errors when using Binary controller + peripheral combinations

2019-08-12, Version 0.0.25

• Adding settings constants for ASCII Protocol

• Finalizing Binary Support

• Fixing various issues with C++

2019-07-24, Version 0.0.24

• Extending settings API to provide arbitrary unit conversions

• Providing properties on Axis and Device that expose device identity information

2019-07-12, Version 0.0.23

• Python bugfix
  • Fixed a circular dependency problem that prevented using the ASCII Device class in Python.

2019-07-12, Version 0.0.22

• I/O support

  • I/O pins are now supported on controllers and integrated devices that have them.
  • There is a device I/O how-to guide in the documentation.

• Lockstep support

  • Lockstep mode is now supported on two-axis ASCII devices.
  • There is a lockstep how-to guide in the documentation.

• Binary generic commands

  • There is now a second Connection class that supports the Binary protocol.
  • Binary generic commands (without unit conversions) can be sent or broadcast.
  • Spontaneous binary messages such as move tracking become events you can subscribe to.
  • Documentation for the Binary protocol is completely separate from ASCII but has the same structure.

• ASCII-specific namespace (BREAKING change)

  • Object types specific to the ASCII protocol have been moved into an ASCII namespace or subdirectory.
  • Import statements in existing code will need modification - please refer to the updated documentation.
  • The API reference now indicates what import statements are needed for each type.

• Example projects

  • The documentation includes downloadable, self-contained example projects for ASCII in several programming languages.

• Database usage documentation

  • There is a how-to guide explaining how to use the device database offline, how to cache data.
  • For Zaberians, the how-to also explains how to use the master database.

• Exception types (BREAKING change)

  • The numeric MotionLibErrorType code no longer exists
  • Instead there are different subclasses of MotionLibException to report different error conditions.
  • The list of exception types can be seen at the bottom of the API reference section for MotionLibException.

2019-06-12, Version 0.0.21

• Java Support

  • Full support of Java programming language with the API matching the APIs of other languages.
  • Available through Maven.

• Changed type of the serial number in device identity to unsigned integer

  • Ensuring that the library covers the full range of Zaber serial numbers.

• Documentation improvements

  • Improved navigation in Getting Started guide.
  • Improved responsive design.
  • External links are marked with an icon.
  • Language specific paragraphs.

2019-06-05, Version 0.0.20

• Fixing parsing of serial number
  • Only affects Zaber internal development.

2019-05-28, Version 0.0.19

• Renaming Communication class to Connection

• Adding renumber method to Connection class

  • The method allows to automatically assign addresses to a device chain.

• Python asyncio

  • All blocking methods in Python got new asyncio counterparts with _async suffix.

• Improving the error message when the setting is not supported by the device

2019-05-15, Version 0.0.18

• Device Database store

  • It is a feature allowing to store Device Database information to hard-drive to minimize the usage of web-service API.

• Adding serial number to device identity

  • Queries device for system.serial and exposes the returned information in a field.

• Renaming method wait_till_idle to wait_until_idle

• Device settings API

  • Allows read and write device settings using API similar to axis settings.

• Improving error message when device rejects the read or write of settings

• Device Database documentation

  • Adding more information about Device Database and its API.

• Sorting classes in the reference

• Fixing letter case of enum values in the reference (Python, Js)

• Improving grammar in documentation

  • Improving texts on the portal.

• Adding an appropriate license to source code and packaging

  • Additionally, collecting licenses of all used libraries and tools.

• Adding Changelog