@wandelbots/nova-js 1.17.1-pr.feat-added-v2-client.64.9ac2247

package/dist/lib/v1/motionStateUpdate.d.ts

@@ -0,0 +1,4 @@
+import type { TcpPose } from "@wandelbots/nova-api/v1";
+export declare function jointValuesEqual(oldJointValues: number[], newJointValues: number[], changeDeltaThreshold: number): boolean;
+export declare function tcpPoseEqual(oldTcp: TcpPose | undefined, newTcp: TcpPose | undefined, changeDeltaThreshold: number): boolean;
+//# sourceMappingURL=motionStateUpdate.d.ts.map

package/dist/lib/v1/motionStateUpdate.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"motionStateUpdate.d.ts","sourceRoot":"","sources":["../../../src/lib/v1/motionStateUpdate.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,yBAAyB,CAAA;AAEtD,wBAAgB,gBAAgB,CAC9B,cAAc,EAAE,MAAM,EAAE,EACxB,cAAc,EAAE,MAAM,EAAE,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAeT;AAED,wBAAgB,YAAY,CAC1B,MAAM,EAAE,OAAO,GAAG,SAAS,EAC3B,MAAM,EAAE,OAAO,GAAG,SAAS,EAC3B,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CA2BT"}

package/dist/lib/v2/ConnectedMotionGroup.d.ts

@@ -0,0 +1,41 @@
+import type { Controller, MotionGroupPhysical, MotionGroupSpecification, MotionGroupState, RobotTcp, SafetySetup } from "@wandelbots/nova-api/v2";
+import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
+import type { NovaClient } from "./NovaClient";
+export type MotionGroupOption = {
+    selectionId: string;
+} & MotionGroupPhysical;
+/**
+ * Store representing the current state of a connected motion group.
+ */
+export declare class ConnectedMotionGroup {
+    readonly nova: NovaClient;
+    readonly controller: Controller;
+    readonly motionGroup: MotionGroupPhysical;
+    readonly initialMotionState: MotionGroupState;
+    readonly motionStateSocket: AutoReconnectingWebsocket;
+    readonly isVirtual: boolean;
+    readonly tcps: RobotTcp[];
+    readonly motionGroupSpecification: MotionGroupSpecification;
+    readonly safetySetup: SafetySetup;
+    static connect(nova: NovaClient, motionGroupId: string, controllers: Controller[]): Promise<ConnectedMotionGroup>;
+    connectedJoggingCartesianSocket: WebSocket | null;
+    connectedJoggingJointsSocket: WebSocket | null;
+    planData: any | null;
+    joggingVelocity: number;
+    rapidlyChangingMotionState: MotionGroupState;
+    constructor(nova: NovaClient, controller: Controller, motionGroup: MotionGroupPhysical, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket, isVirtual: boolean, tcps: RobotTcp[], motionGroupSpecification: MotionGroupSpecification, safetySetup: SafetySetup);
+    get motionGroupId(): string;
+    get controllerId(): string;
+    get modelFromController(): string | undefined;
+    get wandelscriptIdentifier(): string;
+    /** Jogging velocity in radians for rotation and joint movement */
+    get joggingVelocityRads(): number;
+    get joints(): {
+        index: number;
+    }[];
+    get dhParameters(): import("@wandelbots/nova-api/v2").DHParameter[] | undefined;
+    get safetyZones(): import("@wandelbots/nova-api/v2").SafetySetupSafetyZone[] | undefined;
+    dispose(): void;
+    setJoggingVelocity(velocity: number): void;
+}
+//# sourceMappingURL=ConnectedMotionGroup.d.ts.map

package/dist/lib/v2/ConnectedMotionGroup.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ConnectedMotionGroup.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/ConnectedMotionGroup.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,UAAU,EACV,mBAAmB,EACnB,wBAAwB,EACxB,gBAAgB,EAChB,QAAQ,EACR,WAAW,EACZ,MAAM,yBAAyB,CAAA;AAGhC,OAAO,KAAK,EAAE,yBAAyB,EAAE,MAAM,8BAA8B,CAAA;AAG7E,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,cAAc,CAAA;AAI9C,MAAM,MAAM,iBAAiB,GAAG;IAC9B,WAAW,EAAE,MAAM,CAAA;CACpB,GAAG,mBAAmB,CAAA;AAEvB;;GAEG;AACH,qBAAa,oBAAoB;IAyF7B,QAAQ,CAAC,IAAI,EAAE,UAAU;IACzB,QAAQ,CAAC,UAAU,EAAE,UAAU;IAC/B,QAAQ,CAAC,WAAW,EAAE,mBAAmB;IACzC,QAAQ,CAAC,kBAAkB,EAAE,gBAAgB;IAC7C,QAAQ,CAAC,iBAAiB,EAAE,yBAAyB;IACrD,QAAQ,CAAC,SAAS,EAAE,OAAO;IAC3B,QAAQ,CAAC,IAAI,EAAE,QAAQ,EAAE;IACzB,QAAQ,CAAC,wBAAwB,EAAE,wBAAwB;IAC3D,QAAQ,CAAC,WAAW,EAAE,WAAW;WAhGtB,OAAO,CAClB,IAAI,EAAE,UAAU,EAChB,aAAa,EAAE,MAAM,EACrB,WAAW,EAAE,UAAU,EAAE;IA2E3B,+BAA+B,EAAE,SAAS,GAAG,IAAI,CAAO;IACxD,4BAA4B,EAAE,SAAS,GAAG,IAAI,CAAO;IACrD,QAAQ,EAAE,GAAG,GAAG,IAAI,CAAA;IACpB,eAAe,EAAE,MAAM,CAAK;IAI5B,0BAA0B,EAAE,gBAAgB,CAAA;gBAGjC,IAAI,EAAE,UAAU,EAChB,UAAU,EAAE,UAAU,EACtB,WAAW,EAAE,mBAAmB,EAChC,kBAAkB,EAAE,gBAAgB,EACpC,iBAAiB,EAAE,yBAAyB,EAC5C,SAAS,EAAE,OAAO,EAClB,IAAI,EAAE,QAAQ,EAAE,EAChB,wBAAwB,EAAE,wBAAwB,EAClD,WAAW,EAAE,WAAW;IA6CnC,IAAI,aAAa,WAEhB;IAED,IAAI,YAAY,WAEf;IAED,IAAI,mBAAmB,uBAEtB;IAED,IAAI,sBAAsB,WAGzB;IAED,kEAAkE;IAClE,IAAI,mBAAmB,WAEtB;IAED,IAAI,MAAM;;QAMT;IAED,IAAI,YAAY,gEAEf;IAED,IAAI,WAAW,0EAEd;IAED,OAAO;IAQP,kBAAkB,CAAC,QAAQ,EAAE,MAAM;CAGpC"}

package/dist/lib/v2/JoggerConnection.d.ts

@@ -0,0 +1,53 @@
+import type { InitializeJoggingRequest, JoggingResponse, JointVelocityRequest, MotionGroupState, TcpVelocityRequest } from "@wandelbots/nova-api/v2";
+import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
+import type { NovaClient } from "./NovaClient";
+export type JoggerConnectionOpts = {
+    /**
+     * When an error message is received from the jogging websocket, it
+     * will be passed here. If this handler is not provided, the error will
+     * instead be thrown as an unhandled error.
+     */
+    onError?: (err: unknown) => void;
+} & Omit<InitializeJoggingRequest, "message_type">;
+export declare class JoggerConnection {
+    readonly nova: NovaClient;
+    readonly cell: string;
+    readonly motionGroupId: string;
+    readonly motionGroupState: MotionGroupState;
+    readonly opts: JoggerConnectionOpts;
+    joggingWebsocket: AutoReconnectingWebsocket | null;
+    lastVelocityRequest: JointVelocityRequest | TcpVelocityRequest | null;
+    lastResponse: JoggingResponse | null;
+    static open(nova: NovaClient, cell: string, motionGroupId: string, opts: JoggerConnectionOpts): Promise<JoggerConnection>;
+    constructor(nova: NovaClient, cell: string, motionGroupId: string, motionGroupState: MotionGroupState, opts: JoggerConnectionOpts);
+    get jointCount(): number | undefined;
+    get activeWebsocket(): AutoReconnectingWebsocket | null;
+    stop(): Promise<void>;
+    dispose(): void;
+    /**
+     * Start rotation of a single robot joint at the specified velocity
+     */
+    startJointRotation({ joint, velocityRadsPerSec, }: {
+        /** Index of the joint to rotate */
+        joint: number;
+        /** Speed of the rotation in radians per second */
+        velocityRadsPerSec: number;
+    }): Promise<void>;
+    /**
+     * Start the TCP moving along a specified axis at a given velocity
+     */
+    startTCPTranslation({ axis, velocityMmPerSec, useToolCoordinateSystem, }: {
+        axis: "x" | "y" | "z";
+        velocityMmPerSec: number;
+        useToolCoordinateSystem: boolean;
+    }): Promise<void>;
+    /**
+     * Start the TCP rotating around a specified axis at a given velocity
+     */
+    startTCPRotation({ axis, velocityRadsPerSec, useToolCoordinateSystem, }: {
+        axis: "x" | "y" | "z";
+        velocityRadsPerSec: number;
+        useToolCoordinateSystem: boolean;
+    }): Promise<void>;
+}
+//# sourceMappingURL=JoggerConnection.d.ts.map

package/dist/lib/v2/JoggerConnection.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggerConnection.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/JoggerConnection.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,wBAAwB,EACxB,eAAe,EACf,oBAAoB,EACpB,gBAAgB,EAChB,kBAAkB,EACnB,MAAM,yBAAyB,CAAA;AAChC,OAAO,KAAK,EAAE,yBAAyB,EAAE,MAAM,8BAA8B,CAAA;AAE7E,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,cAAc,CAAA;AAG9C,MAAM,MAAM,oBAAoB,GAAG;IACjC;;;;OAIG;IACH,OAAO,CAAC,EAAE,CAAC,GAAG,EAAE,OAAO,KAAK,IAAI,CAAA;CACjC,GAAG,IAAI,CAAC,wBAAwB,EAAE,cAAc,CAAC,CAAA;AAElD,qBAAa,gBAAgB;IA0BzB,QAAQ,CAAC,IAAI,EAAE,UAAU;IACzB,QAAQ,CAAC,IAAI,EAAE,MAAM;IACrB,QAAQ,CAAC,aAAa,EAAE,MAAM;IAC9B,QAAQ,CAAC,gBAAgB,EAAE,gBAAgB;IAC3C,QAAQ,CAAC,IAAI,EAAE,oBAAoB;IA3BrC,gBAAgB,EAAE,yBAAyB,GAAG,IAAI,CAAO;IACzD,mBAAmB,EAAE,oBAAoB,GAAG,kBAAkB,GAAG,IAAI,CAAO;IAC5E,YAAY,EAAE,eAAe,GAAG,IAAI,CAAO;WAE9B,IAAI,CACf,IAAI,EAAE,UAAU,EAChB,IAAI,EAAE,MAAM,EACZ,aAAa,EAAE,MAAM,EACrB,IAAI,EAAE,oBAAoB;gBAejB,IAAI,EAAE,UAAU,EAChB,IAAI,EAAE,MAAM,EACZ,aAAa,EAAE,MAAM,EACrB,gBAAgB,EAAE,gBAAgB,EAClC,IAAI,EAAE,oBAAoB;IA4BrC,IAAI,UAAU,uBAEb;IAED,IAAI,eAAe,qCAElB;IAEK,IAAI;IA0BV,OAAO;IAMP;;OAEG;IACG,kBAAkB,CAAC,EACvB,KAAK,EACL,kBAAkB,GACnB,EAAE;QACD,mCAAmC;QACnC,KAAK,EAAE,MAAM,CAAA;QACb,kDAAkD;QAClD,kBAAkB,EAAE,MAAM,CAAA;KAC3B;IAkBD;;OAEG;IACG,mBAAmB,CAAC,EACxB,IAAI,EACJ,gBAAgB,EAChB,uBAAuB,GACxB,EAAE;QACD,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,gBAAgB,EAAE,MAAM,CAAA;QACxB,uBAAuB,EAAE,OAAO,CAAA;KACjC;IAmBD;;OAEG;IACG,gBAAgB,CAAC,EACrB,IAAI,EACJ,kBAAkB,EAClB,uBAAuB,GACxB,EAAE;QACD,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,kBAAkB,EAAE,MAAM,CAAA;QAC1B,uBAAuB,EAAE,OAAO,CAAA;KACjC;CAiBF"}

package/dist/lib/v2/MotionStreamConnection.d.ts

@@ -0,0 +1,25 @@
+import type { Controller, MotionGroupPhysical, MotionGroupState } from "@wandelbots/nova-api/v2";
+import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
+import type { NovaClient } from "./NovaClient";
+/**
+ * Store representing the current state of a connected motion group.
+ */
+export declare class MotionStreamConnection {
+    readonly nova: NovaClient;
+    readonly controller: Controller;
+    readonly motionGroup: MotionGroupPhysical;
+    readonly initialMotionState: MotionGroupState;
+    readonly motionStateSocket: AutoReconnectingWebsocket;
+    static open(nova: NovaClient, motionGroupId: string): Promise<MotionStreamConnection>;
+    rapidlyChangingMotionState: MotionGroupState;
+    constructor(nova: NovaClient, controller: Controller, motionGroup: MotionGroupPhysical, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket);
+    get motionGroupId(): string;
+    get controllerId(): string;
+    get modelFromController(): string | undefined;
+    get wandelscriptIdentifier(): string;
+    get joints(): {
+        index: number;
+    }[];
+    dispose(): void;
+}
+//# sourceMappingURL=MotionStreamConnection.d.ts.map

package/dist/lib/v2/MotionStreamConnection.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"MotionStreamConnection.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/MotionStreamConnection.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,UAAU,EACV,mBAAmB,EACnB,gBAAgB,EACjB,MAAM,yBAAyB,CAAA;AAGhC,OAAO,KAAK,EAAE,yBAAyB,EAAE,MAAM,8BAA8B,CAAA;AAG7E,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,cAAc,CAAA;AA4C9C;;GAEG;AACH,qBAAa,sBAAsB;IAsD/B,QAAQ,CAAC,IAAI,EAAE,UAAU;IACzB,QAAQ,CAAC,UAAU,EAAE,UAAU;IAC/B,QAAQ,CAAC,WAAW,EAAE,mBAAmB;IACzC,QAAQ,CAAC,kBAAkB,EAAE,gBAAgB;IAC7C,QAAQ,CAAC,iBAAiB,EAAE,yBAAyB;WAzD1C,IAAI,CAAC,IAAI,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM;IAkDzD,0BAA0B,EAAE,gBAAgB,CAAA;gBAGjC,IAAI,EAAE,UAAU,EAChB,UAAU,EAAE,UAAU,EACtB,WAAW,EAAE,mBAAmB,EAChC,kBAAkB,EAAE,gBAAgB,EACpC,iBAAiB,EAAE,yBAAyB;IAyDvD,IAAI,aAAa,WAEhB;IAED,IAAI,YAAY,WAEf;IAED,IAAI,mBAAmB,uBAEtB;IAED,IAAI,sBAAsB,WAGzB;IAED,IAAI,MAAM;;QAMT;IAED,OAAO;CAGR"}

package/dist/lib/v2/NovaCellAPIClient.d.ts

@@ -0,0 +1,64 @@
+import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2";
+import { ApplicationApi, CellApi, ControllerApi, ControllerInputsOutputsApi, CoordinateSystemsApi, JoggingApi, MotionGroupApi, MotionGroupInfoApi, MotionGroupKinematicsApi, ProgramApi, ProgramLibraryApi, ProgramLibraryMetadataApi, ProgramOperatorApi, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v2";
+import type { AxiosInstance } from "axios";
+type OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R ? (...args: P) => R : never;
+type UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+    data: infer D;
+} ? D : never> : never;
+export type WithCellId<T> = {
+    [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>;
+};
+export type WithUnwrappedAxiosResponse<T> = {
+    [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>;
+};
+/**
+ * API client providing type-safe access to all the Nova API REST endpoints
+ * associated with a specific cell id.
+ */
+export declare class NovaCellAPIClient {
+    readonly cellId: string;
+    readonly opts: BaseConfiguration & {
+        axiosInstance?: AxiosInstance;
+        mock?: boolean;
+    };
+    constructor(cellId: string, opts: BaseConfiguration & {
+        axiosInstance?: AxiosInstance;
+        mock?: boolean;
+    });
+    /**
+     * Some TypeScript sorcery which alters the API class methods so you don't
+     * have to pass the cell id to every single one, and de-encapsulates the
+     * response data
+     */
+    private withCellId;
+    /**
+     * As withCellId, but only does the response unwrapping
+     */
+    private withUnwrappedResponsesOnly;
+    readonly system: WithUnwrappedAxiosResponse<SystemApi>;
+    readonly cell: WithUnwrappedAxiosResponse<CellApi>;
+    readonly motionGroup: WithCellId<MotionGroupApi>;
+    readonly motionGroupInfos: WithCellId<MotionGroupInfoApi>;
+    readonly controller: WithCellId<ControllerApi>;
+    readonly program: WithCellId<ProgramApi>;
+    readonly programOperator: WithCellId<ProgramOperatorApi>;
+    readonly programLibraryMetadata: WithCellId<ProgramLibraryMetadataApi>;
+    readonly programLibrary: WithCellId<ProgramLibraryApi>;
+    readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>;
+    readonly motionGroupKinematic: WithCellId<MotionGroupKinematicsApi>;
+    readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>;
+    readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>;
+    readonly coordinateSystems: WithCellId<CoordinateSystemsApi>;
+    readonly application: WithCellId<ApplicationApi>;
+    readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>;
+    readonly jogging: WithCellId<JoggingApi>;
+    readonly virtualRobot: WithCellId<VirtualRobotApi>;
+    readonly virtualRobotSetup: WithCellId<VirtualRobotSetupApi>;
+    readonly virtualRobotMode: WithCellId<VirtualRobotModeApi>;
+    readonly virtualRobotBehavior: WithCellId<VirtualRobotBehaviorApi>;
+    readonly storeObject: WithCellId<StoreObjectApi>;
+    readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>;
+    readonly storeCollisionScenes: WithCellId<StoreCollisionScenesApi>;
+}
+export {};
+//# sourceMappingURL=NovaCellAPIClient.d.ts.map

package/dist/lib/v2/NovaCellAPIClient.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"NovaCellAPIClient.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/NovaCellAPIClient.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,IAAI,iBAAiB,EAAE,MAAM,yBAAyB,CAAA;AACjF,OAAO,EACL,cAAc,EACd,OAAO,EACP,aAAa,EACb,0BAA0B,EAC1B,oBAAoB,EACpB,UAAU,EACV,cAAc,EACd,kBAAkB,EAClB,wBAAwB,EACxB,UAAU,EACV,iBAAiB,EACjB,yBAAyB,EACzB,kBAAkB,EAClB,2BAA2B,EAC3B,uBAAuB,EACvB,cAAc,EACd,SAAS,EACT,sBAAsB,EACtB,qBAAqB,EACrB,eAAe,EACf,uBAAuB,EACvB,mBAAmB,EACnB,oBAAoB,EACrB,MAAM,yBAAyB,CAAA;AAEhC,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,OAAO,CAAA;AAG1C,KAAK,YAAY,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,IAAI,EAAE,MAAM,CAAC,KAAK,MAAM,CAAC,GAClE,CAAC,GAAG,IAAI,EAAE,CAAC,KAAK,CAAC,GACjB,KAAK,CAAA;AAET,KAAK,yBAAyB,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,GAAG,KAAK,GAAG,GAC5D,CACE,GAAG,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,KAChB,OAAO,CAAC,OAAO,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,SAAS;IAAE,IAAI,EAAE,MAAM,CAAC,CAAA;CAAE,GAAG,CAAC,GAAG,KAAK,CAAC,GAC1E,KAAK,CAAA;AAET,MAAM,MAAM,UAAU,CAAC,CAAC,IAAI;KACzB,CAAC,IAAI,MAAM,CAAC,GAAG,yBAAyB,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;CAC9D,CAAA;AAED,MAAM,MAAM,0BAA0B,CAAC,CAAC,IAAI;KACzC,CAAC,IAAI,MAAM,CAAC,GAAG,yBAAyB,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;CAChD,CAAA;AAED;;;GAGG;AACH,qBAAa,iBAAiB;IAE1B,QAAQ,CAAC,MAAM,EAAE,MAAM;IACvB,QAAQ,CAAC,IAAI,EAAE,iBAAiB,GAAG;QACjC,aAAa,CAAC,EAAE,aAAa,CAAA;QAC7B,IAAI,CAAC,EAAE,OAAO,CAAA;KACf;gBAJQ,MAAM,EAAE,MAAM,EACd,IAAI,EAAE,iBAAiB,GAAG;QACjC,aAAa,CAAC,EAAE,aAAa,CAAA;QAC7B,IAAI,CAAC,EAAE,OAAO,CAAA;KACf;IAGH;;;;OAIG;IACH,OAAO,CAAC,UAAU;IAkClB;;OAEG;IACH,OAAO,CAAC,0BAA0B;IAkClC,QAAQ,CAAC,MAAM,wCAA6C;IAC5D,QAAQ,CAAC,IAAI,sCAA2C;IAExD,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,gBAAgB,iCAAsC;IAE/D,QAAQ,CAAC,UAAU,4BAAiC;IAEpD,QAAQ,CAAC,OAAO,yBAA8B;IAC9C,QAAQ,CAAC,eAAe,iCAAsC;IAC9D,QAAQ,CAAC,sBAAsB,wCAA6C;IAC5E,QAAQ,CAAC,cAAc,gCAAqC;IAE5D,QAAQ,CAAC,aAAa,yCAA8C;IAEpE,QAAQ,CAAC,oBAAoB,uCAA4C;IACzE,QAAQ,CAAC,kBAAkB,oCAAyC;IACpE,QAAQ,CAAC,mBAAmB,qCAA0C;IAEtE,QAAQ,CAAC,iBAAiB,mCAAwC;IAElE,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,iBAAiB,6CAAkD;IAE5E,QAAQ,CAAC,OAAO,yBAA8B;IAE9C,QAAQ,CAAC,YAAY,8BAAmC;IACxD,QAAQ,CAAC,iBAAiB,mCAAwC;IAClE,QAAQ,CAAC,gBAAgB,kCAAuC;IAChE,QAAQ,CAAC,oBAAoB,sCAA2C;IAExE,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,wBAAwB,0CAEhC;IACD,QAAQ,CAAC,oBAAoB,sCAA2C;CACzE"}

package/dist/lib/v2/NovaClient.d.ts

@@ -0,0 +1,67 @@
+import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2";
+import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
+import { ConnectedMotionGroup } from "./ConnectedMotionGroup";
+import { MockNovaInstance } from "./mock/MockNovaInstance";
+import { MotionStreamConnection } from "./MotionStreamConnection";
+import { NovaCellAPIClient } from "./NovaCellAPIClient";
+export type NovaClientConfig = {
+    /**
+     * Url of the deployed Nova instance to connect to
+     * e.g. https://saeattii.instance.wandelbots.io
+     */
+    instanceUrl: string | "https://mock.example.com";
+    /**
+     * Identifier of the cell on the Nova instance to connect this client to.
+     * If omitted, the default identifier "cell" is used.
+     **/
+    cellId?: string;
+    /**
+     * Username for basic auth to the Nova instance.
+     * @deprecated use accessToken instead
+     */
+    username?: string;
+    /**
+     * Password for basic auth to the Nova instance.
+     * @deprecated use accessToken instead
+     */
+    password?: string;
+    /**
+     * Access token for Bearer authentication.
+     */
+    accessToken?: string;
+} & Omit<BaseConfiguration, "isJsonMime" | "basePath">;
+type NovaClientConfigWithDefaults = NovaClientConfig & {
+    cellId: string;
+};
+/**
+ * EXPERIMENTAL
+ *
+ * This client provides a starting point to migrate NOVA api v2.
+ * As v2 is still in development, this client has to be considered unstable
+ *
+ * Client for connecting to a Nova instance and controlling robots.
+ */
+export declare class NovaClient {
+    readonly api: NovaCellAPIClient;
+    readonly config: NovaClientConfigWithDefaults;
+    readonly mock?: MockNovaInstance;
+    authPromise: Promise<string | null> | null;
+    accessToken: string | null;
+    constructor(config: NovaClientConfig);
+    renewAuthentication(): Promise<void>;
+    makeWebsocketURL(path: string): string;
+    /**
+     * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+     * If you explicitly want to reconnect an existing websocket, call `reconnect`
+     * on the returned object.
+     */
+    openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
+    /**
+     * Connect to the motion state websocket(s) for a given motion group
+     */
+    connectMotionStream(motionGroupId: string): Promise<MotionStreamConnection>;
+    connectMotionGroups(motionGroupIds: string[]): Promise<ConnectedMotionGroup[]>;
+    connectMotionGroup(motionGroupId: string): Promise<ConnectedMotionGroup>;
+}
+export {};
+//# sourceMappingURL=NovaClient.d.ts.map

package/dist/lib/v2/NovaClient.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"NovaClient.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/NovaClient.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,IAAI,iBAAiB,EAAE,MAAM,yBAAyB,CAAA;AAKjF,OAAO,EAAE,yBAAyB,EAAE,MAAM,8BAA8B,CAAA;AAExE,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAA;AAC7D,OAAO,EAAE,gBAAgB,EAAE,MAAM,yBAAyB,CAAA;AAC1D,OAAO,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAA;AACjE,OAAO,EAAE,iBAAiB,EAAE,MAAM,qBAAqB,CAAA;AAEvD,MAAM,MAAM,gBAAgB,GAAG;IAC7B;;;OAGG;IACH,WAAW,EAAE,MAAM,GAAG,0BAA0B,CAAA;IAEhD;;;QAGI;IACJ,MAAM,CAAC,EAAE,MAAM,CAAA;IAEf;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAA;IAEjB;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAA;IAEjB;;OAEG;IACH,WAAW,CAAC,EAAE,MAAM,CAAA;CACrB,GAAG,IAAI,CAAC,iBAAiB,EAAE,YAAY,GAAG,UAAU,CAAC,CAAA;AAEtD,KAAK,4BAA4B,GAAG,gBAAgB,GAAG;IAAE,MAAM,EAAE,MAAM,CAAA;CAAE,CAAA;AAEzE;;;;;;;GAOG;AACH,qBAAa,UAAU;IACrB,QAAQ,CAAC,GAAG,EAAE,iBAAiB,CAAA;IAC/B,QAAQ,CAAC,MAAM,EAAE,4BAA4B,CAAA;IAC7C,QAAQ,CAAC,IAAI,CAAC,EAAE,gBAAgB,CAAA;IAChC,WAAW,EAAE,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC,GAAG,IAAI,CAAO;IACjD,WAAW,EAAE,MAAM,GAAG,IAAI,CAAO;gBAErB,MAAM,EAAE,gBAAgB;IAyF9B,mBAAmB,IAAI,OAAO,CAAC,IAAI,CAAC;IAoB1C,gBAAgB,CAAC,IAAI,EAAE,MAAM,GAAG,MAAM;IAwBtC;;;;OAIG;IACH,yBAAyB,CAAC,IAAI,EAAE,MAAM;IAMtC;;OAEG;IACG,mBAAmB,CAAC,aAAa,EAAE,MAAM;IAIzC,mBAAmB,CACvB,cAAc,EAAE,MAAM,EAAE,GACvB,OAAO,CAAC,oBAAoB,EAAE,CAAC;IAU5B,kBAAkB,CACtB,aAAa,EAAE,MAAM,GACpB,OAAO,CAAC,oBAAoB,CAAC;CAIjC"}

package/dist/lib/v2/ProgramStateConnection.d.ts

@@ -0,0 +1,53 @@
+import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
+import type { MotionStreamConnection } from "./MotionStreamConnection";
+import type { NovaClient } from "./NovaClient";
+export type ProgramRunnerLogEntry = {
+    timestamp: number;
+    message: string;
+    level?: "warn" | "error";
+};
+export declare enum ProgramState {
+    NotStarted = "not started",
+    Running = "running",
+    Stopped = "stopped",
+    Failed = "failed",
+    Completed = "completed"
+}
+export type CurrentProgram = {
+    id?: string;
+    wandelscript?: string;
+    state?: ProgramState;
+};
+type ProgramStateMessage = {
+    type: string;
+    runner: {
+        id: string;
+        state: ProgramState;
+        start_time?: number | null;
+        execution_time?: number | null;
+    };
+};
+/**
+ * Interface for running Wandelscript programs on the Nova instance and
+ * tracking their progress and output
+ */
+export declare class ProgramStateConnection {
+    readonly nova: NovaClient;
+    currentProgram: CurrentProgram;
+    logs: ProgramRunnerLogEntry[];
+    executionState: "idle" | "starting" | "executing" | "stopping";
+    currentlyExecutingProgramRunnerId: string | null;
+    programStateSocket: AutoReconnectingWebsocket;
+    constructor(nova: NovaClient);
+    /** Handle a program state update from the backend */
+    handleProgramStateMessage(msg: ProgramStateMessage): Promise<void>;
+    /** Call when a program is no longer executing */
+    gotoIdleState(): void;
+    executeProgram(wandelscript: string, initial_state?: Object, activeRobot?: MotionStreamConnection): Promise<void>;
+    stopProgram(): Promise<void>;
+    reset(): void;
+    log(message: string): void;
+    logError(message: string): void;
+}
+export {};
+//# sourceMappingURL=ProgramStateConnection.d.ts.map

package/dist/lib/v2/ProgramStateConnection.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ProgramStateConnection.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/ProgramStateConnection.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,yBAAyB,EAAE,MAAM,8BAA8B,CAAA;AAExE,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAA;AACtE,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,cAAc,CAAA;AAE9C,MAAM,MAAM,qBAAqB,GAAG;IAClC,SAAS,EAAE,MAAM,CAAA;IACjB,OAAO,EAAE,MAAM,CAAA;IACf,KAAK,CAAC,EAAE,MAAM,GAAG,OAAO,CAAA;CACzB,CAAA;AAED,oBAAY,YAAY;IACtB,UAAU,gBAAgB;IAC1B,OAAO,YAAY;IACnB,OAAO,YAAY;IACnB,MAAM,WAAW;IACjB,SAAS,cAAc;CACxB;AAED,MAAM,MAAM,cAAc,GAAG;IAC3B,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,YAAY,CAAC,EAAE,MAAM,CAAA;IACrB,KAAK,CAAC,EAAE,YAAY,CAAA;CACrB,CAAA;AAED,KAAK,mBAAmB,GAAG;IACzB,IAAI,EAAE,MAAM,CAAA;IACZ,MAAM,EAAE;QACN,EAAE,EAAE,MAAM,CAAA;QACV,KAAK,EAAE,YAAY,CAAA;QACnB,UAAU,CAAC,EAAE,MAAM,GAAG,IAAI,CAAA;QAC1B,cAAc,CAAC,EAAE,MAAM,GAAG,IAAI,CAAA;KAC/B,CAAA;CACF,CAAA;AAED;;;GAGG;AACH,qBAAa,sBAAsB;IASrB,QAAQ,CAAC,IAAI,EAAE,UAAU;IARrC,cAAc,EAAE,cAAc,CAAK;IACnC,IAAI,EAAE,qBAAqB,EAAE,CAAK;IAElC,cAAc,EAAa,MAAM,GAAG,UAAU,GAAG,WAAW,GAAG,UAAU,CAAA;IACzE,iCAAiC,EAAW,MAAM,GAAG,IAAI,CAAA;IAEzD,kBAAkB,EAAE,yBAAyB,CAAA;gBAExB,IAAI,EAAE,UAAU;IAkBrC,qDAAqD;IAC/C,yBAAyB,CAAC,GAAG,EAAE,mBAAmB;IAsFxD,iDAAiD;IACjD,aAAa;IAOP,cAAc,CAClB,YAAY,EAAE,MAAM,EACpB,aAAa,CAAC,EAAE,MAAM,EACtB,WAAW,CAAC,EAAE,sBAAsB;IAiDhC,WAAW;IAmBjB,KAAK;IAIL,GAAG,CAAC,OAAO,EAAE,MAAM;IAQnB,QAAQ,CAAC,OAAO,EAAE,MAAM;CAQzB"}