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

package/dist/lib/v2/index.js

@@ -0,0 +1,1947 @@
+import {
+  AutoReconnectingWebsocket,
+  __async,
+  __spreadProps,
+  __spreadValues,
+  availableStorage,
+  loginWithAuth0,
+  tryParseJson
+} from "../../chunk-V3NJLR6P.js";
+
+// src/lib/v2/index.ts
+export * from "@wandelbots/nova-api/v2";
+
+// src/lib/v2/ConnectedMotionGroup.ts
+import { AxiosError } from "axios";
+import { makeAutoObservable, runInAction } from "mobx";
+
+// src/lib/v2/motionStateUpdate.ts
+function jointValuesEqual(oldJointValues, newJointValues, changeDeltaThreshold) {
+  if (newJointValues.length !== oldJointValues.length) {
+    return true;
+  }
+  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {
+    if (Math.abs(newJointValues[jointIndex] - oldJointValues[jointIndex]) > changeDeltaThreshold) {
+      return false;
+    }
+  }
+  return true;
+}
+function tcpPoseEqual(oldTcp, newTcp, changeDeltaThreshold) {
+  if (oldTcp === void 0 && newTcp || oldTcp && newTcp === void 0) {
+    return false;
+  }
+  if (oldTcp === void 0 || newTcp === void 0) {
+    return true;
+  }
+  let changedDelta = 0;
+  changedDelta += Math.abs(oldTcp.orientation[0] - newTcp.orientation[0]);
+  changedDelta += Math.abs(oldTcp.orientation[1] - newTcp.orientation[1]);
+  changedDelta += Math.abs(oldTcp.orientation[2] - newTcp.orientation[2]);
+  changedDelta += Math.abs(oldTcp.position[0] - newTcp.position[0]);
+  changedDelta += Math.abs(oldTcp.position[1] - newTcp.position[1]);
+  changedDelta += Math.abs(oldTcp.position[2] - newTcp.position[2]);
+  if (changedDelta > changeDeltaThreshold) {
+    return false;
+  }
+  return oldTcp.coordinate_system === newTcp.coordinate_system && oldTcp.tcp === newTcp.tcp;
+}
+
+// src/lib/v2/ConnectedMotionGroup.ts
+var MOTION_DELTA_THRESHOLD = 1e-4;
+var ConnectedMotionGroup = class _ConnectedMotionGroup {
+  constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, motionGroupSpecification, safetySetup) {
+    this.nova = nova;
+    this.controller = controller;
+    this.motionGroup = motionGroup;
+    this.initialMotionState = initialMotionState;
+    this.motionStateSocket = motionStateSocket;
+    this.isVirtual = isVirtual;
+    this.tcps = tcps;
+    this.motionGroupSpecification = motionGroupSpecification;
+    this.safetySetup = safetySetup;
+    this.connectedJoggingCartesianSocket = null;
+    this.connectedJoggingJointsSocket = null;
+    // tmp
+    this.joggingVelocity = 10;
+    this.rapidlyChangingMotionState = initialMotionState;
+    motionStateSocket.addEventListener("message", (event) => {
+      var _a;
+      const motionStateResponse = (_a = tryParseJson(event.data)) == null ? void 0 : _a.result;
+      if (!motionStateResponse) {
+        throw new Error(
+          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`
+        );
+      }
+      if (!jointValuesEqual(
+        this.rapidlyChangingMotionState.joint_position.joints,
+        motionStateResponse.joint_position.joints,
+        MOTION_DELTA_THRESHOLD
+      )) {
+        runInAction(() => {
+          this.rapidlyChangingMotionState = motionStateResponse;
+        });
+      }
+      if (!tcpPoseEqual(
+        this.rapidlyChangingMotionState.tcp_pose,
+        motionStateResponse.tcp_pose,
+        MOTION_DELTA_THRESHOLD
+      )) {
+        runInAction(() => {
+          this.rapidlyChangingMotionState.tcp_pose = motionStateResponse.tcp_pose;
+        });
+      }
+    });
+    makeAutoObservable(this);
+  }
+  static connect(nova, motionGroupId, controllers) {
+    return __async(this, null, function* () {
+      var _a;
+      const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
+      const controller = controllers.find((c) => c.controller === controllerId);
+      const motionGroup = controller == null ? void 0 : controller.motion_groups.find(
+        (mg) => mg.motion_group === motionGroupId
+      );
+      if (!controller || !motionGroup) {
+        throw new Error(
+          `Controller ${controllerId} or motion group ${motionGroupId} not found`
+        );
+      }
+      const motionStateSocket = nova.openReconnectingWebsocket(
+        `/motion-groups/${motionGroupId}/state-stream`
+      );
+      const firstMessage = yield motionStateSocket.firstMessage();
+      const initialMotionState = (_a = tryParseJson(firstMessage.data)) == null ? void 0 : _a.result;
+      if (!initialMotionState) {
+        throw new Error(
+          `Unable to parse initial motion state message ${firstMessage.data}`
+        );
+      }
+      console.log(
+        `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:
+  `,
+        initialMotionState
+      );
+      let isVirtual = false;
+      try {
+        const opMode = yield nova.api.virtualRobotMode.getOperationMode(controllerId);
+        if (opMode) isVirtual = true;
+      } catch (err) {
+        if (err instanceof AxiosError) {
+          console.log(
+            `Received ${err.status} from getOperationMode, concluding that ${controllerId} is physical`
+          );
+        } else {
+          throw err;
+        }
+      }
+      const { tcps } = yield nova.api.motionGroupInfos.listTcps(motionGroupId);
+      const motionGroupSpecification = yield nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId);
+      const safetySetup = yield nova.api.motionGroupInfos.getSafetySetup(motionGroupId);
+      return new _ConnectedMotionGroup(
+        nova,
+        controller,
+        motionGroup,
+        initialMotionState,
+        motionStateSocket,
+        isVirtual,
+        tcps,
+        motionGroupSpecification,
+        safetySetup
+      );
+    });
+  }
+  get motionGroupId() {
+    return this.motionGroup.motion_group;
+  }
+  get controllerId() {
+    return this.controller.controller;
+  }
+  get modelFromController() {
+    return this.motionGroup.model_from_controller;
+  }
+  get wandelscriptIdentifier() {
+    const num = this.motionGroupId.split("@")[0];
+    return `${this.controllerId.replaceAll("-", "_")}_${num}`;
+  }
+  /** Jogging velocity in radians for rotation and joint movement */
+  get joggingVelocityRads() {
+    return this.joggingVelocity * Math.PI / 180;
+  }
+  get joints() {
+    return this.initialMotionState.joint_position.joints.map((_, i) => {
+      return {
+        index: i
+      };
+    });
+  }
+  get dhParameters() {
+    return this.motionGroupSpecification.dh_parameters;
+  }
+  get safetyZones() {
+    return this.safetySetup.safety_zones;
+  }
+  dispose() {
+    this.motionStateSocket.close();
+    if (this.connectedJoggingCartesianSocket)
+      this.connectedJoggingCartesianSocket.close();
+    if (this.connectedJoggingJointsSocket)
+      this.connectedJoggingJointsSocket.close();
+  }
+  setJoggingVelocity(velocity) {
+    this.joggingVelocity = velocity;
+  }
+};
+
+// src/lib/v2/vectorUtils.ts
+import * as THREE from "three";
+function axisToIndex(axis) {
+  switch (axis) {
+    case "x":
+      return 0;
+    case "y":
+      return 1;
+    case "z":
+      return 2;
+  }
+}
+function vector3ToArray(vector) {
+  return [vector.x, vector.y, vector.z];
+}
+
+// src/lib/v2/JoggerConnection.ts
+var JoggerConnection = class _JoggerConnection {
+  constructor(nova, cell, motionGroupId, motionGroupState, opts) {
+    this.nova = nova;
+    this.cell = cell;
+    this.motionGroupId = motionGroupId;
+    this.motionGroupState = motionGroupState;
+    this.opts = opts;
+    // Currently a separate websocket is needed for each mode, pester API people
+    // to merge these for simplicity
+    this.joggingWebsocket = null;
+    this.lastVelocityRequest = null;
+    this.lastResponse = null;
+    this.joggingWebsocket = nova.openReconnectingWebsocket(
+      `/cells/${cell}/execution/jogging`
+    );
+    this.joggingWebsocket.addEventListener("message", (ev) => {
+      const data = tryParseJson(ev.data);
+      if (data && "error" in data) {
+        if (this.opts.onError) {
+          this.opts.onError(ev.data);
+        } else {
+          throw new Error(ev.data);
+        }
+      }
+    });
+    this.joggingWebsocket.addEventListener("message", (ev) => {
+      const data = tryParseJson(ev.data);
+      if (data && "error" in data) {
+        if (this.opts.onError) {
+          this.opts.onError(ev.data);
+        } else {
+          throw new Error(ev.data);
+        }
+      }
+    });
+  }
+  static open(nova, cell, motionGroupId, opts) {
+    return __async(this, null, function* () {
+      const motionGroupState = yield nova.api.motionGroupInfos.getCurrentMotionGroupState(motionGroupId);
+      return new _JoggerConnection(
+        nova,
+        cell,
+        motionGroupId,
+        motionGroupState,
+        opts
+      );
+    });
+  }
+  get jointCount() {
+    var _a;
+    return (_a = this.motionGroupState.joint_current) == null ? void 0 : _a.joints.length;
+  }
+  get activeWebsocket() {
+    return this.joggingWebsocket;
+  }
+  stop() {
+    return __async(this, null, function* () {
+      var _a, _b;
+      if (!this.joggingWebsocket) {
+        return;
+      }
+      if (((_a = this.lastVelocityRequest) == null ? void 0 : _a.message_type) === "JointVelocityRequest") {
+        this.joggingWebsocket.sendJson({
+          message_type: "JointVelocityRequest",
+          velocity: {
+            joints: Array.from(new Array(this.jointCount).keys()).map(() => 0)
+          }
+        });
+      }
+      if (((_b = this.lastVelocityRequest) == null ? void 0 : _b.message_type) === "TcpVelocityRequest") {
+        this.joggingWebsocket.sendJson({
+          message_type: "TcpVelocityRequest",
+          rotation: [0, 0, 0],
+          translation: [0, 0, 0]
+        });
+      }
+    });
+  }
+  dispose() {
+    if (this.joggingWebsocket) {
+      this.joggingWebsocket.dispose();
+    }
+  }
+  /**
+   * Start rotation of a single robot joint at the specified velocity
+   */
+  startJointRotation(_0) {
+    return __async(this, arguments, function* ({
+      joint,
+      velocityRadsPerSec
+    }) {
+      if (!this.joggingWebsocket) {
+        throw new Error(
+          "Joint jogging websocket not connected. Wait for reconnect or open new jogging connection"
+        );
+      }
+      const jointVelocities = new Array(this.jointCount).fill(0);
+      jointVelocities[joint] = velocityRadsPerSec;
+      this.joggingWebsocket.sendJson({
+        message_type: "JointVelocityRequest",
+        velocity: {
+          joints: jointVelocities
+        }
+      });
+    });
+  }
+  /**
+   * Start the TCP moving along a specified axis at a given velocity
+   */
+  startTCPTranslation(_0) {
+    return __async(this, arguments, function* ({
+      axis,
+      velocityMmPerSec,
+      useToolCoordinateSystem
+    }) {
+      if (!this.joggingWebsocket) {
+        throw new Error(
+          "Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection"
+        );
+      }
+      const joggingVector = [0, 0, 0];
+      joggingVector[axisToIndex(axis)] = velocityMmPerSec;
+      this.joggingWebsocket.sendJson({
+        message_type: "TcpVelocityRequest",
+        translation: joggingVector,
+        rotation: [0, 0, 0],
+        use_tool_coordinate_system: useToolCoordinateSystem
+      });
+    });
+  }
+  /**
+   * Start the TCP rotating around a specified axis at a given velocity
+   */
+  startTCPRotation(_0) {
+    return __async(this, arguments, function* ({
+      axis,
+      velocityRadsPerSec,
+      useToolCoordinateSystem
+    }) {
+      if (!this.joggingWebsocket) {
+        throw new Error(
+          "Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection"
+        );
+      }
+      const joggingVector = [0, 0, 0];
+      joggingVector[axisToIndex(axis)] = velocityRadsPerSec;
+      this.joggingWebsocket.sendJson({
+        message_type: "TcpVelocityRequest",
+        rotation: joggingVector,
+        translation: [0, 0, 0],
+        use_tool_coordinate_system: useToolCoordinateSystem
+      });
+    });
+  }
+};
+
+// src/lib/v2/MotionStreamConnection.ts
+import { makeAutoObservable as makeAutoObservable2, runInAction as runInAction2 } from "mobx";
+import * as THREE2 from "three";
+var MOTION_DELTA_THRESHOLD2 = 1e-4;
+function unwrapRotationVector(newRotationVectorApi, currentRotationVectorApi) {
+  const currentRotationVector = new THREE2.Vector3(
+    currentRotationVectorApi[0],
+    currentRotationVectorApi[1],
+    currentRotationVectorApi[2]
+  );
+  const newRotationVector = new THREE2.Vector3(
+    newRotationVectorApi[0],
+    newRotationVectorApi[1],
+    newRotationVectorApi[2]
+  );
+  const currentAngle = currentRotationVector.length();
+  const currentAxis = currentRotationVector.normalize();
+  let newAngle = newRotationVector.length();
+  let newAxis = newRotationVector.normalize();
+  if (newAxis.dot(currentAxis) < 0) {
+    newAngle = -newAngle;
+    newAxis = newAxis.multiplyScalar(-1);
+  }
+  let angleDifference = newAngle - currentAngle;
+  angleDifference -= 2 * Math.PI * Math.floor((angleDifference + Math.PI) / (2 * Math.PI));
+  newAngle = currentAngle + angleDifference;
+  return vector3ToArray(newAxis.multiplyScalar(newAngle));
+}
+var MotionStreamConnection = class _MotionStreamConnection {
+  constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket) {
+    this.nova = nova;
+    this.controller = controller;
+    this.motionGroup = motionGroup;
+    this.initialMotionState = initialMotionState;
+    this.motionStateSocket = motionStateSocket;
+    this.rapidlyChangingMotionState = initialMotionState;
+    motionStateSocket.addEventListener("message", (event) => {
+      var _a;
+      const motionState = (_a = tryParseJson(event.data)) == null ? void 0 : _a.result;
+      if (!motionState) {
+        throw new Error(
+          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`
+        );
+      }
+      if (!jointValuesEqual(
+        this.rapidlyChangingMotionState.joint_position.joints,
+        motionState.joint_position.joints,
+        MOTION_DELTA_THRESHOLD2
+      )) {
+        runInAction2(() => {
+          this.rapidlyChangingMotionState = motionState;
+        });
+      }
+      if (!tcpPoseEqual(
+        this.rapidlyChangingMotionState.tcp_pose,
+        motionState.tcp_pose,
+        MOTION_DELTA_THRESHOLD2
+      )) {
+        runInAction2(() => {
+          if (this.rapidlyChangingMotionState.tcp_pose == void 0) {
+            this.rapidlyChangingMotionState.tcp_pose = motionState.tcp_pose;
+          } else {
+            this.rapidlyChangingMotionState.tcp_pose = {
+              position: motionState.tcp_pose.position,
+              orientation: unwrapRotationVector(
+                motionState.tcp_pose.orientation,
+                this.rapidlyChangingMotionState.tcp_pose.orientation
+              ),
+              tcp: motionState.tcp_pose.tcp,
+              coordinate_system: motionState.tcp_pose.coordinate_system
+            };
+          }
+        });
+      }
+    });
+    makeAutoObservable2(this);
+  }
+  static open(nova, motionGroupId) {
+    return __async(this, null, function* () {
+      var _a;
+      const { controllers } = yield nova.api.controller.listControllers();
+      const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
+      const controller = controllers.find((c) => c.controller === controllerId);
+      const motionGroup = controller == null ? void 0 : controller.motion_groups.find(
+        (mg) => mg.motion_group === motionGroupId
+      );
+      if (!controller || !motionGroup) {
+        throw new Error(
+          `Controller ${controllerId} or motion group ${motionGroupId} not found`
+        );
+      }
+      const motionStateSocket = nova.openReconnectingWebsocket(
+        `/motion-groups/${motionGroupId}/state-stream`
+      );
+      const firstMessage = yield motionStateSocket.firstMessage();
+      console.log("got first message", firstMessage);
+      const initialMotionState = (_a = tryParseJson(firstMessage.data)) == null ? void 0 : _a.result;
+      if (!initialMotionState) {
+        throw new Error(
+          `Unable to parse initial motion state message ${firstMessage.data}`
+        );
+      }
+      console.log(
+        `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:
+  `,
+        initialMotionState
+      );
+      return new _MotionStreamConnection(
+        nova,
+        controller,
+        motionGroup,
+        initialMotionState,
+        motionStateSocket
+      );
+    });
+  }
+  get motionGroupId() {
+    return this.motionGroup.motion_group;
+  }
+  get controllerId() {
+    return this.controller.controller;
+  }
+  get modelFromController() {
+    return this.motionGroup.model_from_controller;
+  }
+  get wandelscriptIdentifier() {
+    const num = this.motionGroupId.split("@")[0];
+    return `${this.controllerId.replaceAll("-", "_")}_${num}`;
+  }
+  get joints() {
+    return this.initialMotionState.joint_position.joints.map((_, i) => {
+      return {
+        index: i
+      };
+    });
+  }
+  dispose() {
+    this.motionStateSocket.close();
+  }
+};
+
+// src/lib/v2/NovaCellAPIClient.ts
+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 axios from "axios";
+var NovaCellAPIClient = class {
+  constructor(cellId, opts) {
+    this.cellId = cellId;
+    this.opts = opts;
+    this.system = this.withUnwrappedResponsesOnly(SystemApi);
+    this.cell = this.withUnwrappedResponsesOnly(CellApi);
+    this.motionGroup = this.withCellId(MotionGroupApi);
+    this.motionGroupInfos = this.withCellId(MotionGroupInfoApi);
+    this.controller = this.withCellId(ControllerApi);
+    this.program = this.withCellId(ProgramApi);
+    this.programOperator = this.withCellId(ProgramOperatorApi);
+    this.programLibraryMetadata = this.withCellId(ProgramLibraryMetadataApi);
+    this.programLibrary = this.withCellId(ProgramLibraryApi);
+    this.controllerIOs = this.withCellId(ControllerInputsOutputsApi);
+    this.motionGroupKinematic = this.withCellId(MotionGroupKinematicsApi);
+    this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi);
+    this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi);
+    this.coordinateSystems = this.withCellId(CoordinateSystemsApi);
+    this.application = this.withCellId(ApplicationApi);
+    this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi);
+    this.jogging = this.withCellId(JoggingApi);
+    this.virtualRobot = this.withCellId(VirtualRobotApi);
+    this.virtualRobotSetup = this.withCellId(VirtualRobotSetupApi);
+    this.virtualRobotMode = this.withCellId(VirtualRobotModeApi);
+    this.virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi);
+    this.storeObject = this.withCellId(StoreObjectApi);
+    this.storeCollisionComponents = this.withCellId(
+      StoreCollisionComponentsApi
+    );
+    this.storeCollisionScenes = this.withCellId(StoreCollisionScenesApi);
+  }
+  /**
+   * 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
+   */
+  withCellId(ApiConstructor) {
+    var _a, _b;
+    const apiClient = new ApiConstructor(
+      __spreadProps(__spreadValues({}, this.opts), {
+        isJsonMime: (mime) => {
+          return mime === "application/json";
+        }
+      }),
+      (_a = this.opts.basePath) != null ? _a : "",
+      (_b = this.opts.axiosInstance) != null ? _b : axios.create()
+    );
+    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
+      if (key !== "constructor" && typeof apiClient[key] === "function") {
+        const originalFunction = apiClient[key];
+        apiClient[key] = (...args) => {
+          return originalFunction.apply(apiClient, [this.cellId, ...args]).then((res) => res.data);
+        };
+      }
+    }
+    return apiClient;
+  }
+  /**
+   * As withCellId, but only does the response unwrapping
+   */
+  withUnwrappedResponsesOnly(ApiConstructor) {
+    var _a, _b;
+    const apiClient = new ApiConstructor(
+      __spreadProps(__spreadValues({}, this.opts), {
+        isJsonMime: (mime) => {
+          return mime === "application/json";
+        }
+      }),
+      (_a = this.opts.basePath) != null ? _a : "",
+      (_b = this.opts.axiosInstance) != null ? _b : axios.create()
+    );
+    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
+      if (key !== "constructor" && typeof apiClient[key] === "function") {
+        const originalFunction = apiClient[key];
+        apiClient[key] = (...args) => {
+          return originalFunction.apply(apiClient, args).then((res) => res.data);
+        };
+      }
+    }
+    return apiClient;
+  }
+};
+
+// src/lib/v2/NovaClient.ts
+import axios2, { isAxiosError } from "axios";
+import urlJoin from "url-join";
+
+// src/lib/v2/mock/MockNovaInstance.ts
+import { AxiosError as AxiosError2 } from "axios";
+import * as pathToRegexp from "path-to-regexp";
+var MockNovaInstance = class {
+  constructor() {
+    this.connections = [];
+  }
+  handleAPIRequest(config) {
+    return __async(this, null, function* () {
+      var _a, _b, _c;
+      const apiHandlers = [
+        {
+          method: "GET",
+          path: "/cells/:cellId/controllers",
+          handle() {
+            return {
+              controllers: [
+                {
+                  controller: "mock-ur5e",
+                  model_name: "UniversalRobots::Controller",
+                  host: "mock-ur5e",
+                  allow_software_install_on_controller: true,
+                  motion_groups: [
+                    {
+                      motion_group: "0@mock-ur5e",
+                      name_from_controller: "UR5e",
+                      active: false,
+                      model_from_controller: "UniversalRobots_UR5e"
+                    }
+                  ],
+                  has_error: false,
+                  error_details: ""
+                }
+              ]
+            };
+          }
+        },
+        {
+          method: "GET",
+          path: "/cells/:cellId/controllers/:controllerId",
+          handle() {
+            return {
+              configuration: {
+                kind: "VirtualController",
+                manufacturer: "universalrobots",
+                position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
+                type: "universalrobots-ur5e"
+              },
+              name: "mock-ur5"
+            };
+          }
+        },
+        {
+          method: "GET",
+          path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
+          handle() {
+            return {
+              dh_parameters: [
+                {
+                  alpha: 1.5707963267948966,
+                  theta: 0,
+                  a: 0,
+                  d: 162.25,
+                  reverse_rotation_direction: false
+                },
+                {
+                  alpha: 0,
+                  theta: 0,
+                  a: -425,
+                  d: 0,
+                  reverse_rotation_direction: false
+                },
+                {
+                  alpha: 0,
+                  theta: 0,
+                  a: -392.2,
+                  d: 0,
+                  reverse_rotation_direction: false
+                },
+                {
+                  alpha: 1.5707963267948966,
+                  theta: 0,
+                  a: 0,
+                  d: 133.3,
+                  reverse_rotation_direction: false
+                },
+                {
+                  alpha: -1.5707963267948966,
+                  theta: 0,
+                  a: 0,
+                  d: 99.7,
+                  reverse_rotation_direction: false
+                },
+                {
+                  alpha: 0,
+                  theta: 0,
+                  a: 0,
+                  d: 99.6,
+                  reverse_rotation_direction: false
+                }
+              ],
+              mechanical_joint_limits: [
+                {
+                  joint: "JOINTNAME_AXIS_1",
+                  lower_limit: -6.335545063018799,
+                  upper_limit: 6.335545063018799,
+                  unlimited: false
+                },
+                {
+                  joint: "JOINTNAME_AXIS_2",
+                  lower_limit: -6.335545063018799,
+                  upper_limit: 6.335545063018799,
+                  unlimited: false
+                },
+                {
+                  joint: "JOINTNAME_AXIS_3",
+                  lower_limit: -6.335545063018799,
+                  upper_limit: 6.335545063018799,
+                  unlimited: false
+                },
+                {
+                  joint: "JOINTNAME_AXIS_4",
+                  lower_limit: -6.335545063018799,
+                  upper_limit: 6.335545063018799,
+                  unlimited: false
+                },
+                {
+                  joint: "JOINTNAME_AXIS_5",
+                  lower_limit: -6.335545063018799,
+                  upper_limit: 6.335545063018799,
+                  unlimited: false
+                },
+                {
+                  joint: "JOINTNAME_AXIS_6",
+                  lower_limit: -6.335545063018799,
+                  upper_limit: 6.335545063018799,
+                  unlimited: false
+                }
+              ]
+            };
+          }
+        },
+        {
+          method: "GET",
+          path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
+          handle() {
+            return {
+              safety_settings: [
+                {
+                  safety_state: "SAFETY_NORMAL",
+                  settings: {
+                    joint_position_limits: [
+                      {
+                        joint: "JOINTNAME_AXIS_1",
+                        lower_limit: -2.96705961227417,
+                        upper_limit: 2.96705961227417,
+                        unlimited: false
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_2",
+                        lower_limit: -1.7453292608261108,
+                        upper_limit: 2.7925267219543457,
+                        unlimited: false
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_3",
+                        lower_limit: -3.3161256313323975,
+                        upper_limit: 0.40142571926116943,
+                        unlimited: false
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_4",
+                        lower_limit: -3.4906585216522217,
+                        upper_limit: 3.4906585216522217,
+                        unlimited: false
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_5",
+                        lower_limit: -2.4434609413146973,
+                        upper_limit: 2.4434609413146973,
+                        unlimited: false
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_6",
+                        lower_limit: -4.71238899230957,
+                        upper_limit: 4.71238899230957,
+                        unlimited: false
+                      }
+                    ],
+                    joint_velocity_limits: [
+                      {
+                        joint: "JOINTNAME_AXIS_1",
+                        limit: 3.1415927410125732
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_2",
+                        limit: 3.1415927410125732
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_3",
+                        limit: 3.4906585216522217
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_4",
+                        limit: 6.108652591705322
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_5",
+                        limit: 6.108652591705322
+                      },
+                      {
+                        joint: "JOINTNAME_AXIS_6",
+                        limit: 6.981317043304443
+                      }
+                    ],
+                    joint_acceleration_limits: [],
+                    joint_torque_limits: [],
+                    tcp_velocity_limit: 1800
+                  }
+                }
+              ],
+              safety_zones: [
+                {
+                  id: 1,
+                  priority: 0,
+                  geometry: {
+                    compound: {
+                      child_geometries: [
+                        {
+                          convex_hull: {
+                            vertices: [
+                              { vertex: [-800, -1330, -1820] },
+                              { vertex: [1650, -1330, -1820] },
+                              { vertex: [1650, 1330, -1820] },
+                              { vertex: [-800, 1330, -1820] }
+                            ]
+                          },
+                          init_pose: {
+                            position: [0, 0, 0],
+                            orientation: [0, 0, 0, 1]
+                          },
+                          id: "box"
+                        },
+                        {
+                          convex_hull: {
+                            vertices: [
+                              {
+                                vertex: [-800, -1330, -1820]
+                              },
+                              {
+                                vertex: [1650, -1330, -1820]
+                              },
+                              {
+                                vertex: [1650, -1330, 1500]
+                              },
+                              {
+                                vertex: [-800, -1330, 1500]
+                              }
+                            ]
+                          },
+                          init_pose: {
+                            position: [0, 0, 0],
+                            orientation: [0, 0, 0, 1]
+                          },
+                          id: "box"
+                        },
+                        {
+                          convex_hull: {
+                            vertices: [
+                              {
+                                vertex: [-800, -1330, -1820]
+                              },
+                              {
+                                vertex: [-800, 1330, -1820]
+                              },
+                              {
+                                vertex: [-800, 1330, 1500]
+                              },
+                              {
+                                vertex: [-800, -1330, 1500]
+                              }
+                            ]
+                          },
+                          init_pose: {
+                            position: [0, 0, 0],
+                            orientation: [0, 0, 0, 1]
+                          },
+                          id: "box"
+                        },
+                        {
+                          convex_hull: {
+                            vertices: [
+                              {
+                                vertex: [1650, 1330, 1500]
+                              },
+                              {
+                                vertex: [-800, 1330, 1500]
+                              },
+                              {
+                                vertex: [-800, -1330, 1500]
+                              },
+                              {
+                                vertex: [1650, -1330, 1500]
+                              }
+                            ]
+                          },
+                          init_pose: {
+                            position: [0, 0, 0],
+                            orientation: [0, 0, 0, 1]
+                          },
+                          id: "box"
+                        },
+                        {
+                          convex_hull: {
+                            vertices: [
+                              {
+                                vertex: [1650, 1330, 1500]
+                              },
+                              {
+                                vertex: [-800, 1330, 1500]
+                              },
+                              {
+                                vertex: [-800, 1330, -1820]
+                              },
+                              {
+                                vertex: [1650, 1330, -1820]
+                              }
+                            ]
+                          },
+                          init_pose: {
+                            position: [0, 0, 0],
+                            orientation: [0, 0, 0, 1]
+                          },
+                          id: "box"
+                        },
+                        {
+                          convex_hull: {
+                            vertices: [
+                              {
+                                vertex: [1650, 1330, 1500]
+                              },
+                              {
+                                vertex: [1650, -1330, 1500]
+                              },
+                              {
+                                vertex: [1650, -1330, -1820]
+                              },
+                              {
+                                vertex: [1650, 1330, -1820]
+                              }
+                            ]
+                          },
+                          init_pose: {
+                            position: [0, 0, 0],
+                            orientation: [0, 0, 0, 1]
+                          },
+                          id: "box"
+                        }
+                      ]
+                    },
+                    init_pose: {
+                      position: [0, 0, 0],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "Cell workzone"
+                  },
+                  motion_group_uid: 1
+                },
+                {
+                  id: 2,
+                  priority: 0,
+                  geometry: {
+                    convex_hull: {
+                      vertices: [
+                        {
+                          vertex: [1650, 1330, -1850]
+                        },
+                        {
+                          vertex: [865, 1330, -1850]
+                        },
+                        {
+                          vertex: [865, -720, -1850]
+                        },
+                        {
+                          vertex: [1650, -720, -1850]
+                        },
+                        {
+                          vertex: [1650, 1330, -920]
+                        },
+                        {
+                          vertex: [865, 1330, -920]
+                        },
+                        {
+                          vertex: [865, -720, -920]
+                        },
+                        {
+                          vertex: [1650, -720, -920]
+                        }
+                      ]
+                    },
+                    init_pose: {
+                      position: [0, 0, 0],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "Transport"
+                  },
+                  motion_group_uid: 1
+                },
+                {
+                  id: 3,
+                  priority: 0,
+                  geometry: {
+                    convex_hull: {
+                      vertices: [
+                        {
+                          vertex: [1650, 1330, -600]
+                        },
+                        {
+                          vertex: [865, 1330, -600]
+                        },
+                        {
+                          vertex: [865, 430, -600]
+                        },
+                        {
+                          vertex: [1650, 430, -600]
+                        },
+                        {
+                          vertex: [1650, 1330, -1250]
+                        },
+                        {
+                          vertex: [865, 1330, -1250]
+                        },
+                        {
+                          vertex: [865, 430, -1250]
+                        },
+                        {
+                          vertex: [1650, 430, -1250]
+                        }
+                      ]
+                    },
+                    init_pose: {
+                      position: [0, 0, 0],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "Tunel"
+                  },
+                  motion_group_uid: 1
+                },
+                {
+                  id: 4,
+                  priority: 0,
+                  geometry: {
+                    convex_hull: {
+                      vertices: [
+                        {
+                          vertex: [1650, -760, -440]
+                        },
+                        {
+                          vertex: [900, -760, -440]
+                        },
+                        {
+                          vertex: [900, -1330, -440]
+                        },
+                        {
+                          vertex: [1650, -1330, -440]
+                        },
+                        {
+                          vertex: [1650, -760, -1800]
+                        },
+                        {
+                          vertex: [900, -760, -1800]
+                        },
+                        {
+                          vertex: [900, -1330, -1800]
+                        },
+                        {
+                          vertex: [1650, -1330, -1800]
+                        }
+                      ]
+                    },
+                    init_pose: {
+                      position: [0, 0, 0],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "Fanuc controller"
+                  },
+                  motion_group_uid: 1
+                },
+                {
+                  id: 6,
+                  priority: 0,
+                  geometry: {
+                    convex_hull: {
+                      vertices: [
+                        {
+                          vertex: [-200, -200, -1900]
+                        },
+                        {
+                          vertex: [200, -200, -1900]
+                        },
+                        {
+                          vertex: [200, 200, -1900]
+                        },
+                        {
+                          vertex: [-200, 200, -1900]
+                        },
+                        {
+                          vertex: [-200, -200, -350]
+                        },
+                        {
+                          vertex: [200, -200, -350]
+                        },
+                        {
+                          vertex: [200, 200, -350]
+                        },
+                        {
+                          vertex: [-200, 200, -350]
+                        }
+                      ]
+                    },
+                    init_pose: {
+                      position: [0, 0, 0],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "Robot base"
+                  },
+                  motion_group_uid: 1
+                }
+              ],
+              robot_model_geometries: [
+                {
+                  link_index: 1,
+                  geometry: {
+                    sphere: {
+                      radius: 270
+                    },
+                    init_pose: {
+                      position: [-70, -70, -50],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "link1_sphere"
+                  }
+                },
+                {
+                  link_index: 2,
+                  geometry: {
+                    capsule: {
+                      radius: 160,
+                      cylinder_height: 800
+                    },
+                    init_pose: {
+                      position: [-450, 40, 170],
+                      orientation: [
+                        0,
+                        -0.7071067811865475,
+                        0,
+                        0.7071067811865476
+                      ]
+                    },
+                    id: "link2_capsule"
+                  }
+                },
+                {
+                  link_index: 3,
+                  geometry: {
+                    sphere: {
+                      radius: 270
+                    },
+                    init_pose: {
+                      position: [-110, 10, -100],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "link3_sphere"
+                  }
+                },
+                {
+                  link_index: 4,
+                  geometry: {
+                    capsule: {
+                      radius: 110,
+                      cylinder_height: 600
+                    },
+                    init_pose: {
+                      position: [0, 300, 40],
+                      orientation: [
+                        -0.7071067811865475,
+                        0,
+                        0,
+                        0.7071067811865476
+                      ]
+                    },
+                    id: "link4_capsule"
+                  }
+                },
+                {
+                  link_index: 5,
+                  geometry: {
+                    sphere: {
+                      radius: 75
+                    },
+                    init_pose: {
+                      position: [0, 0, -50],
+                      orientation: [0, 0, 0, 1]
+                    },
+                    id: "link5_sphere"
+                  }
+                }
+              ],
+              tool_geometries: []
+            };
+          }
+        },
+        {
+          method: "GET",
+          path: "/cells/:cellId/coordinate-systems",
+          handle() {
+            return {
+              coordinatesystems: [
+                {
+                  coordinate_system: "",
+                  name: "world",
+                  reference_uid: "",
+                  position: [0, 0, 0],
+                  rotation: {
+                    angles: [0, 0, 0],
+                    type: "ROTATION_VECTOR"
+                  }
+                }
+              ]
+            };
+          }
+        },
+        {
+          method: "GET",
+          path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
+          handle() {
+            return {
+              tcps: [
+                {
+                  id: "Flange",
+                  readable_name: "Default-Flange",
+                  position: [0, 0, 0],
+                  rotation: {
+                    angles: [0, 0, 0, 0],
+                    type: "ROTATION_VECTOR"
+                  }
+                },
+                {
+                  id: "complex-tcp-position",
+                  readable_name: "Complex TCP Position",
+                  position: [-200, 300, 150],
+                  rotation: {
+                    angles: [
+                      -0.12139440409113832,
+                      -0.06356210998212003,
+                      -0.2023240068185639,
+                      0
+                    ],
+                    type: "ROTATION_VECTOR"
+                  }
+                }
+              ]
+            };
+          }
+        }
+      ];
+      const method = ((_a = config.method) == null ? void 0 : _a.toUpperCase()) || "GET";
+      const path = "/cells" + ((_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]);
+      for (const handler of apiHandlers) {
+        const match2 = pathToRegexp.match(handler.path)(path || "");
+        if (method === handler.method && match2) {
+          const json = handler.handle();
+          return {
+            status: 200,
+            statusText: "Success",
+            data: JSON.stringify(json),
+            headers: {},
+            config,
+            request: {
+              responseURL: config.url
+            }
+          };
+        }
+      }
+      throw new AxiosError2(
+        `No mock handler matched this request: ${method} ${path}`,
+        "404",
+        config
+      );
+    });
+  }
+  handleWebsocketConnection(socket) {
+    this.connections.push(socket);
+    setTimeout(() => {
+      socket.dispatchEvent(new Event("open"));
+      console.log("Websocket connection opened from", socket.url);
+      if (socket.url.includes("/state-stream")) {
+        socket.dispatchEvent(
+          new MessageEvent("message", {
+            data: JSON.stringify(defaultMotionState)
+          })
+        );
+      }
+      if (socket.url.includes("/move-joint")) {
+        socket.dispatchEvent(
+          new MessageEvent("message", {
+            data: JSON.stringify({
+              result: {
+                motion_group: "0@ur",
+                state: {
+                  controller: "ur",
+                  operation_mode: "OPERATION_MODE_AUTO",
+                  safety_state: "SAFETY_STATE_NORMAL",
+                  timestamp: "2024-09-18T12:48:26.096266444Z",
+                  velocity_override: 100,
+                  motion_groups: [
+                    {
+                      motion_group: "0@ur",
+                      controller: "ur",
+                      joint_position: {
+                        joints: [
+                          1.3492152690887451,
+                          -1.5659207105636597,
+                          1.6653711795806885,
+                          -1.0991662740707397,
+                          -1.829018235206604,
+                          1.264623761177063
+                        ]
+                      },
+                      joint_velocity: {
+                        joints: [0, 0, 0, 0, 0, 0]
+                      },
+                      flange_pose: {
+                        position: [
+                          6.437331889439328,
+                          -628.4123774830913,
+                          577.0569957147832
+                        ],
+                        orientation: {
+                          x: -1.683333649797158,
+                          y: -1.9783363827298732,
+                          z: -0.4928031860165713
+                        },
+                        coordinate_system: ""
+                      },
+                      tcp_pose: {
+                        position: [
+                          6.437331889439328,
+                          -628.4123774830913,
+                          577.0569957147832
+                        ],
+                        orientation: {
+                          x: -1.683333649797158,
+                          y: -1.9783363827298732,
+                          z: -0.4928031860165713
+                        },
+                        coordinate_system: "",
+                        tcp: "Flange"
+                      },
+                      velocity: {
+                        linear: {
+                          x: 0,
+                          y: 0,
+                          z: 0
+                        },
+                        angular: {
+                          x: -0,
+                          y: 0,
+                          z: 0
+                        },
+                        coordinate_system: ""
+                      },
+                      force: {
+                        force: {
+                          x: 0,
+                          y: 0,
+                          z: 0
+                        },
+                        moment: {
+                          x: 0,
+                          y: 0,
+                          z: 0
+                        },
+                        coordinate_system: ""
+                      },
+                      joint_limit_reached: {
+                        limit_reached: [
+                          false,
+                          false,
+                          false,
+                          false,
+                          false,
+                          false
+                        ]
+                      },
+                      joint_current: {
+                        joints: [0, 0, 0, 0, 0, 0]
+                      },
+                      sequence_number: "671259"
+                    }
+                  ],
+                  sequence_number: "671259"
+                },
+                movement_state: "MOVEMENT_STATE_MOVING"
+              }
+            })
+          })
+        );
+      }
+      if (socket.url.includes("/move-tcp")) {
+        socket.dispatchEvent(
+          new MessageEvent("message", {
+            data: JSON.stringify({
+              result: {
+                motion_group: "0@ur",
+                state: {
+                  controller: "ur",
+                  operation_mode: "OPERATION_MODE_AUTO",
+                  safety_state: "SAFETY_STATE_NORMAL",
+                  timestamp: "2024-09-18T12:43:12.188335774Z",
+                  velocity_override: 100,
+                  motion_groups: [
+                    {
+                      motion_group: "0@ur",
+                      controller: "ur",
+                      joint_position: {
+                        joints: [
+                          1.3352527618408203,
+                          -1.5659207105636597,
+                          1.6653711795806885,
+                          -1.110615611076355,
+                          -1.829018235206604,
+                          1.264623761177063
+                        ]
+                      },
+                      joint_velocity: {
+                        joints: [0, 0, 0, 0, 0, 0]
+                      },
+                      flange_pose: {
+                        position: [
+                          -2.763015284002938,
+                          -630.2151479701106,
+                          577.524509114342
+                        ],
+                        orientation: {
+                          x: -1.704794877102097,
+                          y: -1.9722372952861567,
+                          z: -0.4852079204210754
+                        },
+                        coordinate_system: ""
+                      },
+                      tcp_pose: {
+                        position: [
+                          -2.763015284002938,
+                          -630.2151479701106,
+                          577.524509114342
+                        ],
+                        orientation: {
+                          x: -1.704794877102097,
+                          y: -1.9722372952861567,
+                          z: -0.4852079204210754
+                        },
+                        coordinate_system: "",
+                        tcp: "Flange"
+                      },
+                      velocity: {
+                        linear: {
+                          x: 0,
+                          y: 0,
+                          z: 0
+                        },
+                        angular: {
+                          x: -0,
+                          y: 0,
+                          z: 0
+                        },
+                        coordinate_system: ""
+                      },
+                      force: {
+                        force: {
+                          x: 0,
+                          y: 0,
+                          z: 0
+                        },
+                        moment: {
+                          x: 0,
+                          y: 0,
+                          z: 0
+                        },
+                        coordinate_system: ""
+                      },
+                      joint_limit_reached: {
+                        limit_reached: [
+                          false,
+                          false,
+                          false,
+                          false,
+                          false,
+                          false
+                        ]
+                      },
+                      joint_current: {
+                        joints: [0, 0, 0, 0, 0, 0]
+                      },
+                      sequence_number: "627897"
+                    }
+                  ],
+                  sequence_number: "627897"
+                },
+                movement_state: "MOVEMENT_STATE_MOVING"
+              }
+            })
+          })
+        );
+      }
+    }, 10);
+  }
+  handleWebsocketMessage(socket, message) {
+    console.log(`Received message on ${socket.url}`, message);
+  }
+};
+var defaultMotionState = {
+  result: {
+    motion_group: "0@universalrobots-ur5e",
+    controller: "universalrobots-ur5e",
+    joint_position: {
+      joints: [
+        1.1699999570846558,
+        -1.5700000524520874,
+        1.3600000143051147,
+        1.0299999713897705,
+        1.2899999618530273,
+        1.2799999713897705
+      ]
+    },
+    joint_velocity: {
+      joints: [0, 0, 0, 0, 0, 0]
+    },
+    flange_pose: {
+      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
+      orientation: [
+        1.7564919306270736,
+        -1.7542521568325058,
+        0.7326972590614671
+      ],
+      coordinate_system: ""
+    },
+    tcp_pose: {
+      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
+      orientation: [
+        1.7564919306270736,
+        -1.7542521568325058,
+        0.7326972590614671
+      ],
+      coordinate_system: "",
+      tcp: "Flange"
+    },
+    velocity: {
+      linear: [0, 0, 0],
+      angular: [0, 0, 0],
+      coordinate_system: ""
+    },
+    force: {
+      force: [0, 0, 0],
+      moment: [0, 0, 0],
+      coordinate_system: ""
+    },
+    joint_limit_reached: {
+      limit_reached: [false, false, false, false, false, false]
+    },
+    joint_current: {
+      joints: [0, 0, 0, 0, 0, 0]
+    }
+  }
+};
+
+// src/lib/v2/NovaClient.ts
+var NovaClient = class {
+  constructor(config) {
+    this.authPromise = null;
+    this.accessToken = null;
+    var _a;
+    console.warn("Using experimental NOVA v2 client");
+    const cellId = (_a = config.cellId) != null ? _a : "cell";
+    this.config = __spreadValues({
+      cellId
+    }, config);
+    this.accessToken = config.accessToken || availableStorage.getString("wbjs.access_token") || null;
+    if (this.config.instanceUrl === "https://mock.example.com") {
+      this.mock = new MockNovaInstance();
+    }
+    const axiosInstance = axios2.create({
+      baseURL: urlJoin(this.config.instanceUrl, "/api/v2")
+    });
+    axiosInstance.interceptors.request.use((request) => __async(this, null, function* () {
+      if (!request.headers.Authorization) {
+        if (this.accessToken) {
+          request.headers.Authorization = `Bearer ${this.accessToken}`;
+        } else if (this.config.username && this.config.password) {
+          request.headers.Authorization = `Basic ${btoa(config.username + ":" + config.password)}`;
+        }
+      }
+      return request;
+    }));
+    if (typeof window !== "undefined") {
+      axiosInstance.interceptors.response.use(
+        (r) => r,
+        (error) => __async(this, null, function* () {
+          var _a2, _b;
+          if (isAxiosError(error)) {
+            if (((_a2 = error.response) == null ? void 0 : _a2.status) === 401) {
+              try {
+                yield this.renewAuthentication();
+                if (error.config) {
+                  if (this.accessToken) {
+                    error.config.headers.Authorization = `Bearer ${this.accessToken}`;
+                  } else {
+                    delete error.config.headers.Authorization;
+                  }
+                  return axiosInstance.request(error.config);
+                }
+              } catch (err) {
+                return Promise.reject(err);
+              }
+            } else if (((_b = error.response) == null ? void 0 : _b.status) === 503) {
+              const res = yield fetch(window.location.href);
+              if (res.status === 503) {
+                window.location.reload();
+              }
+            }
+          }
+          return Promise.reject(error);
+        })
+      );
+    }
+    this.api = new NovaCellAPIClient(cellId, __spreadProps(__spreadValues({}, config), {
+      basePath: urlJoin(this.config.instanceUrl, "/api/v1"),
+      isJsonMime: (mime) => {
+        return mime === "application/json";
+      },
+      baseOptions: __spreadValues(__spreadValues({}, this.mock ? {
+        adapter: (config2) => {
+          return this.mock.handleAPIRequest(config2);
+        }
+      } : {}), config.baseOptions),
+      axiosInstance
+    }));
+  }
+  renewAuthentication() {
+    return __async(this, null, function* () {
+      if (this.authPromise) {
+        return;
+      }
+      this.authPromise = loginWithAuth0(this.config.instanceUrl);
+      try {
+        this.accessToken = yield this.authPromise;
+        if (this.accessToken) {
+          availableStorage.setString("wbjs.access_token", this.accessToken);
+        } else {
+          availableStorage.delete("wbjs.access_token");
+        }
+      } finally {
+        this.authPromise = null;
+      }
+    });
+  }
+  makeWebsocketURL(path) {
+    const url = new URL(
+      urlJoin(
+        this.config.instanceUrl,
+        `/api/v1/cells/${this.config.cellId}`,
+        path
+      )
+    );
+    url.protocol = url.protocol.replace("http", "ws");
+    url.protocol = url.protocol.replace("https", "wss");
+    if (this.accessToken) {
+      url.searchParams.append("token", this.accessToken);
+    } else if (this.config.username && this.config.password) {
+      url.username = this.config.username;
+      url.password = this.config.password;
+    }
+    return url.toString();
+  }
+  /**
+   * 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) {
+    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {
+      mock: this.mock
+    });
+  }
+  /**
+   * Connect to the motion state websocket(s) for a given motion group
+   */
+  connectMotionStream(motionGroupId) {
+    return __async(this, null, function* () {
+      return yield MotionStreamConnection.open(this, motionGroupId);
+    });
+  }
+  connectMotionGroups(motionGroupIds) {
+    return __async(this, null, function* () {
+      const { controllers } = yield this.api.controller.listControllers();
+      return Promise.all(
+        motionGroupIds.map(
+          (motionGroupId) => ConnectedMotionGroup.connect(this, motionGroupId, controllers)
+        )
+      );
+    });
+  }
+  connectMotionGroup(motionGroupId) {
+    return __async(this, null, function* () {
+      const motionGroups = yield this.connectMotionGroups([motionGroupId]);
+      return motionGroups[0];
+    });
+  }
+};
+
+// src/lib/v2/ProgramStateConnection.ts
+import { AxiosError as AxiosError3 } from "axios";
+import { makeAutoObservable as makeAutoObservable3, runInAction as runInAction3 } from "mobx";
+var ProgramState = /* @__PURE__ */ ((ProgramState2) => {
+  ProgramState2["NotStarted"] = "not started";
+  ProgramState2["Running"] = "running";
+  ProgramState2["Stopped"] = "stopped";
+  ProgramState2["Failed"] = "failed";
+  ProgramState2["Completed"] = "completed";
+  return ProgramState2;
+})(ProgramState || {});
+var ProgramStateConnection = class {
+  constructor(nova) {
+    this.nova = nova;
+    this.currentProgram = {};
+    this.logs = [];
+    this.executionState = "idle";
+    this.currentlyExecutingProgramRunnerId = null;
+    makeAutoObservable3(this, {}, { autoBind: true });
+    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
+    this.programStateSocket.addEventListener("message", (ev) => {
+      const msg = tryParseJson(ev.data);
+      if (!msg) {
+        console.error("Failed to parse program state message", ev.data);
+        return;
+      }
+      if (msg.type === "update") {
+        this.handleProgramStateMessage(msg);
+      }
+    });
+  }
+  /** Handle a program state update from the backend */
+  handleProgramStateMessage(msg) {
+    return __async(this, null, function* () {
+      var _a;
+      const { runner } = msg;
+      if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
+      if (runner.state === "failed" /* Failed */) {
+        try {
+          const runnerState = yield this.nova.api.program.getProgramRunner(
+            runner.id
+          );
+          const stdout = runnerState.stdout;
+          if (stdout) {
+            this.log(stdout);
+          }
+          this.logError(
+            `Program runner ${runner.id} failed with error: ${runnerState.error}
+${runnerState.traceback}`
+          );
+        } catch (err) {
+          this.logError(
+            `Failed to retrieve results for program ${runner.id}: ${err}`
+          );
+        }
+        this.currentProgram.state = "failed" /* Failed */;
+        this.gotoIdleState();
+      } else if (runner.state === "stopped" /* Stopped */) {
+        try {
+          const runnerState = yield this.nova.api.program.getProgramRunner(
+            runner.id
+          );
+          const stdout = runnerState.stdout;
+          if (stdout) {
+            this.log(stdout);
+          }
+          this.currentProgram.state = "stopped" /* Stopped */;
+          this.log(`Program runner ${runner.id} stopped`);
+        } catch (err) {
+          this.logError(
+            `Failed to retrieve results for program ${runner.id}: ${err}`
+          );
+        }
+        this.gotoIdleState();
+      } else if (runner.state === "completed" /* Completed */) {
+        try {
+          const runnerState = yield this.nova.api.program.getProgramRunner(
+            runner.id
+          );
+          const stdout = runnerState.stdout;
+          if (stdout) {
+            this.log(stdout);
+          }
+          this.log(
+            `Program runner ${runner.id} finished successfully in ${(_a = runner.execution_time) == null ? void 0 : _a.toFixed(2)} seconds`
+          );
+          this.currentProgram.state = "completed" /* Completed */;
+        } catch (err) {
+          this.logError(
+            `Failed to retrieve results for program ${runner.id}: ${err}`
+          );
+        }
+        this.gotoIdleState();
+      } else if (runner.state === "running" /* Running */) {
+        this.currentProgram.state = "running" /* Running */;
+        this.log(`Program runner ${runner.id} now running`);
+      } else if (runner.state !== "not started" /* NotStarted */) {
+        console.error(runner);
+        this.logError(
+          `Program runner ${runner.id} entered unexpected state: ${runner.state}`
+        );
+        this.currentProgram.state = "not started" /* NotStarted */;
+        this.gotoIdleState();
+      }
+    });
+  }
+  /** Call when a program is no longer executing */
+  gotoIdleState() {
+    runInAction3(() => {
+      this.executionState = "idle";
+    });
+    this.currentlyExecutingProgramRunnerId = null;
+  }
+  executeProgram(wandelscript, initial_state, activeRobot) {
+    return __async(this, null, function* () {
+      this.currentProgram = {
+        wandelscript,
+        state: "not started" /* NotStarted */
+      };
+      const { currentProgram: openProgram } = this;
+      if (!openProgram) return;
+      runInAction3(() => {
+        this.executionState = "starting";
+      });
+      const trimmedCode = openProgram.wandelscript.replaceAll(/^\s*$/gm, "");
+      try {
+        const programRunnerRef = yield this.nova.api.program.createProgramRunner(
+          {
+            code: trimmedCode,
+            initial_state,
+            default_robot: activeRobot == null ? void 0 : activeRobot.wandelscriptIdentifier
+          },
+          {
+            headers: {
+              "Content-Type": "application/json"
+            }
+          }
+        );
+        this.log(`Created program runner ${programRunnerRef.id}"`);
+        runInAction3(() => {
+          this.executionState = "executing";
+        });
+        this.currentlyExecutingProgramRunnerId = programRunnerRef.id;
+      } catch (error) {
+        if (error instanceof AxiosError3 && error.response && error.request) {
+          this.logError(
+            `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`
+          );
+        } else {
+          this.logError(JSON.stringify(error));
+        }
+        runInAction3(() => {
+          this.executionState = "idle";
+        });
+      }
+    });
+  }
+  stopProgram() {
+    return __async(this, null, function* () {
+      if (!this.currentlyExecutingProgramRunnerId) return;
+      runInAction3(() => {
+        this.executionState = "stopping";
+      });
+      try {
+        yield this.nova.api.program.stopProgramRunner(
+          this.currentlyExecutingProgramRunnerId
+        );
+      } catch (err) {
+        runInAction3(() => {
+          this.executionState = "executing";
+        });
+        throw err;
+      }
+    });
+  }
+  reset() {
+    this.currentProgram = {};
+  }
+  log(message) {
+    console.log(message);
+    this.logs.push({
+      timestamp: Date.now(),
+      message
+    });
+  }
+  logError(message) {
+    console.log(message);
+    this.logs.push({
+      timestamp: Date.now(),
+      message,
+      level: "error"
+    });
+  }
+};
+export {
+  ConnectedMotionGroup,
+  JoggerConnection,
+  MotionStreamConnection,
+  NovaCellAPIClient,
+  NovaClient,
+  ProgramState,
+  ProgramStateConnection
+};
+//# sourceMappingURL=index.js.map