@wandelbots/nova-js 2.0.2 → 2.1.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/README.md +7 -1
- package/dist/lib/v1/NovaClient.d.ts.map +1 -1
- package/dist/lib/v1/index.cjs +6 -2
- package/dist/lib/v1/index.cjs.map +1 -1
- package/dist/lib/v1/index.js +6 -2
- package/dist/lib/v1/index.js.map +1 -1
- package/dist/lib/v2/NovaCellAPIClient.d.ts +1 -3
- package/dist/lib/v2/NovaCellAPIClient.d.ts.map +1 -1
- package/dist/lib/v2/NovaClient.d.ts.map +1 -1
- package/dist/lib/v2/ProgramStateConnection.d.ts.map +1 -1
- package/dist/lib/v2/index.cjs +9 -14
- package/dist/lib/v2/index.cjs.map +1 -1
- package/dist/lib/v2/index.js +9 -16
- package/dist/lib/v2/index.js.map +1 -1
- package/package.json +2 -2
- package/src/lib/v1/NovaClient.ts +3 -0
- package/src/lib/v1/mock/MockNovaInstance.ts +1 -0
- package/src/lib/v2/NovaCellAPIClient.ts +0 -4
- package/src/lib/v2/NovaClient.ts +3 -0
- package/src/lib/v2/ProgramStateConnection.ts +5 -11
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@@ -1,5 +1,5 @@
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1
1
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import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2";
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2
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-
import { ApplicationApi, CellApi, ControllerApi, ControllerInputsOutputsApi, CoordinateSystemsApi, JoggingApi, MotionGroupApi, MotionGroupInfoApi, MotionGroupKinematicsApi, ProgramApi,
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2
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+
import { ApplicationApi, CellApi, ControllerApi, ControllerInputsOutputsApi, CoordinateSystemsApi, JoggingApi, MotionGroupApi, MotionGroupInfoApi, MotionGroupKinematicsApi, ProgramApi, ProgramOperatorApi, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v2";
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3
3
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import type { AxiosInstance } from "axios";
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4
4
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type OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R ? (...args: P) => R : never;
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5
5
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type UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
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@@ -42,8 +42,6 @@ export declare class NovaCellAPIClient {
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readonly controller: WithCellId<ControllerApi>;
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readonly program: WithCellId<ProgramApi>;
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readonly programOperator: WithCellId<ProgramOperatorApi>;
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45
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-
readonly programLibraryMetadata: WithCellId<ProgramLibraryMetadataApi>;
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readonly programLibrary: WithCellId<ProgramLibraryApi>;
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readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>;
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readonly motionGroupKinematic: WithCellId<MotionGroupKinematicsApi>;
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readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>;
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@@ -1 +1 @@
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1
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-
{"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,
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1
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+
{"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,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;IAE9D,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"}
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@@ -1 +1 @@
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1
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-
{"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;
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1
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+
{"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;IA4F9B,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"}
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@@ -1 +1 @@
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1
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-
{"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;
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1
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{"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;IAgFxD,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"}
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package/dist/lib/v2/index.cjs
CHANGED
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@@ -598,8 +598,6 @@ var NovaCellAPIClient = class {
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598
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this.controller = this.withCellId(import_v2.ControllerApi);
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599
599
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this.program = this.withCellId(import_v2.ProgramApi);
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600
600
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this.programOperator = this.withCellId(import_v2.ProgramOperatorApi);
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601
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this.programLibraryMetadata = this.withCellId(import_v2.ProgramLibraryMetadataApi);
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602
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this.programLibrary = this.withCellId(import_v2.ProgramLibraryApi);
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603
601
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this.controllerIOs = this.withCellId(import_v2.ControllerInputsOutputsApi);
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602
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this.motionGroupKinematic = this.withCellId(import_v2.MotionGroupKinematicsApi);
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605
603
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this.trajectoryPlanning = this.withCellId(import_v2.TrajectoryPlanningApi);
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@@ -1903,7 +1901,10 @@ var NovaClient = class {
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1903
1901
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this.mock = new MockNovaInstance();
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}
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1903
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const axiosInstance = import_axios4.default.create({
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1906
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baseURL: (0, import_url_join.default)(this.config.instanceUrl, "/api/v2")
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1904
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baseURL: (0, import_url_join.default)(this.config.instanceUrl, "/api/v2"),
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1905
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headers: {
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1906
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"User-Agent": `Wandelbots-Nova-JS-SDK`
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1907
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}
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});
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1908
1909
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axiosInstance.interceptors.request.use((request) => __async(this, null, function* () {
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1909
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if (!request.headers.Authorization) {
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@@ -2070,9 +2071,7 @@ var ProgramStateConnection = class {
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2070
2071
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if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
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2071
2072
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if (runner.state === "failed" /* Failed */) {
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2072
2073
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try {
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2073
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const runnerState = yield this.nova.api.program.
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2074
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runner.id
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2075
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);
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2074
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+
const runnerState = yield this.nova.api.program.getProgramRun(runner.id);
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2076
2075
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const stdout = runnerState.stdout;
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2077
2076
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if (stdout) {
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2078
2077
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this.log(stdout);
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@@ -2090,9 +2089,7 @@ ${runnerState.traceback}`
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2090
2089
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this.gotoIdleState();
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2091
2090
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} else if (runner.state === "stopped" /* Stopped */) {
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2092
2091
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try {
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2093
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const runnerState = yield this.nova.api.program.
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2094
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-
runner.id
|
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2095
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-
);
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2092
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+
const runnerState = yield this.nova.api.program.getProgramRun(runner.id);
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2096
2093
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const stdout = runnerState.stdout;
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2097
2094
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if (stdout) {
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2098
2095
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this.log(stdout);
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@@ -2107,9 +2104,7 @@ ${runnerState.traceback}`
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2107
2104
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this.gotoIdleState();
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2108
2105
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} else if (runner.state === "completed" /* Completed */) {
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2109
2106
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try {
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2110
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-
const runnerState = yield this.nova.api.program.
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2111
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-
runner.id
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2112
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-
);
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2107
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+
const runnerState = yield this.nova.api.program.getProgramRun(runner.id);
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2113
2108
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const stdout = runnerState.stdout;
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2114
2109
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if (stdout) {
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2115
2110
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this.log(stdout);
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@@ -2157,7 +2152,7 @@ ${runnerState.traceback}`
|
|
|
2157
2152
|
});
|
|
2158
2153
|
const trimmedCode = openProgram.wandelscript.replaceAll(/^\s*$/gm, "");
|
|
2159
2154
|
try {
|
|
2160
|
-
const programRunnerRef = yield this.nova.api.program.
|
|
2155
|
+
const programRunnerRef = yield this.nova.api.program.createProgramRun(
|
|
2161
2156
|
{
|
|
2162
2157
|
code: trimmedCode,
|
|
2163
2158
|
initial_state,
|
|
@@ -2195,7 +2190,7 @@ ${runnerState.traceback}`
|
|
|
2195
2190
|
this.executionState = "stopping";
|
|
2196
2191
|
});
|
|
2197
2192
|
try {
|
|
2198
|
-
yield this.nova.api.program.
|
|
2193
|
+
yield this.nova.api.program.stopProgramRun(
|
|
2199
2194
|
this.currentlyExecutingProgramRunnerId
|
|
2200
2195
|
);
|
|
2201
2196
|
} catch (err) {
|