@wandelbots/nova-js 2.1.4-pr.feature-remove-v2-functionallity.113.bfa317e → 2.1.4-pr.feature-add-program-client.114.9d31b54

package/README.md

@@ -17,6 +17,7 @@ If you develop an react application we also provide a set of [react components](
 
 - [Basic usage](#basic-usage)
 - [API Version Support](#api-version-support)
+- [Programs API (v2)](#programs-api-v2)
 - [API calls](#api-calls)
 - [Opening websockets](#opening-websockets)
 - [Connect to a motion group](#connect-to-a-motion-group)
@@ -69,6 +70,42 @@ const { controllers } = await nova.api.controller.listRobotControllers()
 
 We recommend using **v1** for production applications until v2 support is fully implemented.
 
+## Programs API (v2)
+
+For v2 instances, you can use the enhanced `ProgramsClient` to manage programs:
+
+```ts
+import { NovaClient } from "@wandelbots/nova-js/v2"
+
+const nova = new NovaClient({
+  instanceUrl: "https://example.instance.wandelbots.io",
+  cellId: "cell",
+  accessToken: "...",
+})
+
+// Access the programs client
+const programs = nova.cell("cell-id").programsClient
+
+// List all available programs
+const allPrograms = await programs.list()
+
+// Start a program with arguments
+const run = await programs.start("my-program", {
+  // Add your program-specific arguments here
+})
+
+// Stop a running program
+await programs.stop("my-program")
+
+// Work with a specific program
+const myProgram = programs.forProgram("welding-program")
+const details = await myProgram.getDetails()
+const run = await myProgram.start({ /* program arguments */ })
+await myProgram.stop()
+```
+
+**Note:** Real-time program state tracking via NATS messaging is planned for future releases. Currently, the API provides basic start/stop functionality.
+
 ## API calls
 
 You can make calls to the REST API via `nova.api`, which contains a bunch of namespaced methods for each endpoint generated from the OpenAPI spec and documentation.

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

@@ -1,6 +1,7 @@
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2";
-import { ApplicationApi, BUSInputsOutputsApi, CellApi, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
+import { ApplicationApi, BUSInputsOutputsApi, CellApi, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, ProgramApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 import type { AxiosInstance } from "axios";
+import { ProgramsClient } from "./ProgramsClient.js";
 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;
@@ -44,6 +45,7 @@ export declare class NovaCellAPIClient {
     readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>;
     readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>;
     readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>;
+    readonly programs: WithCellId<ProgramApi>;
     readonly application: WithCellId<ApplicationApi>;
     readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>;
     readonly jogging: WithCellId<JoggingApi>;
@@ -55,6 +57,8 @@ export declare class NovaCellAPIClient {
     readonly storeObject: WithCellId<StoreObjectApi>;
     readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>;
     readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>;
+    private _programsClient?;
+    get programsClient(): ProgramsClient;
 }
 export {};
 //# sourceMappingURL=NovaCellAPIClient.d.ts.map

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

@@ -1 +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,mBAAmB,EACnB,OAAO,EACP,aAAa,EACb,0BAA0B,EAC1B,UAAU,EACV,aAAa,EACb,cAAc,EACd,oBAAoB,EACpB,UAAU,EACV,2BAA2B,EAC3B,uBAAuB,EACvB,cAAc,EACd,SAAS,EACT,oBAAoB,EACpB,sBAAsB,EACtB,qBAAqB,EACrB,oBAAoB,EACpB,4BAA4B,EAC5B,iCAAiC,EAClC,MAAM,yBAAyB,CAAA;AAEhC,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,OAAO,CAAA;AAE1C,OAAO,EAAE,cAAc,EAAE,MAAM,qBAAqB,CAAA;AAEpD,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,iBAAiB,mCAAwC;IAElE,QAAQ,CAAC,UAAU,4BAAiC;IAEpD,QAAQ,CAAC,aAAa,yCAA8C;IAEpE,QAAQ,CAAC,kBAAkB,oCAAyC;IACpE,QAAQ,CAAC,mBAAmB,qCAA0C;IACtE,QAAQ,CAAC,iBAAiB,mCAAwC;IAElE,QAAQ,CAAC,QAAQ,yBAA8B;IAE/C,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,iBAAiB,6CAAkD;IAE5E,QAAQ,CAAC,OAAO,yBAA8B;IAE9C,QAAQ,CAAC,UAAU,4BAAiC;IAEpD,QAAQ,CAAC,gBAAgB,kCAAuC;IAEhE,QAAQ,CAAC,iBAAiB,mCAAwC;IAClE,QAAQ,CAAC,yBAAyB,2CAEjC;IACD,QAAQ,CAAC,oBAAoB,gDAE5B;IAED,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,wBAAwB,0CAEhC;IACD,QAAQ,CAAC,oBAAoB,sCAA2C;IAGxE,OAAO,CAAC,eAAe,CAAC,CAAgB;IACxC,IAAI,cAAc,IAAI,cAAc,CAKnC;CACF"}

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

@@ -0,0 +1,79 @@
+import type { Program, ProgramRun, ProgramRunState, ProgramStartRequest, ProgramApi } from "@wandelbots/nova-api/v2";
+import type { NovaCellAPIClient, WithCellId } from "./NovaCellAPIClient.js";
+/**
+ * Enhanced client for the Programs API providing intuitive program management
+ */
+export declare class ProgramsClient {
+    private client;
+    constructor(client: NovaCellAPIClient);
+    /**
+     * Get the underlying programs API for direct access
+     */
+    get api(): WithCellId<ProgramApi>;
+    /**
+     * List all programs available in the cell
+     */
+    list(): Promise<Program[]>;
+    /**
+     * Get details of a specific program
+     */
+    get(programId: string): Promise<Program>;
+    /**
+     * Start a program with the given arguments
+     */
+    start(programId: string, args?: object): Promise<ProgramRun>;
+    /**
+     * Stop a running program
+     */
+    stop(programId: string): Promise<void>;
+    /**
+     * Execute a program and wait for it to complete
+     *
+     * Note: This method has limitations due to current API constraints.
+     * Real-time program state tracking will be available via NATS messaging
+     * in future versions. For now, this provides basic start functionality.
+     *
+     * @param programId - The program identifier
+     * @param args - Arguments to pass to the program
+     * @param options - Basic execution options
+     */
+    execute(programId: string, args?: object, options?: {
+        onStart?: (run: ProgramRun) => void;
+    }): Promise<ProgramRun>;
+    /**
+     * Create a program runner helper for a specific program
+     */
+    forProgram(programId: string): ProgramRunner;
+}
+/**
+ * Helper class for managing a specific program
+ */
+export declare class ProgramRunner {
+    private programs;
+    private programId;
+    constructor(programs: ProgramsClient, programId: string);
+    /**
+     * Get program details
+     */
+    getDetails(): Promise<Program>;
+    /**
+     * Start this program
+     */
+    start(args?: object): Promise<ProgramRun>;
+    /**
+     * Stop this program
+     */
+    stop(): Promise<void>;
+    /**
+     * Execute this program (start and get initial run information)
+     *
+     * Note: This method has limitations due to current API constraints.
+     * Real-time program state tracking will be available via NATS messaging
+     * in future versions.
+     */
+    execute(args?: object, options?: {
+        onStart?: (run: ProgramRun) => void;
+    }): Promise<ProgramRun>;
+}
+export type { Program, ProgramRun, ProgramRunState, ProgramStartRequest, };
+//# sourceMappingURL=ProgramsClient.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/lib/v2/index.cjs

@@ -69,7 +69,9 @@ var __async = (__this, __arguments, generator) => {
 var v2_exports = {};
 __export(v2_exports, {
   NovaCellAPIClient: () => NovaCellAPIClient,
-  NovaClient: () => NovaClient
+  NovaClient: () => NovaClient,
+  ProgramRunner: () => ProgramRunner,
+  ProgramsClient: () => ProgramsClient
 });
 module.exports = __toCommonJS(v2_exports);
 __reExport(v2_exports, require("@wandelbots/nova-api/v2"), module.exports);
@@ -77,6 +79,125 @@ __reExport(v2_exports, require("@wandelbots/nova-api/v2"), module.exports);
 // src/lib/v2/NovaCellAPIClient.ts
 var import_v2 = require("@wandelbots/nova-api/v2");
 var import_axios = __toESM(require("axios"), 1);
+
+// src/lib/v2/ProgramsClient.ts
+var ProgramsClient = class {
+  constructor(client) {
+    this.client = client;
+  }
+  /**
+   * Get the underlying programs API for direct access
+   */
+  get api() {
+    return this.client.programs;
+  }
+  /**
+   * List all programs available in the cell
+   */
+  list() {
+    return __async(this, null, function* () {
+      return yield this.api.listPrograms();
+    });
+  }
+  /**
+   * Get details of a specific program
+   */
+  get(programId) {
+    return __async(this, null, function* () {
+      return yield this.api.getProgram(programId);
+    });
+  }
+  /**
+   * Start a program with the given arguments
+   */
+  start(_0) {
+    return __async(this, arguments, function* (programId, args = {}) {
+      const startRequest = {
+        arguments: args
+      };
+      return yield this.api.startProgram(programId, startRequest);
+    });
+  }
+  /**
+   * Stop a running program
+   */
+  stop(programId) {
+    return __async(this, null, function* () {
+      return yield this.api.stopProgram(programId);
+    });
+  }
+  /**
+   * Execute a program and wait for it to complete
+   * 
+   * Note: This method has limitations due to current API constraints.
+   * Real-time program state tracking will be available via NATS messaging
+   * in future versions. For now, this provides basic start functionality.
+   * 
+   * @param programId - The program identifier
+   * @param args - Arguments to pass to the program
+   * @param options - Basic execution options
+   */
+  execute(_0) {
+    return __async(this, arguments, function* (programId, args = {}, options = {}) {
+      const { onStart } = options;
+      const run = yield this.start(programId, args);
+      if (onStart) {
+        onStart(run);
+      }
+      return run;
+    });
+  }
+  /**
+   * Create a program runner helper for a specific program
+   */
+  forProgram(programId) {
+    return new ProgramRunner(this, programId);
+  }
+};
+var ProgramRunner = class {
+  constructor(programs, programId) {
+    this.programs = programs;
+    this.programId = programId;
+  }
+  /**
+   * Get program details
+   */
+  getDetails() {
+    return __async(this, null, function* () {
+      return yield this.programs.get(this.programId);
+    });
+  }
+  /**
+   * Start this program
+   */
+  start() {
+    return __async(this, arguments, function* (args = {}) {
+      return yield this.programs.start(this.programId, args);
+    });
+  }
+  /**
+   * Stop this program
+   */
+  stop() {
+    return __async(this, null, function* () {
+      return yield this.programs.stop(this.programId);
+    });
+  }
+  /**
+   * Execute this program (start and get initial run information)
+   * 
+   * Note: This method has limitations due to current API constraints.
+   * Real-time program state tracking will be available via NATS messaging
+   * in future versions.
+   */
+  execute() {
+    return __async(this, arguments, function* (args = {}, options = {}) {
+      return yield this.programs.execute(this.programId, args, options);
+    });
+  }
+};
+
+// src/lib/v2/NovaCellAPIClient.ts
 var NovaCellAPIClient = class {
   constructor(cellId, opts) {
     this.cellId = cellId;
@@ -90,6 +211,7 @@ var NovaCellAPIClient = class {
     this.trajectoryPlanning = this.withCellId(import_v2.TrajectoryPlanningApi);
     this.trajectoryExecution = this.withCellId(import_v2.TrajectoryExecutionApi);
     this.trajectoryCaching = this.withCellId(import_v2.TrajectoryCachingApi);
+    this.programs = this.withCellId(import_v2.ProgramApi);
     this.application = this.withCellId(import_v2.ApplicationApi);
     this.applicationGlobal = this.withUnwrappedResponsesOnly(import_v2.ApplicationApi);
     this.jogging = this.withCellId(import_v2.JoggingApi);
@@ -158,6 +280,12 @@ var NovaCellAPIClient = class {
     }
     return apiClient;
   }
+  get programsClient() {
+    if (!this._programsClient) {
+      this._programsClient = new ProgramsClient(this);
+    }
+    return this._programsClient;
+  }
 };
 
 // src/lib/v2/NovaClient.ts
@@ -1327,16 +1455,14 @@ var defaultMotionState = {
     controller: "universalrobots-ur5e",
     timestamp: (/* @__PURE__ */ new Date()).toISOString(),
     sequence_number: 1,
-    joint_position: {
-      joints: [
-        1.1699999570846558,
-        -1.5700000524520874,
-        1.3600000143051147,
-        1.0299999713897705,
-        1.2899999618530273,
-        1.2799999713897705
-      ]
-    },
+    joint_position: [
+      1.1699999570846558,
+      -1.5700000524520874,
+      1.3600000143051147,
+      1.0299999713897705,
+      1.2899999618530273,
+      1.2799999713897705
+    ],
     joint_limit_reached: {
       limit_reached: [false, false, false, false, false, false]
     },
@@ -1488,6 +1614,8 @@ var NovaClient = class {
 0 && (module.exports = {
   NovaCellAPIClient,
   NovaClient,
+  ProgramRunner,
+  ProgramsClient,
   ...require("@wandelbots/nova-api/v2")
 });
 //# sourceMappingURL=index.cjs.map