@wandelbots/nova-js 3.0.0 → 3.0.1

package/dist/lib/v1/index.js

@@ -1,8 +1,7 @@
 import {
-  isEqual_default,
   isSameCoordinateSystem,
   tryParseJson
-} from "../../chunk-4FP7NTKS.js";
+} from "../../chunk-B2C22PTK.js";
 import {
   AutoReconnectingWebsocket,
   __async,
@@ -10,7 +9,7 @@ import {
   __spreadValues,
   availableStorage,
   loginWithAuth0
-} from "../../chunk-DOFCSS2H.js";
+} from "../../chunk-I3PUV6ZD.js";
 
 // src/lib/v1/index.ts
 export * from "@wandelbots/nova-api/v1";
@@ -25,7 +24,10 @@ function jointValuesEqual(oldJointValues, newJointValues, changeDeltaThreshold)
     return true;
   }
   for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {
-    if (Math.abs(newJointValues[jointIndex] - oldJointValues[jointIndex]) > changeDeltaThreshold) {
+    if (
+      // biome-ignore lint/style/noNonNullAssertion: legacy code
+      Math.abs(newJointValues[jointIndex] - oldJointValues[jointIndex]) > changeDeltaThreshold
+    ) {
       return false;
     }
   }
@@ -149,7 +151,7 @@ var ConnectedMotionGroup = class _ConnectedMotionGroup {
         controller.controller
       );
       const isVirtual = config.configuration.kind === "VirtualController";
-      const mounting = yield (() => __async(this, null, function* () {
+      const mounting = yield (() => __async(null, null, function* () {
         try {
           const mounting2 = yield nova.api.motionGroupInfos.getMounting(
             motionGroup.motion_group
@@ -188,6 +190,7 @@ var ConnectedMotionGroup = class _ConnectedMotionGroup {
         initialMotionState,
         motionStateSocket,
         isVirtual,
+        // biome-ignore lint/style/noNonNullAssertion: legacy code
         tcps,
         motionGroupSpecification,
         safetySetup,
@@ -454,7 +457,7 @@ var JoggerConnection = class _JoggerConnection {
   setJoggingMode(mode, cartesianJoggingOpts) {
     console.log("Setting jogging mode to", mode);
     if (cartesianJoggingOpts) {
-      if (!isEqual_default(this.cartesianJoggingOpts, cartesianJoggingOpts)) {
+      if (JSON.stringify(this.cartesianJoggingOpts) !== JSON.stringify(cartesianJoggingOpts)) {
         if (this.cartesianWebsocket) {
           this.cartesianWebsocket.dispose();
           this.cartesianWebsocket = null;
@@ -621,9 +624,9 @@ var JoggerConnection = class _JoggerConnection {
         });
       } else if (motion.type === "rotate") {
         const currentRotationVector = new Vector32(
-          currentTcpPose.orientation["x"],
-          currentTcpPose.orientation["y"],
-          currentTcpPose.orientation["z"]
+          currentTcpPose.orientation.x,
+          currentTcpPose.orientation.y,
+          currentTcpPose.orientation.z
         );
         const currentRotationRad = currentRotationVector.length();
         const currentRotationDirection = currentRotationVector.clone().normalize();
@@ -794,7 +797,7 @@ var MotionStreamConnection = class _MotionStreamConnection {
         MOTION_DELTA_THRESHOLD2
       )) {
         runInAction2(() => {
-          if (this.rapidlyChangingMotionState.tcp_pose == void 0) {
+          if (this.rapidlyChangingMotionState.tcp_pose == null) {
             this.rapidlyChangingMotionState.tcp_pose = motionStateResponse.tcp_pose;
           } else {
             this.rapidlyChangingMotionState.tcp_pose = {
@@ -1780,9 +1783,9 @@ var MockNovaInstance = class {
                       },
                       orientation: {
                         x: 0,
-                        y: -0.7071067811865475,
+                        y: -Math.SQRT1_2,
                         z: 0,
-                        w: 0.7071067811865476
+                        w: Math.SQRT1_2
                       }
                     },
                     id: "link2_capsule"
@@ -1824,10 +1827,10 @@ var MockNovaInstance = class {
                         z: 40
                       },
                       orientation: {
-                        x: -0.7071067811865475,
+                        x: -Math.SQRT1_2,
                         y: 0,
                         z: 0,
-                        w: 0.7071067811865476
+                        w: Math.SQRT1_2
                       }
                     },
                     id: "link4_capsule"
@@ -1927,7 +1930,7 @@ var MockNovaInstance = class {
         }
       ];
       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]);
+      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) {
@@ -2304,7 +2307,7 @@ var NovaClient = class {
         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)}`;
+          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
         }
       }
       return request;
@@ -2572,6 +2575,7 @@ ${runnerState.traceback}`
           {
             code: trimmedCode,
             initial_state,
+            // @ts-expect-error legacy code - check if param still used
             default_robot: activeRobot == null ? void 0 : activeRobot.wandelscriptIdentifier
           },
           {