@wandelbots/nova-js 3.1.0 → 3.2.0-pr.ci-simplify-build.137.87eeb8d

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

@@ -1,9 +1,397 @@
+import { AutoReconnectingWebsocket, MockNovaInstance$1 as MockNovaInstance } from "../../AutoReconnectingWebsocket-BI1ckzP8.js";
+import { AxiosInstance } from "axios";
+import * as _wandelbots_nova_api_v10 from "@wandelbots/nova-api/v1";
+import { ApplicationApi, CellApi, CollectionValue, Configuration, ControllerApi, ControllerIOsApi, ControllerInstance, CoordinateSystemsApi, DeviceConfigurationApi, GetTrajectoryResponse, Joints, LibraryProgramApi, LibraryProgramMetadataApi, LibraryRecipeApi, LibraryRecipeMetadataApi, MotionApi, MotionGroupApi, MotionGroupInfosApi, MotionGroupJoggingApi, MotionGroupKinematicApi, MotionGroupPhysical, MotionGroupSpecification, MotionGroupStateResponse, Mounting, ProgramApi, ProgramValuesApi, RobotControllerState, RobotTcp, SafetySetup, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, TcpPose, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v1";
+import * as THREE from "three";
 export * from "@wandelbots/nova-api/v1";
-export * from "./ConnectedMotionGroup";
-export * from "./getLatestTrajectories";
-export * from "./JoggerConnection";
-export * from "./MotionStreamConnection";
-export * from "./NovaCellAPIClient";
-export * from "./NovaClient";
-export * from "./ProgramStateConnection";
+
+//#region src/lib/v1/MotionStreamConnection.d.ts
+/**
+ * Store representing the current state of a connected motion group.
+ */
+declare class MotionStreamConnection {
+  readonly nova: NovaClient;
+  readonly controller: ControllerInstance;
+  readonly motionGroup: MotionGroupPhysical;
+  readonly initialMotionState: MotionGroupStateResponse;
+  readonly motionStateSocket: AutoReconnectingWebsocket;
+  static open(nova: NovaClient, motionGroupId: string): Promise<MotionStreamConnection>;
+  rapidlyChangingMotionState: MotionGroupStateResponse;
+  constructor(nova: NovaClient, controller: ControllerInstance, motionGroup: MotionGroupPhysical, initialMotionState: MotionGroupStateResponse, motionStateSocket: AutoReconnectingWebsocket);
+  get motionGroupId(): string;
+  get controllerId(): string;
+  get modelFromController(): string | undefined;
+  get wandelscriptIdentifier(): string;
+  get joints(): {
+    index: number;
+  }[];
+  dispose(): void;
+}
+//#endregion
+//#region src/lib/v1/JoggerConnection.d.ts
+type JoggerConnectionOpts = {
+  /**
+   * When an error message is received from the jogging websocket, it
+   * will be passed here. If this handler is not provided, the error will
+   * instead be thrown as an unhandled error.
+   */
+  onError?: (err: unknown) => void;
+};
+declare class JoggerConnection {
+  readonly motionStream: MotionStreamConnection;
+  readonly opts: JoggerConnectionOpts;
+  cartesianWebsocket: AutoReconnectingWebsocket | null;
+  jointWebsocket: AutoReconnectingWebsocket | null;
+  cartesianJoggingOpts: {
+    tcpId?: string;
+    coordSystemId?: string;
+  };
+  static open(nova: NovaClient, motionGroupId: string, opts?: JoggerConnectionOpts): Promise<JoggerConnection>;
+  constructor(motionStream: MotionStreamConnection, opts?: JoggerConnectionOpts);
+  get motionGroupId(): string;
+  get nova(): NovaClient;
+  get numJoints(): number;
+  get activeJoggingMode(): "cartesian" | "joint" | "increment";
+  get activeWebsocket(): AutoReconnectingWebsocket | null;
+  stop(): Promise<void>;
+  dispose(): void;
+  setJoggingMode(mode: "cartesian" | "joint" | "increment", cartesianJoggingOpts?: {
+    tcpId?: string;
+    coordSystemId?: string;
+  }): void;
+  /**
+   * Start rotation of a single robot joint at the specified velocity
+   */
+  startJointRotation({
+    joint,
+    direction,
+    velocityRadsPerSec
+  }: {
+    /** Index of the joint to rotate */
+    joint: number;
+    /** Direction of rotation ("+" or "-") */
+    direction: "+" | "-";
+    /** Speed of the rotation in radians per second */
+    velocityRadsPerSec: number;
+  }): Promise<void>;
+  /**
+   * Start the TCP moving along a specified axis at a given velocity
+   */
+  startTCPTranslation({
+    axis,
+    direction,
+    velocityMmPerSec
+  }: {
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    velocityMmPerSec: number;
+  }): Promise<void>;
+  /**
+   * Start the TCP rotating around a specified axis at a given velocity
+   */
+  startTCPRotation({
+    axis,
+    direction,
+    velocityRadsPerSec
+  }: {
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    velocityRadsPerSec: number;
+  }): Promise<void>;
+  /**
+   * Move the robot by a fixed distance in a single cartesian
+   * axis, either rotating or translating relative to the TCP.
+   * Promise resolves only after the motion has completed.
+   */
+  runIncrementalCartesianMotion({
+    currentTcpPose,
+    currentJoints,
+    coordSystemId,
+    velocityInRelevantUnits,
+    axis,
+    direction,
+    motion
+  }: {
+    currentTcpPose: TcpPose;
+    currentJoints: Joints;
+    coordSystemId: string;
+    velocityInRelevantUnits: number;
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    motion: {
+      type: "rotate";
+      distanceRads: number;
+    } | {
+      type: "translate";
+      distanceMm: number;
+    };
+  }): Promise<void>;
+  /**
+   * Rotate a single robot joint by a fixed number of radians
+   * Promise resolves only after the motion has completed.
+   */
+  runIncrementalJointRotation({
+    joint,
+    currentJoints,
+    velocityRadsPerSec,
+    direction,
+    distanceRads
+  }: {
+    joint: number;
+    currentJoints: Joints;
+    velocityRadsPerSec: number;
+    direction: "-" | "+";
+    distanceRads: number;
+  }): Promise<void>;
+}
+//#endregion
+//#region src/lib/v1/NovaCellAPIClient.d.ts
+type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+  data: infer D;
+} ? D : never> : never;
+type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>> };
+type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
+/**
+ * API client providing type-safe access to all the Nova API REST endpoints
+ * associated with a specific cell id.
+ */
+declare class NovaCellAPIClient {
+  readonly cellId: string;
+  readonly opts: Configuration & {
+    axiosInstance?: AxiosInstance;
+    mock?: boolean;
+  };
+  constructor(cellId: string, opts: Configuration & {
+    axiosInstance?: AxiosInstance;
+    mock?: boolean;
+  });
+  /**
+   * Some TypeScript sorcery which alters the API class methods so you don't
+   * have to pass the cell id to every single one, and de-encapsulates the
+   * response data
+   */
+  private withCellId;
+  /**
+   * As withCellId, but only does the response unwrapping
+   */
+  private withUnwrappedResponsesOnly;
+  readonly system: WithUnwrappedAxiosResponse<SystemApi>;
+  readonly cell: WithUnwrappedAxiosResponse<CellApi>;
+  readonly deviceConfig: WithCellId<DeviceConfigurationApi>;
+  readonly motionGroup: WithCellId<MotionGroupApi>;
+  readonly motionGroupInfos: WithCellId<MotionGroupInfosApi>;
+  readonly controller: WithCellId<ControllerApi>;
+  readonly program: WithCellId<ProgramApi>;
+  readonly programValues: WithCellId<ProgramValuesApi>;
+  readonly controllerIOs: WithCellId<ControllerIOsApi>;
+  readonly motionGroupKinematic: WithCellId<MotionGroupKinematicApi>;
+  readonly motion: WithCellId<MotionApi>;
+  readonly coordinateSystems: WithCellId<CoordinateSystemsApi>;
+  readonly application: WithCellId<ApplicationApi>;
+  readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>;
+  readonly motionGroupJogging: WithCellId<MotionGroupJoggingApi>;
+  readonly virtualRobot: WithCellId<VirtualRobotApi>;
+  readonly virtualRobotSetup: WithCellId<VirtualRobotSetupApi>;
+  readonly virtualRobotMode: WithCellId<VirtualRobotModeApi>;
+  readonly virtualRobotBehavior: WithCellId<VirtualRobotBehaviorApi>;
+  readonly libraryProgramMetadata: WithCellId<LibraryProgramMetadataApi>;
+  readonly libraryProgram: WithCellId<LibraryProgramApi>;
+  readonly libraryRecipeMetadata: WithCellId<LibraryRecipeMetadataApi>;
+  readonly libraryRecipe: WithCellId<LibraryRecipeApi>;
+  readonly storeObject: WithCellId<StoreObjectApi>;
+  readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>;
+  readonly storeCollisionScenes: WithCellId<StoreCollisionScenesApi>;
+}
+//#endregion
+//#region src/lib/v1/NovaClient.d.ts
+type NovaClientConfig = {
+  /**
+   * Url of the deployed Nova instance to connect to
+   * e.g. https://saeattii.instance.wandelbots.io
+   */
+  instanceUrl: string | "https://mock.example.com";
+  /**
+   * Identifier of the cell on the Nova instance to connect this client to.
+   * If omitted, the default identifier "cell" is used.
+   **/
+  cellId?: string;
+  /**
+   * Username for basic auth to the Nova instance.
+   * @deprecated use accessToken instead
+   */
+  username?: string;
+  /**
+   * Password for basic auth to the Nova instance.
+   * @deprecated use accessToken instead
+   */
+  password?: string;
+  /**
+   * Access token for Bearer authentication.
+   */
+  accessToken?: string;
+} & Omit<Configuration, "isJsonMime" | "basePath">;
+type NovaClientConfigWithDefaults = NovaClientConfig & {
+  cellId: string;
+};
+/**
+ * Client for connecting to a Nova instance and controlling robots.
+ */
+declare class NovaClient {
+  readonly api: NovaCellAPIClient;
+  readonly config: NovaClientConfigWithDefaults;
+  readonly mock?: MockNovaInstance;
+  authPromise: Promise<string | null> | null;
+  accessToken: string | null;
+  constructor(config: NovaClientConfig);
+  renewAuthentication(): Promise<void>;
+  makeWebsocketURL(path: string): string;
+  /**
+   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+   * If you explicitly want to reconnect an existing websocket, call `reconnect`
+   * on the returned object.
+   */
+  openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
+  /**
+   * Connect to the motion state websocket(s) for a given motion group
+   */
+  connectMotionStream(motionGroupId: string): Promise<MotionStreamConnection>;
+  /**
+   * Connect to the jogging websocket(s) for a given motion group
+   */
+  connectJogger(motionGroupId: string): Promise<JoggerConnection>;
+  connectMotionGroups(motionGroupIds: string[]): Promise<ConnectedMotionGroup[]>;
+  connectMotionGroup(motionGroupId: string): Promise<ConnectedMotionGroup>;
+}
+//#endregion
+//#region src/lib/v1/ConnectedMotionGroup.d.ts
+type MotionGroupOption = {
+  selectionId: string;
+} & MotionGroupPhysical;
+/**
+ * Store representing the current state of a connected motion group.
+ */
+declare class ConnectedMotionGroup {
+  readonly nova: NovaClient;
+  readonly controller: ControllerInstance;
+  readonly motionGroup: MotionGroupPhysical;
+  readonly initialMotionState: MotionGroupStateResponse;
+  readonly motionStateSocket: AutoReconnectingWebsocket;
+  readonly isVirtual: boolean;
+  readonly tcps: RobotTcp[];
+  readonly motionGroupSpecification: MotionGroupSpecification;
+  readonly safetySetup: SafetySetup;
+  readonly mounting: Mounting | null;
+  readonly initialControllerState: RobotControllerState;
+  readonly controllerStateSocket: AutoReconnectingWebsocket;
+  static connect(nova: NovaClient, motionGroupId: string, controllers: ControllerInstance[]): Promise<ConnectedMotionGroup>;
+  connectedJoggingCartesianSocket: WebSocket | null;
+  connectedJoggingJointsSocket: WebSocket | null;
+  planData: any | null;
+  joggingVelocity: number;
+  rapidlyChangingMotionState: MotionGroupStateResponse;
+  controllerState: RobotControllerState;
+  /**
+   * Reflects activation state of the motion group / robot servos. The
+   * movement controls in the UI should only be enabled in the "active" state
+   */
+  activationState: "inactive" | "activating" | "deactivating" | "active";
+  constructor(nova: NovaClient, controller: ControllerInstance, motionGroup: MotionGroupPhysical, initialMotionState: MotionGroupStateResponse, motionStateSocket: AutoReconnectingWebsocket, isVirtual: boolean, tcps: RobotTcp[], motionGroupSpecification: MotionGroupSpecification, safetySetup: SafetySetup, mounting: Mounting | null, initialControllerState: RobotControllerState, controllerStateSocket: AutoReconnectingWebsocket);
+  get motionGroupId(): string;
+  get controllerId(): string;
+  get modelFromController(): string | undefined;
+  get wandelscriptIdentifier(): string;
+  /** Jogging velocity in radians for rotation and joint movement */
+  get joggingVelocityRads(): number;
+  get joints(): {
+    index: number;
+  }[];
+  get dhParameters(): _wandelbots_nova_api_v10.DHParameter[] | undefined;
+  get safetyZones(): _wandelbots_nova_api_v10.SafetySetupSafetyZone[] | undefined;
+  /** Gets the robot mounting position offset in 3D viz coordinates */
+  get mountingPosition(): [number, number, number];
+  /** Gets the robot mounting position rotation in 3D viz coordinates */
+  get mountingQuaternion(): THREE.Quaternion;
+  /**
+   * Whether the controller is currently in a safety state
+   * corresponding to an emergency stop
+   */
+  get isEstopActive(): boolean;
+  /**
+   * Whether the controller is in a safety state
+   * that may be non-functional for robot pad purposes
+   */
+  get isMoveableSafetyState(): boolean;
+  /**
+   * Whether the controller is in an operation mode that allows movement
+   */
+  get isMoveableOperationMode(): boolean;
+  /**
+   * Whether the robot is currently active and can be moved, based on the
+   * safety state, operation mode and servo toggle activation state.
+   */
+  get canBeMoved(): boolean;
+  deactivate(): Promise<void>;
+  activate(): Promise<void>;
+  toggleActivation(): void;
+  dispose(): void;
+  setJoggingVelocity(velocity: number): void;
+}
+//#endregion
+//#region src/lib/v1/getLatestTrajectories.d.ts
+declare function getLatestTrajectories(apiClient: NovaCellAPIClient, sampleTime?: number, responsesCoordinateSystem?: string): Promise<GetTrajectoryResponse[]>;
+//#endregion
+//#region src/lib/v1/ProgramStateConnection.d.ts
+type ProgramRunnerLogEntry = {
+  timestamp: number;
+  message: string;
+  level?: "warn" | "error";
+};
+declare enum ProgramState {
+  NotStarted = "not started",
+  Running = "running",
+  Stopped = "stopped",
+  Failed = "failed",
+  Completed = "completed",
+}
+type CurrentProgram = {
+  id?: string;
+  wandelscript?: string;
+  state?: ProgramState;
+};
+type ProgramStateMessage = {
+  type: string;
+  runner: {
+    id: string;
+    state: ProgramState;
+    start_time?: number | null;
+    execution_time?: number | null;
+  };
+};
+/**
+ * Interface for running Wandelscript programs on the Nova instance and
+ * tracking their progress and output
+ */
+declare class ProgramStateConnection {
+  readonly nova: NovaClient;
+  currentProgram: CurrentProgram;
+  logs: ProgramRunnerLogEntry[];
+  executionState: "idle" | "starting" | "executing" | "stopping";
+  currentlyExecutingProgramRunnerId: string | null;
+  programStateSocket: AutoReconnectingWebsocket;
+  constructor(nova: NovaClient);
+  /** Handle a program state update from the backend */
+  handleProgramStateMessage(msg: ProgramStateMessage): Promise<void>;
+  /** Call when a program is no longer executing */
+  gotoIdleState(): void;
+  executeProgram(wandelscript: string, initial_state?: {
+    [key: string]: CollectionValue;
+  }, activeRobot?: MotionStreamConnection): Promise<void>;
+  stopProgram(): Promise<void>;
+  reset(): void;
+  log(message: string): void;
+  logError(message: string): void;
+}
+//#endregion
+export { ConnectedMotionGroup, CurrentProgram, JoggerConnection, JoggerConnectionOpts, MotionGroupOption, MotionStreamConnection, NovaCellAPIClient, NovaClient, NovaClientConfig, ProgramRunnerLogEntry, ProgramState, ProgramStateConnection, WithCellId, WithUnwrappedAxiosResponse, getLatestTrajectories };
 //# sourceMappingURL=index.d.ts.map

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

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