@wandelbots/nova-js 3.11.0 → 3.11.1

package/src/lib/deprecated/v1/ConnectedMotionGroup.ts

@@ -12,10 +12,10 @@ import type {
 } from "@wandelbots/nova-api/v1"
 import { makeAutoObservable, runInAction } from "mobx"
 import * as THREE from "three"
-import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
-import { tryParseJson } from "../../converters"
-import { jointValuesEqual, tcpPoseEqual } from "./motionStateUpdate"
-import type { NovaClient } from "./NovaClient"
+import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.ts"
+import { tryParseJson } from "../../converters.ts"
+import { jointValuesEqual, tcpPoseEqual } from "./motionStateUpdate.ts"
+import type { NovaClient } from "./NovaClient.ts"
 
 const MOTION_DELTA_THRESHOLD = 0.0001
 
@@ -159,20 +159,46 @@ export class ConnectedMotionGroup {
   activationState: "inactive" | "activating" | "deactivating" | "active" =
     "inactive"
 
+  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
+
   constructor(
-    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,
+    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,
   ) {
+    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.mounting = mounting
+    this.initialControllerState = initialControllerState
+    this.controllerStateSocket = controllerStateSocket
+
     this.rapidlyChangingMotionState = initialMotionState
     this.controllerState = initialControllerState
 

package/src/lib/deprecated/v1/JoggerConnection.ts

@@ -1,9 +1,9 @@
 import type { Command, Joints, TcpPose } from "@wandelbots/nova-api/v1"
 import { Vector3 } from "three/src/math/Vector3.js"
-import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
-import { isSameCoordinateSystem, tryParseJson } from "../../converters"
-import type { MotionStreamConnection } from "./MotionStreamConnection"
-import type { NovaClient } from "./NovaClient"
+import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.ts"
+import { isSameCoordinateSystem, tryParseJson } from "../../converters.ts"
+import type { MotionStreamConnection } from "./MotionStreamConnection.ts"
+import type { NovaClient } from "./NovaClient.ts"
 
 /** @deprecated */
 export type JoggerConnectionOpts = {
@@ -36,10 +36,16 @@ export class JoggerConnection {
     return new JoggerConnection(motionStream, opts)
   }
 
+  readonly motionStream: MotionStreamConnection
+  readonly opts: JoggerConnectionOpts
+
   constructor(
-    readonly motionStream: MotionStreamConnection,
-    readonly opts: JoggerConnectionOpts = {},
-  ) {}
+    motionStream: MotionStreamConnection,
+    opts: JoggerConnectionOpts = {},
+  ) {
+    this.motionStream = motionStream
+    this.opts = opts
+  }
 
   get motionGroupId() {
     return this.motionStream.motionGroupId

package/src/lib/deprecated/v1/MotionStreamConnection.ts

@@ -7,10 +7,10 @@ import type {
 } from "@wandelbots/nova-api/v1"
 import { makeAutoObservable, runInAction } from "mobx"
 import { Vector3 } from "three"
-import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
-import { tryParseJson } from "../../converters"
-import { jointValuesEqual, tcpPoseEqual } from "./motionStateUpdate"
-import type { NovaClient } from "./NovaClient"
+import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.ts"
+import { tryParseJson } from "../../converters.ts"
+import { jointValuesEqual, tcpPoseEqual } from "./motionStateUpdate.ts"
+import type { NovaClient } from "./NovaClient.ts"
 
 const MOTION_DELTA_THRESHOLD = 0.0001
 
@@ -109,13 +109,25 @@ export class MotionStreamConnection {
   // using animation frames
   rapidlyChangingMotionState: MotionGroupStateResponse
 
+  readonly nova: NovaClient
+  readonly controller: ControllerInstance
+  readonly motionGroup: MotionGroupPhysical
+  readonly initialMotionState: MotionGroupStateResponse
+  readonly motionStateSocket: AutoReconnectingWebsocket
+
   constructor(
-    readonly nova: NovaClient,
-    readonly controller: ControllerInstance,
-    readonly motionGroup: MotionGroupPhysical,
-    readonly initialMotionState: MotionGroupStateResponse,
-    readonly motionStateSocket: AutoReconnectingWebsocket,
+    nova: NovaClient,
+    controller: ControllerInstance,
+    motionGroup: MotionGroupPhysical,
+    initialMotionState: MotionGroupStateResponse,
+    motionStateSocket: AutoReconnectingWebsocket,
   ) {
+    this.nova = nova
+    this.controller = controller
+    this.motionGroup = motionGroup
+    this.initialMotionState = initialMotionState
+    this.motionStateSocket = motionStateSocket
+
     this.rapidlyChangingMotionState = initialMotionState
 
     motionStateSocket.addEventListener("message", (event) => {

package/src/lib/deprecated/v1/NovaCellAPIClient.ts

@@ -60,13 +60,75 @@ export type WithUnwrappedAxiosResponse<T> = {
  * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
  */
 export class NovaCellAPIClient {
+  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>
+
+  readonly cellId: string
+  readonly opts: BaseConfiguration & {
+    axiosInstance?: AxiosInstance
+    mock?: boolean
+  }
+
   constructor(
-    readonly cellId: string,
-    readonly opts: BaseConfiguration & {
+    cellId: string,
+    opts: BaseConfiguration & {
       axiosInstance?: AxiosInstance
       mock?: boolean
     },
-  ) {}
+  ) {
+    this.cellId = cellId
+    this.opts = opts
+    this.system = this.withUnwrappedResponsesOnly(SystemApi)
+    this.cell = this.withUnwrappedResponsesOnly(CellApi)
+    this.deviceConfig = this.withCellId(DeviceConfigurationApi)
+    this.motionGroup = this.withCellId(MotionGroupApi)
+    this.motionGroupInfos = this.withCellId(MotionGroupInfosApi)
+    this.controller = this.withCellId(ControllerApi)
+    this.program = this.withCellId(ProgramApi)
+    this.programValues = this.withCellId(ProgramValuesApi)
+    this.controllerIOs = this.withCellId(ControllerIOsApi)
+    this.motionGroupKinematic = this.withCellId(MotionGroupKinematicApi)
+    this.motion = this.withCellId(MotionApi)
+    this.coordinateSystems = this.withCellId(CoordinateSystemsApi)
+    this.application = this.withCellId(ApplicationApi)
+    this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
+    this.motionGroupJogging = this.withCellId(MotionGroupJoggingApi)
+    this.virtualRobot = this.withCellId(VirtualRobotApi)
+    this.virtualRobotSetup = this.withCellId(VirtualRobotSetupApi)
+    this.virtualRobotMode = this.withCellId(VirtualRobotModeApi)
+    this.virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi)
+    this.libraryProgramMetadata = this.withCellId(LibraryProgramMetadataApi)
+    this.libraryProgram = this.withCellId(LibraryProgramApi)
+    this.libraryRecipeMetadata = this.withCellId(LibraryRecipeMetadataApi)
+    this.libraryRecipe = this.withCellId(LibraryRecipeApi)
+    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
@@ -143,45 +205,4 @@ export class NovaCellAPIClient {
 
     return apiClient as WithUnwrappedAxiosResponse<T>
   }
-
-  readonly system = this.withUnwrappedResponsesOnly(SystemApi)
-  readonly cell = this.withUnwrappedResponsesOnly(CellApi)
-
-  readonly deviceConfig = this.withCellId(DeviceConfigurationApi)
-
-  readonly motionGroup = this.withCellId(MotionGroupApi)
-  readonly motionGroupInfos = this.withCellId(MotionGroupInfosApi)
-
-  readonly controller = this.withCellId(ControllerApi)
-
-  readonly program = this.withCellId(ProgramApi)
-  readonly programValues = this.withCellId(ProgramValuesApi)
-
-  readonly controllerIOs = this.withCellId(ControllerIOsApi)
-
-  readonly motionGroupKinematic = this.withCellId(MotionGroupKinematicApi)
-  readonly motion = this.withCellId(MotionApi)
-
-  readonly coordinateSystems = this.withCellId(CoordinateSystemsApi)
-
-  readonly application = this.withCellId(ApplicationApi)
-  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
-
-  readonly motionGroupJogging = this.withCellId(MotionGroupJoggingApi)
-
-  readonly virtualRobot = this.withCellId(VirtualRobotApi)
-  readonly virtualRobotSetup = this.withCellId(VirtualRobotSetupApi)
-  readonly virtualRobotMode = this.withCellId(VirtualRobotModeApi)
-  readonly virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi)
-
-  readonly libraryProgramMetadata = this.withCellId(LibraryProgramMetadataApi)
-  readonly libraryProgram = this.withCellId(LibraryProgramApi)
-  readonly libraryRecipeMetadata = this.withCellId(LibraryRecipeMetadataApi)
-  readonly libraryRecipe = this.withCellId(LibraryRecipeApi)
-
-  readonly storeObject = this.withCellId(StoreObjectApi)
-  readonly storeCollisionComponents = this.withCellId(
-    StoreCollisionComponentsApi,
-  )
-  readonly storeCollisionScenes = this.withCellId(StoreCollisionScenesApi)
 }

package/src/lib/deprecated/v1/NovaClient.ts

@@ -6,17 +6,17 @@
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v1"
 import type { AxiosRequestConfig } from "axios"
 import axios, { isAxiosError } from "axios"
-import { loginWithAuth0 } from "../../../LoginWithAuth0.js"
-import { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.js"
-import { availableStorage } from "../../availableStorage.js"
-import { parseNovaInstanceUrl } from "../../converters.js"
+import { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.ts"
+import { loginWithAuth0 } from "../../LoginWithAuth0.ts"
+import { availableStorage } from "../../availableStorage.ts"
+import { parseNovaInstanceUrl } from "../../converters.ts"
 
-import { isBrowser, isLocalhostDev } from "../../context.js"
-import { ConnectedMotionGroup } from "./ConnectedMotionGroup.js"
-import { JoggerConnection } from "./JoggerConnection.js"
-import { MotionStreamConnection } from "./MotionStreamConnection.js"
-import { NovaCellAPIClient } from "./NovaCellAPIClient.js"
-import { MockNovaInstance } from "./mock/MockNovaInstance.js"
+import { isBrowser, isLocalhostDev } from "../../context.ts"
+import { ConnectedMotionGroup } from "./ConnectedMotionGroup.ts"
+import { JoggerConnection } from "./JoggerConnection.ts"
+import { MotionStreamConnection } from "./MotionStreamConnection.ts"
+import { NovaCellAPIClient } from "./NovaCellAPIClient.ts"
+import { MockNovaInstance } from "./mock/MockNovaInstance.ts"
 
 /** @deprecated Use `NovaConfig` from `@wandelbots/nova-js/v2` instead. */
 export type NovaClientConfig = {

package/src/lib/deprecated/v1/ProgramStateConnection.ts

@@ -2,10 +2,10 @@
 import type { CollectionValue } from "@wandelbots/nova-api/v1"
 import { AxiosError } from "axios"
 import { makeAutoObservable, runInAction } from "mobx"
-import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
-import { tryParseJson } from "../../converters"
-import type { MotionStreamConnection } from "./MotionStreamConnection"
-import type { NovaClient } from "./NovaClient"
+import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.ts"
+import { tryParseJson } from "../../converters.ts"
+import type { MotionStreamConnection } from "./MotionStreamConnection.ts"
+import type { NovaClient } from "./NovaClient.ts"
 
 /** @deprecated */
 export type ProgramRunnerLogEntry = {
@@ -54,7 +54,10 @@ export class ProgramStateConnection {
 
   programStateSocket: AutoReconnectingWebsocket
 
-  constructor(readonly nova: NovaClient) {
+  readonly nova: NovaClient
+
+  constructor(nova: NovaClient) {
+    this.nova = nova
     makeAutoObservable(this, {}, { autoBind: true })
 
     this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)

package/src/lib/deprecated/v1/getLatestTrajectories.ts

@@ -1,5 +1,5 @@
 import type { GetTrajectoryResponse } from "@wandelbots/nova-api/v1"
-import type { NovaCellAPIClient } from "./NovaCellAPIClient"
+import type { NovaCellAPIClient } from "./NovaCellAPIClient.ts"
 
 let lastMotionIds: Set<string> = new Set()
 

package/src/lib/deprecated/v1/mock/MockNovaInstance.ts

@@ -8,7 +8,7 @@ import type {
 import type { AxiosResponse, InternalAxiosRequestConfig } from "axios"
 import { AxiosError } from "axios"
 import * as pathToRegexp from "path-to-regexp"
-import type { AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket"
+import type { AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket.ts"
 
 /**
  * Ultra-simplified mock Nova server for testing stuff

package/src/lib/deprecated/v2/NovaCellAPIClient.ts

@@ -60,13 +60,82 @@ export type WithUnwrappedAxiosResponse<T> = {
  * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
  */
 export class NovaCellAPIClient {
+  readonly system: WithUnwrappedAxiosResponse<SystemApi>
+  readonly cell: WithUnwrappedAxiosResponse<CellApi>
+  readonly motionGroup: WithCellId<MotionGroupApi>
+  readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>
+  readonly controller: WithCellId<ControllerApi>
+  readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>
+  readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>
+  readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>
+  readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>
+  readonly application: WithCellId<ApplicationApi>
+  readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>
+  readonly jogging: WithCellId<JoggingApi>
+  readonly kinematics: WithCellId<KinematicsApi>
+  readonly busInputsOutputs: WithCellId<BUSInputsOutputsApi>
+  readonly virtualController: WithCellId<VirtualControllerApi>
+  readonly virtualControllerBehavior: WithCellId<VirtualControllerBehaviorApi>
+  readonly virtualControllerIOs: WithCellId<VirtualControllerInputsOutputsApi>
+  readonly storeObject: WithCellId<StoreObjectApi>
+  readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>
+  readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>
+  readonly program: WithCellId<ProgramApi>
+  readonly license: WithUnwrappedAxiosResponse<LicenseApi>
+  readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>
+  readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>
+  readonly version: WithUnwrappedAxiosResponse<VersionApi>
+  readonly session: WithUnwrappedAxiosResponse<SessionApi>
+
+  readonly cellId: string
+  readonly opts: BaseConfiguration & {
+    axiosInstance?: AxiosInstance
+    mock?: boolean
+  }
+
   constructor(
-    readonly cellId: string,
-    readonly opts: BaseConfiguration & {
+    cellId: string,
+    opts: BaseConfiguration & {
       axiosInstance?: AxiosInstance
       mock?: boolean
     },
-  ) {}
+  ) {
+    this.cellId = cellId
+    this.opts = opts
+    this.system = this.withUnwrappedResponsesOnly(SystemApi)
+    this.cell = this.withUnwrappedResponsesOnly(CellApi)
+    this.motionGroup = this.withCellId(MotionGroupApi)
+    this.motionGroupModels =
+      this.withUnwrappedResponsesOnly(MotionGroupModelsApi)
+    this.controller = this.withCellId(ControllerApi)
+    this.controllerIOs = this.withCellId(ControllerInputsOutputsApi)
+    this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)
+    this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi)
+    this.trajectoryCaching = this.withCellId(TrajectoryCachingApi)
+    this.application = this.withCellId(ApplicationApi)
+    this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
+    this.jogging = this.withCellId(JoggingApi)
+    this.kinematics = this.withCellId(KinematicsApi)
+    this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi)
+    this.virtualController = this.withCellId(VirtualControllerApi)
+    this.virtualControllerBehavior = this.withCellId(
+      VirtualControllerBehaviorApi,
+    )
+    this.virtualControllerIOs = this.withCellId(
+      VirtualControllerInputsOutputsApi,
+    )
+    this.storeObject = this.withCellId(StoreObjectApi)
+    this.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi)
+    this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)
+    this.program = this.withCellId(ProgramApi)
+    this.license = this.withUnwrappedResponsesOnly(LicenseApi)
+    this.novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)
+    this.robotConfigurations = this.withUnwrappedResponsesOnly(
+      RobotConfigurationsApi,
+    )
+    this.version = this.withUnwrappedResponsesOnly(VersionApi)
+    this.session = this.withUnwrappedResponsesOnly(SessionApi)
+  }
 
   /**
    * Some TypeScript sorcery which alters the API class methods so you don't
@@ -143,52 +212,4 @@ export class NovaCellAPIClient {
 
     return apiClient as WithUnwrappedAxiosResponse<T>
   }
-
-  readonly system = this.withUnwrappedResponsesOnly(SystemApi)
-  readonly cell = this.withUnwrappedResponsesOnly(CellApi)
-
-  readonly motionGroup = this.withCellId(MotionGroupApi)
-  readonly motionGroupModels =
-    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)
-
-  readonly controller = this.withCellId(ControllerApi)
-
-  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)
-
-  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)
-  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)
-  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)
-
-  readonly application = this.withCellId(ApplicationApi)
-  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
-
-  readonly jogging = this.withCellId(JoggingApi)
-
-  readonly kinematics = this.withCellId(KinematicsApi)
-
-  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)
-
-  readonly virtualController = this.withCellId(VirtualControllerApi)
-  readonly virtualControllerBehavior = this.withCellId(
-    VirtualControllerBehaviorApi,
-  )
-  readonly virtualControllerIOs = this.withCellId(
-    VirtualControllerInputsOutputsApi,
-  )
-
-  readonly storeObject = this.withCellId(StoreObjectApi)
-  readonly storeCollisionComponents = this.withCellId(
-    StoreCollisionComponentsApi,
-  )
-  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)
-
-  readonly program = this.withCellId(ProgramApi)
-
-  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)
-  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)
-  readonly robotConfigurations = this.withUnwrappedResponsesOnly(
-    RobotConfigurationsApi,
-  )
-  readonly version = this.withUnwrappedResponsesOnly(VersionApi)
-  readonly session = this.withUnwrappedResponsesOnly(SessionApi)
 }

package/src/lib/deprecated/v2/NovaClient.ts

@@ -2,14 +2,14 @@
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2"
 import type { AxiosRequestConfig } from "axios"
 import axios, { isAxiosError } from "axios"
-import { loginWithAuth0 } from "../../../LoginWithAuth0"
-import { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
-import { availableStorage } from "../../availableStorage"
-import { parseNovaInstanceUrl } from "../../converters"
-
-import { isLocalhostDev } from "../../context"
-import { MockNovaInstance } from "../../v2/mock/MockNovaInstance"
-import { NovaCellAPIClient } from "./NovaCellAPIClient"
+import { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.ts"
+import { availableStorage } from "../../availableStorage.ts"
+import { parseNovaInstanceUrl } from "../../converters.ts"
+import { loginWithAuth0 } from "../../LoginWithAuth0.ts"
+
+import { isLocalhostDev } from "../../context.ts"
+import { MockNovaInstance } from "../../mock/MockNovaInstance.ts"
+import { NovaCellAPIClient } from "./NovaCellAPIClient.ts"
 
 /** @deprecated Use `NovaClientConfig` from `Nova` instead. */
 export type NovaClientConfig = {

package/src/lib/errorHandling.ts

@@ -1,5 +1,5 @@
 import { isAxiosError } from "axios"
-import { tryStringifyJson } from "./converters"
+import { tryStringifyJson } from "./converters.ts"
 
 export function delay(ms: number) {
   return new Promise((resolve) => setTimeout(resolve, ms))

package/src/lib/{v2/mock → mock}/MockNovaInstance.ts

@@ -2,13 +2,13 @@ import type { MotionGroupState } from "@wandelbots/nova-api/v2"
 import type { AxiosResponse, InternalAxiosRequestConfig } from "axios"
 import { AxiosError } from "axios"
 import * as pathToRegexp from "path-to-regexp"
-import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
-import { getCurrentRobotControllerState } from "./getCurrentRobotControllerState"
-import { getMotionGroupDescription } from "./getMotionGroupDescription"
-import { getMotionGroupKinematicModel } from "./getMotionGroupKinematicModel"
-import { getRobotController } from "./getRobotController"
-import { listCoordinateSystems } from "./listCoordinateSystems"
-import { listRobotControllers } from "./listRobotControllers"
+import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket.ts"
+import { getCurrentRobotControllerState } from "./getCurrentRobotControllerState.ts"
+import { getMotionGroupDescription } from "./getMotionGroupDescription.ts"
+import { getMotionGroupKinematicModel } from "./getMotionGroupKinematicModel.ts"
+import { getRobotController } from "./getRobotController.ts"
+import { listCoordinateSystems } from "./listCoordinateSystems.ts"
+import { listRobotControllers } from "./listRobotControllers.ts"
 
 /**
  * Ultra-simplified mock Nova server for testing stuff
@@ -32,7 +32,7 @@ export class MockNovaInstance {
     if (!config.url) {
       throw new Error("No url sent with request")
     }
-    const path = config.url.split("?")[0]
+    const path = config.url.split("?")[0] ?? config.url
 
     for (const handler of apiHandlers) {
       const match = pathToRegexp.match(handler.path)(path)

package/src/v1/index.ts

@@ -0,0 +1,14 @@
+/**
+ * @fileoverview
+ * @deprecated The NOVA v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.
+ */
+
+export * from "@wandelbots/nova-api/v1"
+export * from "../lib/deprecated/v1/ConnectedMotionGroup.ts"
+export * from "../lib/deprecated/v1/getLatestTrajectories.ts"
+export * from "../lib/deprecated/v1/JoggerConnection.ts"
+export * from "../lib/deprecated/v1/MotionStreamConnection.ts"
+export * from "../lib/deprecated/v1/NovaCellAPIClient.ts"
+export * from "../lib/deprecated/v1/NovaClient.ts"
+export * from "../lib/deprecated/v1/ProgramStateConnection.ts"
+export * from "../lib/deprecated/v1/wandelscriptUtils.ts"

package/src/v2/index.ts

@@ -0,0 +1,7 @@
+export * from "@wandelbots/nova-api/v2"
+export * from "../lib/deprecated/v2/NovaCellAPIClient.ts"
+export * from "../lib/deprecated/v2/NovaClient.ts"
+export * from "../lib/deprecated/v2/wandelscriptUtils.ts"
+export { Nova } from "../lib/Nova.ts"
+export type { NovaConfig } from "../lib/Nova.ts"
+export { NovaAPIClient } from "../lib/NovaAPIClient.ts"

package/dist/AutoReconnectingWebsocket-DNOF9mpz.d.cts.map

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package/dist/AutoReconnectingWebsocket-DNOF9mpz.d.mts.map

@@ -1 +0,0 @@
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package/dist/context-BQk3xGAI.mjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"context-BQk3xGAI.mjs","names":[],"sources":["../src/lib/AutoReconnectingWebsocket.ts","../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/LoginWithAuth0.ts","../src/lib/context.ts"],"sourcesContent":["import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport type * as v1 from \"./deprecated/v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n  receivedFirstMessage?: MessageEvent\n  targetUrl: string\n  disposed = false\n\n  constructor(\n    targetUrl: string,\n    readonly opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    } = {},\n  ) {\n    console.log(\"Opening websocket to\", targetUrl)\n\n    super(() => this.targetUrl || targetUrl, undefined, {\n      startClosed: true,\n    })\n\n    // Reconnecting websocket doesn't set this properly with startClosed\n    Object.defineProperty(this, \"url\", {\n      get() {\n        return this.targetUrl\n      },\n    })\n\n    this.targetUrl = targetUrl\n\n    this.addEventListener(\"open\", () => {\n      console.log(`Websocket to ${this.url} opened`)\n    })\n\n    this.addEventListener(\"message\", (ev) => {\n      if (!this.receivedFirstMessage) {\n        this.receivedFirstMessage = ev\n      }\n    })\n\n    this.addEventListener(\"close\", () => {\n      console.log(`Websocket to ${this.url} closed`)\n    })\n\n    const origReconnect = this.reconnect\n    this.reconnect = () => {\n      if (this.opts.mock) {\n        this.opts.mock.handleWebsocketConnection(this)\n      } else {\n        origReconnect.apply(this)\n      }\n    }\n\n    this.reconnect()\n  }\n\n  changeUrl(targetUrl: string) {\n    this.receivedFirstMessage = undefined\n    this.targetUrl = targetUrl\n    this.reconnect()\n  }\n\n  sendJson(data: unknown) {\n    if (this.opts.mock) {\n      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n    } else {\n      this.send(JSON.stringify(data))\n    }\n  }\n\n  /**\n   * Permanently close this websocket and indicate that\n   * this object should not be used again.\n   **/\n  dispose() {\n    this.close()\n    this.disposed = true\n    if (this.opts.onDispose) {\n      this.opts.onDispose()\n    }\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the OPEN state. */\n  async opened() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.OPEN) {\n        resolve()\n      } else {\n        this.addEventListener(\"open\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the CLOSED state. */\n  async closed() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.CLOSED) {\n        resolve()\n      } else {\n        this.addEventListener(\"close\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the first message\n   * is received from the websocket. Resolves immediately if\n   * the first message has already been received.\n   */\n  async firstMessage() {\n    if (this.receivedFirstMessage) {\n      return this.receivedFirstMessage\n    }\n\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.receivedFirstMessage = ev\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the next message\n   * is received from the websocket.\n   */\n  async nextMessage() {\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n  available = typeof window !== \"undefined\" && !!window.localStorage\n\n  getJSON<T>(key: string): Partial<T> | null {\n    if (!this.available) return null\n\n    const result = window.localStorage.getItem(key)\n    if (result === null) return null\n\n    try {\n      return JSON.parse(result)\n    } catch (err) {\n      return null\n    }\n  }\n\n  setJSON(key: string, obj: unknown) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, JSON.stringify(obj))\n  }\n\n  delete(key: string) {\n    if (!this.available) return null\n\n    window.localStorage.removeItem(key)\n  }\n\n  setString(key: string, value: string) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, value)\n  }\n\n  getString(key: string): string | null {\n    if (!this.available) return null\n\n    return window.localStorage.getItem(key)\n  }\n}\n\nexport const availableStorage = new AvailableStorage()\n","export type URLParseOptions = {\n  /**\n   * Ignore any scheme in the input string and force this scheme instead.\n   */\n  scheme?: \"http\" | \"https\"\n  /**\n   * If the input string does not include a scheme, use this as the default\n   * scheme.\n   */\n  defaultScheme?: \"http\" | \"https\"\n}\n\n/**\n * Parse a string as a URL, with options to enforce or default the scheme.\n */\nexport function parseUrl(url: string, options: URLParseOptions = {}): URL {\n  const { scheme, defaultScheme } = options\n\n  const schemeRegex = /^[a-zA-Z]+:\\/\\//\n\n  if (scheme) {\n    // Force the scheme by removing any existing scheme and prepending the desired one\n    url = url.replace(schemeRegex, \"\")\n    url = `${scheme}://${url}`\n  } else if (defaultScheme && !schemeRegex.test(url)) {\n    // No scheme is present, add the default one\n    url = `${defaultScheme}://${url}`\n  }\n\n  return new URL(url)\n}\n\n/**\n * Attempt to parse a string as a URL; return undefined if we can't\n */\nexport function tryParseUrl(\n  url: string,\n  options: URLParseOptions = {},\n): URL | undefined {\n  try {\n    return parseUrl(url, options)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Permissively parse a NOVA instance URL from a config variable.\n * If scheme is not specified, defaults to https for *.wandelbots.io hosts,\n * and http otherwise.\n * Throws an error if a valid URL could not be determined.\n */\nexport function parseNovaInstanceUrl(url: string): URL {\n  const testUrl = tryParseUrl(url, { defaultScheme: \"http\" })\n  if (testUrl?.host.endsWith(\".wandelbots.io\")) {\n    return parseUrl(url, { defaultScheme: \"https\" })\n  } else {\n    return parseUrl(url, { defaultScheme: \"http\" })\n  }\n}\n\n/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","/**\n * Mapping of stages to Auth0 configurations.\n * The client ids are public identifiers for a specific auth0 application\n * and are safe to include in client-side code.\n * https://auth0.com/docs/get-started/applications/application-settings\n */\nconst auth0ConfigMap = {\n  dev: {\n    domain: `https://auth.portal.dev.wandelbots.io`,\n    clientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\",\n  },\n  stg: {\n    domain: `https://auth.portal.stg.wandelbots.io`,\n    clientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\",\n  },\n  prod: {\n    domain: `https://auth.portal.wandelbots.io`,\n    clientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\",\n  },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL */\nexport const getAuth0Config = (instanceUrl: URL) => {\n  if (instanceUrl.host.endsWith(\".dev.wandelbots.io\")) return auth0ConfigMap.dev\n  if (instanceUrl.host.endsWith(\".stg.wandelbots.io\")) return auth0ConfigMap.stg\n  if (instanceUrl.host.endsWith(\".wandelbots.io\")) return auth0ConfigMap.prod\n  throw new Error(\n    `Unable to authenticate with NOVA instance \"${instanceUrl}\". Auth0 login is only supported for cloud instances with hosts of the form \"**.wandelbots.io\".`,\n  )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n  instanceUrl: URL,\n): Promise<string | null> => {\n  if (typeof window === \"undefined\") {\n    throw new Error(\n      `Access token must be set to use NovaClient when not in a browser environment.`,\n    )\n  }\n\n  if (instanceUrl.origin === window.location.origin) {\n    // When deployed on the instance itself, our auth is handled by cookies\n    // and no access token is needed-- just need to reload the page and it'll\n    // login again / set cookie as needed\n    window.location.reload()\n    throw new Error(\n      \"Failed to reload page to get auth details, please refresh manually\",\n    )\n  }\n\n  // If we're on localhost or another domain, we need to do the full oauth flow\n  // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n  // in the auth0 config, currently\n  const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n  const auth0Config = getAuth0Config(instanceUrl)\n\n  const auth0Client = new Auth0Client({\n    domain: auth0Config.domain,\n    clientId: auth0Config.clientId ?? \"\",\n    useRefreshTokens: false,\n    authorizationParams: {\n      audience: \"nova-api\",\n      redirect_uri: window.location.origin,\n    },\n  })\n\n  // If the URL includes a redirect result, handle it\n  if (\n    window.location.search.includes(\"code=\") &&\n    window.location.search.includes(\"state=\")\n  ) {\n    const { appState } = await auth0Client.handleRedirectCallback()\n    // Return to the URL the user was originally on before the redirect\n    window.history.replaceState(\n      {},\n      document.title,\n      appState?.returnTo || window.location.pathname,\n    )\n  } else {\n    // Initiate login with redirect\n    await auth0Client.loginWithRedirect()\n  }\n\n  // Once logged in, retrieve the access token silently\n  const accessToken = await auth0Client.getTokenSilently()\n  return accessToken\n}\n","// Some general checks about the context the nova-js code is running in\n\nexport const isBrowser = typeof window !== \"undefined\"\n\nexport const isLocalhostDev =\n  isBrowser &&\n  window.location.hostname === \"localhost\" &&\n  process.env.NODE_ENV === 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